CN103901853A - Single-spindle single control system applied to air covered yarn machine and control method - Google Patents
Single-spindle single control system applied to air covered yarn machine and control method Download PDFInfo
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- CN103901853A CN103901853A CN201410124414.5A CN201410124414A CN103901853A CN 103901853 A CN103901853 A CN 103901853A CN 201410124414 A CN201410124414 A CN 201410124414A CN 103901853 A CN103901853 A CN 103901853A
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Abstract
The invention discloses a single-spindle single control system applied to an air covered yarn machine. The system comprises an upper computer, a distributed controller and an execution system. The invention further discloses a control method of the single-spindle single control system applied to the air covered yarn machine. The method includes the following steps that (1) the upper computer sets process parameters and sends the process parameters to the distributed controller; (2) whether data exist is judged; (3) the rotation speed of each motor is calculated; (4) a roller is clamped on a clamping arm; (5) an operation switch is started; (6) whether the motors operate normally or whether yarn breaks is monitored; (7) a yarn monitoring switch is started; (8) whether shuttle hooks are at zero positions is judged; (9) whether a yarn monitoring sensor works normally is monitored; (10) the thickness of the yarn is calculated; (11) the stroke of the shuttle hooks and the speed of a direct-current servo motor are calculated; (12) whether the number of pulses reaches a preset value is judged; (13) the roller is replaced when the yarn is fully reeled, and the step 1 to the step 12 are repeated. The system and the method have the advantages of being high in precision, high in production efficiency and the like.
Description
Technical field
The present invention relates to a kind of textile industry air yarn cladding machine technology, particularly a kind of single ingot single control control system and control method that is applied to air yarn cladding machine.
Background technology
Air yarn cladding machine is a kind of Yarn processing machine, spandex that its handle transports out from spandex feeding device passes through air-coating device in pressurized air effect lower network looping with certain ratio of drawing and without twisting filament (polyamide fibre/polyester DTY), makes the two or more fiber entanglements with different physical property form an one thread---air yarn cladding.Domestic existing air yarn cladding machine mostly by common bobbin winder install a set of easy spandex conveying device additional, network nozzle device forms, with low cost, conversion product variety and change technique trouble, due to the restriction of structure function, can only poor efficiency produce some air yarn claddings (as for jeans) of low grade or the thick dawn, produce fine denier yarn line and there will be that Yarn break is many, many, the unequal defect of drafting multiple of slipping through the net.In recent years, domestic some novel air wrap yarn machines that occur, adopt variable-frequency control technique, have reduced the puzzlement of the complex mechanical structures such as technique gear, belt wheel, can produce the thin denier air coating cotton thread of some high-quality.But all belong to centralized control type, the multiple ingots of a machine position can only, with kind of a kind of explained hereafter, cannot meet the Flexible Production requirement of the short run of producer, many kinds and high technology content.Therefore, the shortcoming of prior art is with not enough main as follows:
1. the control system of present air yarn cladding machine all belongs to centralized control type, and the multiple ingots of a machine position can only, with kind of a kind of explained hereafter, cannot meet the Flexible Production requirement of the short run of producer, many kinds and high technology content.
2. production efficiency is low, and control accuracy is not high, produces fine denier yarn line and there will be that Yarn break is many, many, the unequal defect of drafting multiple of slipping through the net.
Summary of the invention
Primary and foremost purpose of the present invention is that the shortcoming that overcomes prior art, with not enough, provides a kind of single ingot single control control system that is applied to air yarn cladding machine, and this control system is used flexibly, and cost is low, and production efficiency is high, is applicable to Flexible Production.
The shortcoming that another object of the present invention is to overcome prior art, with not enough, provides a kind of control to be applied to the control method of single ingot single control control system of air yarn cladding machine, and this control method is practical, efficiently and accurately.
Primary and foremost purpose of the present invention is achieved through the following technical solutions: a kind of single ingot single control control system that is applied to air yarn cladding machine, comprising: host computer, distributed director and executive system;
Described executive system comprises: frequency converter, alternating current generator, stepper motor, stepper motor driver, AC servo motor, AC servo machinery driving device, DC servo motor, DC servo motor driver, a sense silk device, scrambler, approach switch, air circuit breaker and and the nozzle of interlace;
Described host computer is connected with one end of distributed director, and one end of one end of one end of described frequency converter, one end of stepper motor driver, AC servo machinery driving device, one end of DC servo motor driver, sense silk device, approach switch, scrambler and air circuit breaker is all connected with the other end of distributed director; The other end of described frequency converter is connected with alternating current generator; The other end of described stepper motor driver is connected with stepper motor, for Driving Stepping Motor; The other end of described AC servo machinery driving device is connected with AC servo motor, for driving AC servo motor; The other end of described DC servo motor driver is connected with DC servo motor, for driving DC servo motor; The other end of described air circuit breaker is connected with the nozzle of interlace.
Host computer sends control signal and controls air yarn cladding machine control signal is sent to distributed director, in described control signal, there is technological parameter, distributed director calculates the rotating speed of alternating current generator, AC servo motor, DC servo motor and stepper motor according to technological parameter, in the time that the yarn of coiling on reel increases, the angle that jig arm rotates up increases; By the scrambler that is fixed on jig arm axle, the angle value of jig arm rotation is sent back to distributed director, distributed director recalculates DC servo motor rotating speed by the rreturn value of scrambler; If occur that in coating cotton thread process yarn breaks or shuttle exceedes Derivative limit on the left or on the right, signal is sent to distributed director by prison yarn sensor and Derivative limit on the left or on the right sensor, and distributed director stops alternating current generator, AC servo motor, DC servo motor and stepper motor running.
Described air yarn cladding machine list ingot single control control system is connected with touch-screen, and touch-screen, as the host computer of system, can arrange the technological parameter of coiling yarn, can also check the progress of yarn coiling, and the system of checking reports an error.
Described touch-screen is connected by RS485 bus with distributed director, and described touch-screen and distributed director communicate by Modbus agreement.
Described air yarn cladding machine list ingot single control control system has also connected winding mechanism and wire-arranging mechanism.Winding mechanism is by DC servo motor, synchronizing wheel, Timing Belt composition; Wire-arranging mechanism is by DC servo motor, wire wheel, godet wheel, wire rope, shuttle composition.Described winding mechanism is exactly to pass through synchronizing wheel Timing Belt band movable reel scrolling by DC servo motor.Described wire-arranging mechanism is swung back and forth and is realized wire arrangement function by rope belt movable pendulum shuttle by AC servo motor exactly.Distributed director is by controlling DC servo motor and AC servo motor, and described DC servo motor band movable reel scrolling, winds the line thereby described AC servo motor drives shuttle to swing back and forth.Described sense silk device is used for monitoring whether yarn breaks exactly, if yarn breaks, reports to the police and equipment is shut down.Described approach switch is mounted on wire-arranging mechanism, is used for limiting shuttle operating range back and forth, if exceed spacingly, whole equipment shuts down.
Another object of the present invention is achieved through the following technical solutions: a kind of control is applied to the control method of single ingot single control control system of air yarn cladding machine, comprises the following steps:
(1) host computer touch-screen arranges the technological parameter of air yarn cladding machine, according to RS485 bus, data are sent to distributed director by Modbus agreement, if distributed director is received the data that host computer sends, execution step (3), otherwise execution step (1), host computer resends data.
(2) distributed director checks whether oneself receives the data that host computer sends over, if received, and execution step (3), otherwise execution step (1).
(3) send over the technological parameter of air yarn cladding machine according to host computer, distributed director calculates motor V1-V4, the rotating speed of alternating current-direct current servomotor, DC servo motor and stepper motor.
(4) some manual operations before coiling, by yarn with the direction of unwinding on draw roll, main coated roller and reel around eight circles, through prison yarn sensor, reel is contained in jig arm.
(5) start running switch.
(6) after running a period of time, check whether each motor works well, and whether the yarn of coiling has fracture of wire.If yarn fracture of wire, performs step (4), otherwise execution step (7).
(7) start prison yarn switch.
(8) whether shuttle in zero-bit, if in zero-bit, alternating current generator, AC servo motor, DC servo motor starts together, if not in zero-bit, other motors do not start, only have AC servo motor with low-speed running to zero-bit.Then alternating current generator, AC servo motor, DC servo motor starts together by the speed of setting.
(9) in coiling process, whether the work of detection prison yarn sensor is normal, if normally, and execution step (10), otherwise execution step (4).
(10) according to the angle of jig arm rotation, measure the angle of jig arm rotation by the scrambler being fixed on jig arm axle, calculate the thickness of yarn on coiling reel according to the angle gauge of measuring jig arm rotation.
(11) umber of pulse of scrambler being measured feeds back to distributed director, and then distributed director calculates the traverse of shuttle and the speed of DC servo motor, and described scrambler is fixed on jig arm turning axle.
(12) distributed director judges whether the angle that scrambler is measured arrives preset value, if reached, and execution step (13), otherwise execution step (11).
(13) when yarn on reel is when full, open fixture, change a new reel.Repeated execution of steps (1) is to (12).
Described air yarn cladding machine comprises: draw roll, main coated roller, fixture, limit on the left sensor, zero point sensor, godet wheel, wire rope, wire wheel, AC servo motor, shuttle, reel, limit on the right-right-hand limit sensor, synchronizing wheel, Timing Belt, DC servo motor, sense silk device, scrambler, jig arm axle and jig arm; On wire wheel, be wound with wire rope, wire rope is flexibly connected with godet wheel, and described seal wire, for supporting steel-cable, is fixed with shuttle on described wire rope, and AC servo motor is fixedly connected with wire wheel, and the rotating of AC servo motor drives the side-to-side movement of shuttle; Scrambler is fixed on jig arm axle, and one end of jig arm is hinged on jig arm axle, and the upper pendulum of jig arm drives jig arm axle to rotate, thereby drives the rotation of scrambler.
Control principle of the present invention: first host computer sets technological parameter according to the requirement of coating cotton thread, send the data to distributed director, distributed director that ingot that draws oneself up separately, be the start and stop that every ingot is developed the responsible corresponding ingot of distributed director position, technological parameter adjustment and broken yarn are reported to the police and are plugged into, and possesses anti-chimb, picture disruption, the functions such as Yarn oiling, according to the thickness winding the line on reel, measure the thickness of coiling by scrambler, then data are turned back to distributed director, distributed director does certain adjustment to the rotating speed of DC servo motor.The angle that AC servo motor is turned over is done some and is adjusted, to reach the requirement of required coiling yarn.Whether in the process of coiling yarn, have prison yarn sensor can detect yarn breaks; The present invention controls centralized ingot position to change distributed single ingot single control into, and the general extension of the machine of enhancing has improved the speed of dirigibility and data processing, ensures enough independent, the efficient and high-quality of each ingot potential energy and produces.
The present invention has following advantage and effect with respect to prior art:
1, the distributed control of the bright employing of this law, every ingot is developed distributed director, is responsible for the start and stop of ingot position by it, and technological parameter adjustment and broken yarn are reported to the police and plugged into, and possesses anti-chimb, picture disruption, the functions such as Yarn oiling, control centralized ingot position to change distributed single ingot single control into, the general extension of the machine strengthening, improved the speed of flexible row and data processing, ensured that each ingot potential energy is enough independent, efficient and high-quality is produced.
2, use flexibly, practical, efficiently and accurately, cost is low.
Brief description of the drawings
Fig. 1 is the schematic diagram of air yarn cladding machine list ingot single control control system of the present invention.
Fig. 2 is the block diagram of air yarn cladding machine list ingot single control control system executive system of the present invention.
Fig. 3 is the program flow diagram of air yarn cladding machine list ingot single control control system of the present invention.
Fig. 4 air yarn cladding machine mechanical component relative position distribution figure.
Fig. 5 air yarn cladding machine winding mechanism part relative position right part of flg.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment
As shown in Figure 1, air yarn cladding machine list ingot single control control system, comprise touch-screen and distributed director, touch-screen is connected with 48 distributed directors, each distributed director connects an executive system, as shown in Figure 2, described executive system comprises: four frequency converters: frequency converter V1, frequency converter V2, frequency converter V3 and frequency converter V4, four alternating current generators: alternating current generator V1, alternating current generator V2, alternating current generator V3 and alternating current generator V4, a stepper motor driver, a stepper motor, an AC servo machinery driving device, an AC servo motor, a DC servo motor driver, DC servo motor driver of a DC servo motor, two sense silk devices, a scrambler, three approach switchs, a nozzle of interlace and an air circuit breaker.
Described touch-screen is connected with the distributed director of each ingot respectively.Described distributed director respectively with four frequency converters, a stepper motor driver, an AC servo machinery driving device, a DC servo motor driver, two sense silk devices, three approach switchs, a scrambler is connected.Four described frequency converters are controlled respectively four alternating current generators.Described stepper motor driver is connected with stepper motor.Described AC servo machinery driving device is connected with AC servo motor.Described DC servo motor driver is connected with DC servo motor.
Described air yarn cladding machine list ingot single control control system is connected with touch-screen, and touch-screen, as the host computer of system, for the technological parameter of coiling yarn is set, also reports an error for progress and the system of checking yarn coiling.
Described touch-screen is connected by RS485 bus with distributed director, and described touch-screen and distributed director communicate by Modbus agreement.
Described air yarn cladding machine list ingot single control control system has also connected winding mechanism and wire-arranging mechanism.Described winding mechanism is made up of DC servo motor, synchronizing wheel Timing Belt exactly.Described wire-arranging mechanism is made up of AC servo motor, wire rope, shuttle, godet wheel exactly.Thereby control system drives shuttle to swing the function that reaches coiling by controlling DC servo motor band movable reel scrolling and AC servo motor.Described sense silk device is used for monitoring whether yarn breaks exactly, if yarn breaks, reports to the police and equipment is shut down.Described approach switch is mounted on wire-arranging mechanism, is used for limiting shuttle operating range back and forth, if exceed spacingly, whole establishing shuts down.
As shown in Figure 4 and Figure 5, air yarn cladding machine comprises: draw roll 1, main coated roller 2, fixture 3, limit on the left sensor 4, zero point sensor 5, godet wheel 6, wire rope 7, wire wheel 8, AC servo motor 9, shuttle 10, reel 11, limit on the right-right-hand limit sensor 12, synchronizing wheel 13, Timing Belt 14, DC servo motor 15, sense silk device 16, scrambler 17, jig arm axle 18 and jig arm 19; Wire rope 7 is wrapped on wire wheel 8 and supports wire rope through godet wheel 6, and shuttle 10 is fixed on wire rope, and AC servo motor 9 is rigidly connected with wire wheel 8, and the rotating of AC servo motor 9 drives the side-to-side movement of shuttle 10.Scrambler 17 is fixed on jig arm axle 18, and one end of jig arm 19 is hinged on jig arm axle 18, and in jig arm, pendulum drives the scrolling of jig arm axle 18, thereby drives the rotation of scrambler 17, and in air yarn cladding machine, the annexation of other part is shown in Fig. 4 and Fig. 5.
As shown in Figure 3, a kind of control is applied to the control method of single ingot single control control system of air yarn cladding machine, comprises the following steps:
(1) host computer touch-screen arranges the technological parameter of air yarn cladding machine, according to RS485 bus, the data of technological parameter are sent to distributed director by Modbus agreement, if distributed director is received the technological parameter data that host computer sends, execution step (3), otherwise, execution step (1), host computer resends technological parameter data;
(2) distributed director is checked the data of the technological parameter of oneself whether receiving that host computer sends over, if received, and execution step (3), otherwise, execution step (1);
(3) send over the technological parameter of air yarn cladding machine according to host computer, distributed director calculates the rotating speed of alternating current generator V1-V4, AC servo motor, DC servo motor and stepper motor;
(4) some manual operations before coiling, by yarn with the direction of unwinding on draw roll, main coated roller and reel around eight circles, through prison yarn sensor, and reel clamping in jig arm;
(5) start running switch;
(6) after running a period of time, check whether each motor works well, and whether the yarn of coiling has fracture of wire.If yarn fracture of wire, performs step (4), otherwise, execution step (7);
(7) start prison yarn switch;
(8) whether shuttle in zero-bit, if in zero-bit, alternating current generator, AC servo motor, DC servo motor and stepper motor start together, if not in zero-bit, other motors do not start, only have AC servo motor with low-speed running to zero-bit.Then alternating current generator, AC servo motor, DC servo motor and stepper motor be the speed running originally to arrange together;
(9) in coiling process, whether the work of detection prison yarn sensor is normal, if normally, and execution step (10), otherwise, execution step (4);
(10) measure the angle of jig arm rotation by the scrambler being fixed on jig arm axle, calculate the thickness of yarn on coiling reel according to the angle gauge of measuring jig arm rotation;
(11) umber of pulse of scrambler being measured feeds back to distributed director, and then distributed director calculates the traverse of shuttle and the speed of DC servo motor, and described scrambler is fixed on jig arm turning axle;
(12) distributed director judges whether the umber of pulse that scrambler is measured arrives preset value, if reached, and execution step (13), otherwise, execution step (11);
(13) when yarn on reel is when full, open fixture, change reel, then perform step (1) to (12).
Above-described embodiment is preferably embodiment of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under Spirit Essence of the present invention and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (5)
1. a single ingot single control control system that is applied to air yarn cladding machine, is characterized in that, comprising: host computer, distributed director and executive system;
Described executive system comprises: frequency converter, alternating current generator, stepper motor, stepper motor driver, AC servo motor, AC servo machinery driving device, DC servo motor, DC servo motor driver, a sense silk device, scrambler, approach switch, air circuit breaker and and the nozzle of interlace;
Described host computer is connected with one end of distributed director, and one end of one end of one end of described frequency converter, one end of stepper motor driver, AC servo machinery driving device, one end of DC servo motor driver, sense silk device, approach switch, scrambler and air circuit breaker is all connected with the other end of distributed director; The other end of described frequency converter is connected with alternating current generator; The other end of described stepper motor driver is connected with stepper motor, for Driving Stepping Motor; The other end of described AC servo machinery driving device is connected with AC servo motor, for driving AC servo motor; The other end of described DC servo motor driver is connected with DC servo motor, for driving DC servo motor; The other end of described air circuit breaker is connected with the nozzle of interlace;
Host computer sends control signal and controls air yarn cladding machine control signal is sent to distributed director, in described control signal, there is technological parameter, distributed director calculates the rotating speed of alternating current generator, AC servo motor, DC servo motor and stepper motor according to technological parameter, in the time that the yarn of coiling on reel increases, the angle that jig arm rotates up increases; By the scrambler that is fixed on jig arm axle, the angle value of jig arm rotation is sent back to distributed director, distributed director recalculates DC servo motor rotating speed by the rreturn value of scrambler; If occur that in coating cotton thread process yarn breaks or shuttle exceedes Derivative limit on the left or on the right, signal is sent to distributed director by prison yarn sensor and Derivative limit on the left or on the right sensor, and distributed director stops alternating current generator, AC servo motor, DC servo motor and stepper motor running.
2. according to the single ingot single control control system that is applied to air yarn cladding machine of claim 1, it is characterized in that, described host computer is touch-screen, described touch-screen for arrange coiling yarn technological parameter, check the progress of yarn coiling and check reporting an error of system, between described touch-screen and distributed director, be connected by RS485 bus, between described touch-screen and distributed director, communicate by Modbus agreement.
3. the single ingot single control control system that is applied to air yarn cladding machine according to claim 2, it is characterized in that, the signal that described distributed director sends for the data that receive touch-screen and send, a signal that sense silk device sends, signal that scrambler sends and approach switch, and compute dependent data and control frequency converter, AC servo machinery driving device, DC servo motor driver and stepper motor driver on demand.
4. the single ingot single control control system that is applied to air yarn cladding machine according to claim 1, is characterized in that, described DC servo motor is synchronously brought and driven winding-structure to rotate by synchronizing wheel, and described winding-structure is reel; Described scrambler, for measuring the thickness that is wound on the coating cotton thread on reel, obtains thickness data, regulates the volume speed of DC servo motor according to the thickness data of measuring; Described AC servo motor is carried out winding displacement by bus-bar construction, and described bus-bar construction comprises wire rope, shuttle, wire wheel and godet wheel, and described rope belt movable pendulum shuttle swings back and forth; Described distributed director control DC servo motor and AC servo motor, drive shuttle side-to-side movement to wind the line by described DC servo motor band movable reel scrolling and AC servo motor; Described sense silk device is used for monitoring whether yarn breaks, if yarn breaks, reports to the police, and equipment is shut down; Described approach switch is arranged on bus-bar construction, is positioned at the spacing of the amplitude of oscillation for limiting the scope that shuttle swings back and forth, and spacing if the amplitude of oscillation of shuttle exceeds, equipment shuts down; The start and stop of described air circuit breaker control the nozzle of interlace, the nozzle of interlace is for coating cotton thread.
5. a control method of controlling the single ingot single control control system that is applied to air yarn cladding machine described in claim 1, described air yarn cladding machine comprises: draw roll, main coated roller, fixture, limit on the left sensor, zero point sensor, godet wheel, wire rope, wire wheel, AC servo motor, shuttle, reel, limit on the right-right-hand limit sensor, synchronizing wheel, Timing Belt, DC servo motor, sense silk device, scrambler, jig arm axle and jig arm; On wire wheel, be wound with wire rope, wire rope is flexibly connected with godet wheel, and described seal wire, for supporting steel-cable, is fixed with shuttle on described wire rope, and AC servo motor is fixedly connected with wire wheel, and the rotating of AC servo motor drives the side-to-side movement of shuttle; Scrambler is fixed on jig arm axle, and one end of jig arm is hinged on jig arm axle, and the upper pendulum of jig arm drives jig arm axle to rotate, thereby drives the rotation of scrambler;
It is characterized in that, comprise the following steps:
(1) host computer arranges the technological parameter of air yarn cladding machine, according to RS485, Modbus agreement, data is sent to distributed director, if distributed director is received the technological parameter of transmission, execution step (3), otherwise, execution step (1), host computer resends data;
(2) distributed director judges whether the data of receiving that host computer sends over, if there are the data of receiving that host computer sends over, and execution step (3), otherwise, execution step (1);
(3) technological parameter and the data of the air yarn cladding machine sending according to host computer, distributed director calculates rotating speed, the rotating speed of alternating current-direct current servomotor and the rotating speed of stepper motor of alternating current generator;
(4) by yarn with the direction of unwinding on draw roll, main coated roller and reel all around eight circles, then through prison yarn sensor, finally reel clamping in jig arm;
(5) start running switch;
(6) check whether each motor works well, whether the yarn of coiling has breaks, if having, yarn breaks, and execution step (4), otherwise, execution step (7);
(7) start prison yarn switch;
(8) distributed director judges that whether shuttle is in zero-bit, if shuttle in zero-bit, alternating current generator, DC servo motor, AC servo motor start together with stepper motor, if not in zero-bit, only start AC servo motor with low-speed running to zero-bit; Then alternating current generator, DC servo motor, AC servo motor and stepper motor again together with start;
(9) in coiling process, whether the work of detection prison yarn sensor is normal, if normal, execution step (10), otherwise, execution step (4);
(10) measure the angle of jig arm rotation by the scrambler being fixed on jig arm axle, according to the angle of the jig arm rotation of measuring, calculate the thickness of yarn on coiling reel;
(11) umber of pulse of scrambler being measured feeds back to distributed director, and then distributed director calculates the traverse of shuttle and the speed of DC servo motor, and described scrambler is fixed on jig arm turning axle;
(12) distributed director judges whether the umber of pulse that scrambler is measured arrives preset value, if reached, and execution step (13), otherwise, execution step (11);
(13) when yarn on reel is when full, open fixture, change reel, then perform step (1) to (12).
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| TWI727791B (en) * | 2019-12-20 | 2021-05-11 | 財團法人工業技術研究院 | Dynamic correcting system of manufacturing process using wire and dynamic correcting method using the same |
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| US11685104B2 (en) | 2019-12-20 | 2023-06-27 | Industrial Technology Research Institute | Dynamic correcting system of manufacturing process using wire and dynamic correcting method using the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106483989A (en) * | 2015-08-29 | 2017-03-08 | 华南理工大学 | Control system for high-speed, high precision digital controlled air wrap yarn machine and control method |
| TWI727791B (en) * | 2019-12-20 | 2021-05-11 | 財團法人工業技術研究院 | Dynamic correcting system of manufacturing process using wire and dynamic correcting method using the same |
| US11685104B2 (en) | 2019-12-20 | 2023-06-27 | Industrial Technology Research Institute | Dynamic correcting system of manufacturing process using wire and dynamic correcting method using the same |
| US11560657B2 (en) | 2020-12-02 | 2023-01-24 | Industrial Technology Research Institute | Braiding path generating method and device using the same, and dynamic correcting method and braiding system using the same |
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| CN103901853B (en) | 2016-10-05 |
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