CN102320501A - The automatic doffing dolly grasps the apparatus and method of cop yarn - Google Patents

The automatic doffing dolly grasps the apparatus and method of cop yarn Download PDF

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Publication number
CN102320501A
CN102320501A CN 201110159018 CN201110159018A CN102320501A CN 102320501 A CN102320501 A CN 102320501A CN 201110159018 CN201110159018 CN 201110159018 CN 201110159018 A CN201110159018 A CN 201110159018A CN 102320501 A CN102320501 A CN 102320501A
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China
Prior art keywords
yarn
grabbing device
sensor
telescopic boom
cop
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CN 201110159018
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CN102320501B (en
Inventor
王�华
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Qingdao Hongda Textile Machinery Co Ltd
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Qingdao Hongda Textile Machinery Co Ltd
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Priority to CN 201110159018 priority Critical patent/CN102320501B/en
Publication of CN102320501A publication Critical patent/CN102320501A/en
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Publication of CN102320501B publication Critical patent/CN102320501B/en
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Abstract

The present invention provides a kind of automatic doffing dolly to grasp the apparatus and method of cop yarn; Comprise grabbing device, feedway, yarn clearer and yarn clearer guide plate; Be characterized in: described feedway is that individual cylinder drives flexible telescopic boom; Grabbing device comprises guide plate, scissors and the yarn gripper that is arranged on telescopic boom one end, on the yarn clearer guide plate extracting locating plate is set; Second sensor, detection grabbing device that detection grabbing device initial position is set at the telescopic boom rear portion arrive the 3rd sensor of said extracting locating plate position and detect grabbing device arrival and make yarn accurately gripped the first sensor of position by big end of bobbin-winding machine support arm and bare bobbin.Yarn is grasped in the crawl position of grabbing device above yarn clearer guide plate, need not cut off yarn earlier, and suction nozzle is not participated in action yet.Physical construction is simple, compact, and movement range is little, traverse is short, and debugging is convenient, is convenient to safeguard.It is reasonable to grasp the cop position, and method is simple, and flow process is short, and efficient is high.

Description

The automatic doffing dolly grasps the apparatus and method of cop yarn
Technical field
The present invention relates to a kind of textile machine equipment and technology, relate in particular to the doff dolly that thin network joins automatic winder and the type automatic winder configuration of big yarn storehouse, is the apparatus and method that a kind of automatic doffing dolly grasps the cop yarn specifically.
Background technology
The automatic doffing dolly is a kind of doff equipment that is provided on the automatic winder, is that thin network joins indispensable configuration on automatic winder and the big yarn storehouse type automatic winder.Be the automatic doffing equipment of matching according to customer requirements on the automatic winder basic type.The doff dolly with automatic equipment replace artificial doff, tube is put in manual work, has improved the level of automatic winder automation on the whole, can really realize the workshop unmanned management.Its objective is the labour intensity that alleviates the spinner, realize the doff automation.
When single ingot sends full signal; Promptly the tube yarn reaches length or weight setting value; The tube yarn that the doff dolly is full with network takes off from support arm, ready bare bobbin is put on the support arm, and grasps the cop yarn from appointed positions; The cop yarn that grabs is wound into the assigned address that newly changes on the bare bobbin; In the yarn movement process, need the yarn anchor fitting that yarn is collected and be fixed on needed position,, and be wound on the bare bobbin on request so that loose thread is fixed between big end of support arm and the bare bobbin smoothly.
Existing doff dolly loose thread grasping movement is utilized special-purpose guide wire to carry out the yarn position guiding, and is had special shear arm to carry out yarn cutting by means of movable sliding; Continuous for guaranteeing tube yarn yarn before colluding yarn, there is special device when unloading tin, to block a yarn, this a series of action all has special mechanism to accomplish; The physical construction relative complex; Because each structure is carried out space motion, cooperatively interacting between the action requires high, and debugging difficulty is high.The crawl position of grabbing device that the doff dolly is arranged again is below the cop suction nozzle, and movement range is big, traverse is long, is to improve the proper rate, and corresponding accuracy requirement to the doff dolly is high; When grasping yarn, must cut off yarn earlier, need suction nozzle to participate in cooperating and just can move, it moves complicated, and efficient is low.
Summary of the invention
The present invention is directed to the problems referred to above that prior art exists, provide a kind of automatic doffing dolly to grasp
The device of cop yarn, movement range is little, traverse is short, and physical construction is simple, compact, and debugging is convenient, is convenient to safeguard.
The present invention also provides a kind of automatic doffing dolly to grasp the cop method of yarn, and it is reasonable to grasp the cop position, and method is simple, and flow process is short, and efficient is high.
For realizing above-mentioned purpose, the present invention takes following technical scheme to realize:
A kind of automatic doffing dolly grasps the device of cop yarn; Comprise yarn clearer on grabbing device, feedway and rotary motion mechanism thereof, the support and yarn clearer guide plate on the doff dolly; It is characterized in that: described feedway is that individual cylinder drives flexible telescopic boom; Said grabbing device comprises guide plate, scissors and the yarn gripper that is arranged on said telescopic boom one end, on the said yarn clearer guide plate extracting locating plate is set; Described telescopic boom rear portion is provided with second sensor that detects the grabbing device initial position, the 3rd sensor and the arrival of detection grabbing device that the detection grabbing device arrives said extracting locating plate position makes yarn accurately gripped the first sensor of position by big end of bobbin-winding machine support arm and bare bobbin.
Improvement to technique scheme: described rotary motion mechanism is made up of cam, connecting rod and pull bar, said cam drive connecting rod, and connecting rod is connected with pull bar one end, and the pull bar other end is connected with said telescopic boom upper end, and the telescopic boom upper end articulates with the doff dolly.
Further improvement to technique scheme: described doff dolly is provided with control system, and said first sensor, second sensor and the 3rd sensor link to each other with control system through signal wire (SW), and said rotary motion mechanism and cylinder are controlled by control system.
A kind of device that utilizes above-mentioned automatic doffing dolly to grasp the cop yarn grasps the cop method of yarn; It is characterized in that: in the automatic winder automatic winding process; After the tube yarn reached certain length or weight, single ingot auto alarm sent full tube indicator signal; The doff dolly advances to the single ingot of full tube place, pending automatic doffing actions such as back, location automatically; At first, whether yarn clearer detects yarn and exists, if do not detect yarn; The beginning doff action after the success of splicing, the telescopic boom of feedway is delivered to yarn clearer guide plate top by the air cylinder driven elongation with grabbing device from the initial position, position through the extracting locating plate on the yarn clearer guide plate; Be position A1, yarn imported in scissors and the Yarn clamper, cut off yarn and clamp the yarn tail through the guide plate on the grabbing device; The doff dolly lifts support arm then, and from unloading the full tube yarn of network between the large and small end of support arm, grabbing device is got back to the initial position; After ready bare bobbin is placed between the large and small end of the support arm of opening, the feedway α that under the drive of rotary motion mechanism, rotates to an angle, making grabbing device arrive bare bobbin yarn tail fixed position is position A2; The yarn that is clamped in the grabbing device is placed into the position between bare bobbin and the big end of support arm, is fixed on exactly between the big end of bare bobbin and support arm for guaranteeing yarn, and the telescopic boom of feedway extends a segment distance B downwards again by air cylinder driven after grabbing device reaches bare bobbin yarn tail fixed position to be position A2; The big end of support arm is closed; After yarn was fixed, grabbing device resetted and decontrols the yarn tail of clamping, and with the feedway segment distance B that withdraws; Then, get back to the initial position with feedway; The sensor that three fixed positions of grabbing device all are provided with by the telescopic boom rear portion; Guarantee to arrive accurate position; Wherein, Corresponding second sensor in grabbing device initial position, grabbing device arrive and grasp corresponding the 3rd sensor of locating plate position A1, and grabbing device is corresponding first sensor when reaching bare bobbin yarn tail fixed position A2 and stretch out a segment distance B downwards and stop.
Improvement to technique scheme: the telescopic boom of described feedway is formed rotary motion mechanism by cam, connecting rod and pull bar and is driven; Said cam drive connecting rod; Connecting rod is connected with pull bar one end, and the pull bar other end is connected with said telescopic boom upper end, and the telescopic boom upper end articulates with the doff dolly.
Further improvement to technique scheme: described doff dolly is provided with control system; Said first sensor, second sensor and the 3rd sensor link to each other with control system through signal wire (SW), and said cylinder and rotary motion mechanism are flexible by control system controlling and driving feedway telescopic boom, rotation or stop motion.
The present invention compared with prior art has following advantage and good effect:
1, the device of automatic doffing dolly extracting cop yarn integrates function actions such as shearing, extracting and yarn putting position, and physical construction is simple, has utilized the relatively independent adjustable member of action such as cylinder, and debugging is convenient, is convenient to safeguard.Because movement range is little, traverse is short, make whole vehicle structure compact.When grasping yarn, needn't cut off yarn, without suction nozzle participation work, efficient is high, energy savings.The place is fixed with adjustable extracting locating plate at yarn clearer guide plate, guarantees to grasp accurately success.Guarantee that through feedway Yarn grasping device arrives three positions, whether put in place through sensor check grabbing device, accurately and reliably.
2, the present invention guarantees that tube yarn yarn and cop yarn are in coupled condition when dolly automatic doffing, and the position of grasping yarn is above yarn clearer guide plate, and crawl position and mode are reasonable.Its method is simple, and flow process is short, and efficient is high.
Description of drawings
Fig. 1 is under the continuous situation of the full tube of the present invention back tube yarn yarn and cop yarn, and feedway is delivered to grabbing device the scheme drawing of position A1.
Fig. 2 is the scheme drawing of grabbing device of the present invention with feedway rotation A1 A2 to the position from the position.
Fig. 3 delivers to the state signal of support arm and the big end position of bare bobbin for grabbing device clamping yarn of the present invention.
Fig. 4 grasps the course of action flow process and the logical diagram of yarn for automatic doffing dolly of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is done further explain:
Referring to Fig. 1-Fig. 3; A kind of automatic doffing dolly of the present invention grasps the embodiment of the device of cop yarn; Comprise grabbing device 9, feedway and rotary motion mechanism thereof, the yarn clearer on the support 11 and yarn clearer guide plate 10 on the doff dolly 1; Described feedway is that individual cylinder drives flexible telescopic boom 7, and said grabbing device 9 comprises guide plate 9-1, scissors 9-2 and the yarn gripper 9-3 that is arranged on said telescopic boom 7 one ends, is provided with on the said yarn clearer guide plate 10 and grasps locating plate 15; Described telescopic boom 7 rear portions are provided with second sensor 13 that detects grabbing device 9 initial positions, detect grabbing device 9 arrives the 3rd sensor 14 of said extracting locating plate position A1 and detects grabbing device 9 and arrive and make yarn accurately gripped the first sensor 12 of position A2 by big end of bobbin-winding machine support arm and bare bobbin.
Above-mentioned rotary motion mechanism is made up of cam 2, connecting rod 3 and pull bar 4.Said cam 2 drive link 3, connecting rod 3 is connected with pull bar 4 one ends, and pull bar 4 other ends are connected with said telescopic boom 7 upper ends, and telescopic boom 7 upper ends and doff dolly articulate.
Described doff dolly is provided with control system, and said first sensor 12, second sensor 13 link to each other with control system through signal wire (SW) with the 3rd sensor 14, and the rotary motion mechanism and the cylinder that drive telescopic boom 7 are controlled by control system.
Referring to Fig. 1-Fig. 4; The present invention is a kind of to utilize above-mentioned automatic doffing dolly to grasp the embodiment of the extracting cop yarn method of cop yarn device, and concrete steps are: in the automatic winder automatic winding process, after tube yarn 5 reaches certain length or weight; Single ingot auto alarm; Send full tube indicator signal, doff dolly 1 advances to the single ingot of full tube place, pending automatic doffing actions such as back, location automatically; At first, whether yarn clearer detects yarn 8 and exists, if do not detect yarn 8, and beginning doff action after the success of splicing.The telescopic boom 7 of feedway is delivered to yarn clearer guide plate 10 tops by the air cylinder driven elongation with grabbing device 9 from the initial position; Extracting locating plate 15 through on the yarn clearer guide plate 10 positions A1, through the guide plate 9-1 on the grabbing device 9 yarn 8 is imported in scissors 9-2 and the Yarn clamper 9-3, cuts off yarn 8 and clamps the yarn tail; Doff dolly 1 lifts support arm then; From the large and small end 18 of support arm, unload the full tube yarn 5 of network between 17, grabbing device 9 is got back to the initial position, wait ready bare bobbin 16 be placed on the large and small end of the support arm of opening 18, between 17 after; The telescopic boom 7 of the feedway α that under the drive of rotary motion mechanism, rotates to an angle makes grabbing device 9 arrive bare bobbin yarn tail fixed position A2; The yarn 8 that is clamped in the grabbing device 9 is placed into the position between bare bobbin 16 and the big end 18 of support arm, is fixed on exactly between the big end 18 of bare bobbin 16 and support arm for guaranteeing yarn 8, and the telescopic boom 7 of feedway extends a segment distance B downwards again by air cylinder driven after grabbing device 9 reaches bare bobbin 16 yarn tail fixed position A2; Big end 18 closures of support arm; After yarn 8 was fixed, grabbing device 9 resetted and decontrols the yarn tail of clamping, and with the telescopic boom 7 withdrawals one segment distance B of feedway; Then, get back to the initial position with the telescopic boom 7 of feedway; All there is corresponding sensor three positions of grabbing device 9, guarantee to arrive accurate position.Wherein, Corresponding second sensor 13 in grabbing device 9 initial positions; Grabbing device 9 arrives and grasps corresponding the 3rd sensor 14 of locating plate 15 position A1, and grabbing device 9 is corresponding first sensor 12 after reaching bare bobbin 16 yarn tail fixed position A2 to stretch out a segment distance B downwards.
, rotation 7 flexible or stop motion by control system and 3 sensors 12,13,14 control feedway telescopic booms.
Automatic doffing dolly 1 mainly is to accomplish the action of unloading full tube tube yarn 5, emptying bobbin 16, and cop yarn 8 is wound on the bare bobbin 16, so that carry out doff smoothly.In order to reach cop yarn 8 is wound into the purpose on the bare bobbin 16, at first confirming has the guide point on the yarn clearer guide plate 10 in the position that can grasp cop yarn 8 smoothly; No matter make yarn 8 in cam groove, be in which position; The position of yarn all concentrates on center, yarn road, and discrete areas is little, therefore; Be convenient to yarn 8 location, guarantee to grasp success ratio.Therefore, the present invention is provided with yarn clearer guide plate 10 tops with the position that grabbing device 9 grasps yarn 8.And the yarn 8 that grasps requires exceptionally straightly, therefore, will guarantee in the extracting process that a yarn yarn and cop yarn are in coupled condition.
Certainly, above-mentioned explanation is not to be limitation of the present invention, and the present invention also is not limited to above-mentioned giving an example; Those skilled in the art; In essential scope of the present invention, the variation of having done, remodeling, interpolation or replacement also should belong to protection scope of the present invention.

Claims (6)

1. an automatic doffing dolly grasps the device of cop yarn; Comprise yarn clearer on grabbing device, feedway and rotary motion mechanism thereof, the support and yarn clearer guide plate on the doff dolly; It is characterized in that: described feedway is that individual cylinder drives flexible telescopic boom; Said grabbing device comprises guide plate, scissors and the yarn gripper that is arranged on said telescopic boom one end, on the said yarn clearer guide plate extracting locating plate is set; Described telescopic boom rear portion is provided with second sensor that detects the grabbing device initial position, the 3rd sensor and the arrival of detection grabbing device that the detection grabbing device arrives said extracting locating plate position makes yarn accurately gripped the first sensor of position by big end of bobbin-winding machine support arm and bare bobbin.
2. grasp the device of cop yarn according to the described automatic doffing dolly of claim 1; It is characterized in that: described rotary motion mechanism is made up of cam, connecting rod and pull bar; Said cam drive connecting rod; Connecting rod is connected with pull bar one end, and the pull bar other end is connected with said telescopic boom upper end, and the telescopic boom upper end articulates with the doff dolly.
3. grasp the device of cop yarn according to claim 1 or 2 described automatic doffing dollies; It is characterized in that: described doff dolly is provided with control system; Said first sensor, second sensor and the 3rd sensor link to each other with control system through signal wire (SW), and said rotary motion mechanism and cylinder are controlled by control system.
4. a device that utilizes the said automatic doffing dolly of claim 1 to grasp the cop yarn grasps the cop method of yarn; It is characterized in that: in the automatic winder automatic winding process; After the tube yarn reached certain length or weight, single ingot auto alarm sent full tube indicator signal; The doff dolly advances to the single ingot of full tube place, pending automatic doffing actions such as back, location automatically; At first, whether yarn clearer detects yarn and exists, if do not detect yarn; The beginning doff action after the success of splicing, the telescopic boom of feedway is delivered to yarn clearer guide plate top by the air cylinder driven elongation with grabbing device from the initial position, position through the extracting locating plate on the yarn clearer guide plate; Guide plate through on the grabbing device imports yarn in scissors and the Yarn clamper, cuts off yarn and clamps the yarn tail, and the doff dolly lifts support arm then; From unload between the large and small end of support arm network full the tube yarn, grabbing device is got back to the initial position, wait ready bare bobbin to be placed between the large and small end of the support arm of opening after; Feedway rotates to an angle under the drive of rotary motion mechanism, and making grabbing device arrive bare bobbin yarn tail fixed position is the position, and the yarn that is clamped in the grabbing device is placed into the position between bare bobbin and the big end of support arm; For guaranteeing that yarn is fixed between the big end of bare bobbin and support arm exactly; Extend a segment distance when grabbing device reaches the ascend the throne telescopic boom of postpone feedway of bare bobbin yarn tail fixed position downwards by air cylinder driven, the big end of support arm is closed, after yarn is fixed; Grabbing device resets and decontrols the yarn tail of clamping; And, then, get back to the initial position with feedway with the feedway segment distance of withdrawing; The sensor that three fixed positions of grabbing device all are provided with by the telescopic boom rear portion; Guarantee to arrive accurate position; Wherein, Corresponding second sensor in grabbing device initial position, grabbing device arrive and grasp corresponding the 3rd sensor in locating plate position, and grabbing device is corresponding first sensor when reaching bare bobbin yarn tail fixed position and stretch out a segment distance downwards and stop.
5. grasp the device extracting cop method of yarn of cop yarn according to the said automatic doffing dolly of claim 4; It is characterized in that: the telescopic boom of described feedway is formed rotary motion mechanism by cam, connecting rod and pull bar and is driven; Said cam drive connecting rod; Connecting rod is connected with pull bar one end, and the pull bar other end is connected with said telescopic boom upper end, and the telescopic boom upper end articulates with the doff dolly.
6. grasp the device extracting cop method of yarn of cop yarn according to claim 4 or 5 said automatic doffing dollies; It is characterized in that: described doff dolly is provided with control system; Said first sensor, second sensor and the 3rd sensor link to each other with control system through signal wire (SW), and said cylinder and rotary motion mechanism are flexible by control system controlling and driving feedway telescopic boom, rotation or stop motion.
CN 201110159018 2011-06-14 2011-06-14 Device and method for grabbing cop yarns by automatic doffing trolley Expired - Fee Related CN102320501B (en)

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CN 201110159018 CN102320501B (en) 2011-06-14 2011-06-14 Device and method for grabbing cop yarns by automatic doffing trolley

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CN 201110159018 CN102320501B (en) 2011-06-14 2011-06-14 Device and method for grabbing cop yarns by automatic doffing trolley

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105731185A (en) * 2016-03-22 2016-07-06 青岛纺织机械股份有限公司 Intelligent splicing circulation control method of automatic winder
CN107618945A (en) * 2017-10-23 2018-01-23 广东溢达纺织有限公司 Cylinder yarn moves pipe sleeve socks device certainly
CN108439072A (en) * 2018-03-07 2018-08-24 青岛宏大纺织机械有限责任公司 A kind of spinning-in system and threading method of doffing trolley
CN109956365A (en) * 2019-03-27 2019-07-02 绍兴职业技术学院 A kind of intelligent automatic doffing robot
CN111392514A (en) * 2020-03-27 2020-07-10 青岛宏大纺织机械有限责任公司 Spinning-in device and spinning-in method of doffing trolley

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US3708133A (en) * 1971-07-16 1973-01-02 Du Pont Apparatus for winding yarn
JPS63154515A (en) * 1986-12-17 1988-06-27 Murata Mach Ltd Package unloading device
JPH111834A (en) * 1997-06-05 1999-01-06 Toyota Autom Loom Works Ltd Positional detection and positional detector in bobbin changer of spinning machinery
DE19827605A1 (en) * 1998-06-20 1999-12-23 Schlafhorst & Co W Pickup of yarn end from bobbin surface by suction nozzle
CN200967689Y (en) * 2006-05-09 2007-10-31 沈阳华岳机械有限责任公司 Multifunctional drum winding machine
CN101891085A (en) * 2010-08-05 2010-11-24 青岛宏大纺织机械有限责任公司 Method and device for uniformly controlling unwinding tension of automatic winder

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3708133A (en) * 1971-07-16 1973-01-02 Du Pont Apparatus for winding yarn
JPS63154515A (en) * 1986-12-17 1988-06-27 Murata Mach Ltd Package unloading device
JPH111834A (en) * 1997-06-05 1999-01-06 Toyota Autom Loom Works Ltd Positional detection and positional detector in bobbin changer of spinning machinery
DE19827605A1 (en) * 1998-06-20 1999-12-23 Schlafhorst & Co W Pickup of yarn end from bobbin surface by suction nozzle
CN200967689Y (en) * 2006-05-09 2007-10-31 沈阳华岳机械有限责任公司 Multifunctional drum winding machine
CN101891085A (en) * 2010-08-05 2010-11-24 青岛宏大纺织机械有限责任公司 Method and device for uniformly controlling unwinding tension of automatic winder

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105731185A (en) * 2016-03-22 2016-07-06 青岛纺织机械股份有限公司 Intelligent splicing circulation control method of automatic winder
CN107618945A (en) * 2017-10-23 2018-01-23 广东溢达纺织有限公司 Cylinder yarn moves pipe sleeve socks device certainly
CN108439072A (en) * 2018-03-07 2018-08-24 青岛宏大纺织机械有限责任公司 A kind of spinning-in system and threading method of doffing trolley
CN109956365A (en) * 2019-03-27 2019-07-02 绍兴职业技术学院 A kind of intelligent automatic doffing robot
CN111392514A (en) * 2020-03-27 2020-07-10 青岛宏大纺织机械有限责任公司 Spinning-in device and spinning-in method of doffing trolley

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