CN104999245A - Warp beam loading and unloading machine - Google Patents
Warp beam loading and unloading machine Download PDFInfo
- Publication number
- CN104999245A CN104999245A CN201510432386.8A CN201510432386A CN104999245A CN 104999245 A CN104999245 A CN 104999245A CN 201510432386 A CN201510432386 A CN 201510432386A CN 104999245 A CN104999245 A CN 104999245A
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- Prior art keywords
- warp beam
- reductor
- control device
- sensor
- rotating
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06B—TREATING TEXTILE MATERIALS USING LIQUIDS, GASES OR VAPOURS
- D06B23/00—Component parts, details, or accessories of apparatus or machines, specially adapted for the treating of textile materials, not restricted to a particular kind of apparatus, provided for in groups D06B1/00 - D06B21/00
- D06B23/04—Carriers or supports for textile materials to be treated
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06B—TREATING TEXTILE MATERIALS USING LIQUIDS, GASES OR VAPOURS
- D06B5/00—Forcing liquids, gases or vapours through textile materials to effect treatment, e.g. washing, dyeing, bleaching, sizing impregnating
- D06B5/12—Forcing liquids, gases or vapours through textile materials to effect treatment, e.g. washing, dyeing, bleaching, sizing impregnating through materials of definite length
- D06B5/16—Forcing liquids, gases or vapours through textile materials to effect treatment, e.g. washing, dyeing, bleaching, sizing impregnating through materials of definite length through yarns, threads or filaments
- D06B5/18—Forcing liquids, gases or vapours through textile materials to effect treatment, e.g. washing, dyeing, bleaching, sizing impregnating through materials of definite length through yarns, threads or filaments through beamed warp
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Textile Engineering (AREA)
- Mechanical Engineering (AREA)
- Treatment Of Fiber Materials (AREA)
- Warping, Beaming, Or Leasing (AREA)
Abstract
The invention discloses a warp beam loading and unloading machine which comprises a rotating base, a mechanical hand component and a warp beam transport vehicle. The rotating base comprises a rotating mechanism. The rotating mechanism is provided with a dyeing yarn cage capable of clamping a plurality of warp beams. An existing yarn cage or dyeing cage can be adopted as the dyeing yarn cage. The mechanical hand component comprises a telescoping mechanism and a lifting mechanism which are connected with each other. The lifting mechanism is connected with a mechanical hand used for clamping the warp beams and a locking mechanism used for locking the warp beams. The mechanical hand corresponds to the dyeing yarn cage in position. The warp beam loading and unloading machine further comprises a control device used for controlling the warp beam loading and unloading machine to act. The warp beams are clamped by the dyeing yarn cage in the rotating base; the rotating mechanism can rotate the warp beams to the position where the mechanical hand can grab the warp beams; the mechanical hand is controlled by the telescoping mechanism and the lifting mechanism to move and grab the warp beams; the transmission mechanisms are controlled by the control device to run in order.
Description
Technical field
The present invention relates to textile technology field, particularly relate to a kind of warp beam charging crane.
Background technology
Traditional operation warp beam is hung in by hand fit's crane or hang out dye cage, and with manually warp beam being locked or unclamping.Require more than 1.7 meters the height of workman, operation physical demands is large, and production efficiency is low, and has certain danger.
Summary of the invention
The present invention mainly solves technical problem existing in prior art, thus provides a kind of replacing warp beam convenient, and automaticity is high, the warp beam charging crane that production efficiency is high.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
Warp beam charging crane of the present invention, comprises rotating basis, the manipulator part relative with described rotating basis, is also provided with a warp beam waggon between described rotating basis and described manipulator part;
Described rotating basis comprises a base, and described base is provided with a rotating mechanism, and described rotating mechanism being provided with one can the dyeing sarong of the multiple warp beam of clamping;
Described manipulator part comprises a bearing, and described bearing is connected with an elevating mechanism by a telescoping mechanism, and described elevating mechanism is connected with one for the mechanical paw of clamping warp beam, and described mechanical paw is corresponding with described dyed yarn cage location;
The corresponding described dyeing sarong of the present invention is also provided with one for locking the retaining mechanism of warp beam; This retaining mechanism can arrange separately and also can be set to one with elevating mechanism.
Described warp beam waggon comprises a warp beam waggon, and described warp beam waggon is arranged between described rotating basis and described mechanical paw.
Also comprise the control device controlling described rotating mechanism, mechanical paw, telescoping mechanism, elevating mechanism, retaining mechanism action.
Further, described rotating mechanism comprises the first reductor be arranged in described rotating basis, the gear ring driven by described first reductor, described gear ring is also connected with a rotating disk, also comprise one for detecting the position sensor of turntable rotation position, described primary importance sensor is all connected with described control device with described first reductor.
Further, described retaining mechanism comprises and is arranged at the first screw on described elevating mechanism and the second reductor, described second reductor drives first screw mandrel coordinated with described first screw, a platen is provided with bottom described first screw mandrel, and described platen is arranged at directly over described mechanical paw, also comprise one for detecting first pressure sensor of whether locking warp beam, described first pressure sensor is all connected with described control device with described second reductor.
Further, described mechanical paw comprises the paw be oppositely arranged, drive the cylinder of described paw action, described cylinder is controlled by a control valve, whether promptly also comprise one for detecting the second pressure sensor of warp beam, described second pressure sensor is all connected with described control device with described control valve.
Further, described elevating mechanism comprises one the 3rd reductor, described 3rd reductor is by gear drive one tooth bar, described tooth bar is connected with an elevating lever, also comprise one for detecting the second place sensor of lifter rod lifting position, described second place sensor is all connected with described control device with described 3rd reductor.
Further, described telescoping mechanism comprises one and is arranged at the 4th reductor in described manipulator part, described 4th reductor is connected with one second screw, described second screw matches with one second screw mandrel, described second screw mandrel is connected with described elevating mechanism, described telescoping mechanism also comprises a guide post, described manipulator part is connected by guide post described in a sliding sleeve, also comprise one for detecting the 3rd position sensor of telescopic location, described 3rd position sensor is all connected with described control device with described 4th reductor.
Further, described warp beam waggon also comprises a guide rail, and described warp beam waggon is installed on described guide rail.
Further, described dyeing sarong is the dye cage be placed on described rotating mechanism, and the center line circumference along described dye cage is evenly distributed with multiple warp beam clamping portion.
Further, described base component is also connected with one for detecting the sensor whether each warp beam clamping portion having warp beam, described sensor is connected with described control device.
Compared with prior art, the invention has the advantages that: the warp beam being supported dyed yarn cage mounted folder by the base in rotating basis, warp beam on dyeing sarong can rotate to the position that mechanical paw can capture by rotating mechanism, control mechanical paw by telescoping mechanism and elevating mechanism move to the position of dyeing sarong or move to the position of warp beam waggon, facilitate mechanical paw to capture warp beam and move to the function that another location realizes handling warp beam from one of them position, control device controls orderly, the stable operation of each transmission mechanism.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of warp beam charging crane of the present invention;
Fig. 2 is the structural representation of the rotating basis of warp beam charging crane of the present invention;
Fig. 3 is the structural representation of the manipulator part of warp beam charging crane of the present invention;
Fig. 4 is the control principle drawing of warp beam charging crane of the present invention.
Description of reference numerals: 1, rotating basis, 2, manipulator part, 3, warp beam waggon, 4, control device, 5, warp beam, 11, base, 12, rotating mechanism, 13, dyeing sarong, 21, bearing, 22, telescoping mechanism, 23, elevating mechanism, 24, mechanical paw, 25, retaining mechanism, 121, first reductor, 122, gear ring, 123, rotating disk, 124, primary importance sensor, 131, dye cage, 132, warp beam clamping portion, 133, sensor, 221, 4th reductor, 222, second screw, 223, second screw mandrel, 224, guide post, 225, sliding sleeve, 226, 3rd position sensor, 231, 3rd reductor, 232, gear, 233, tooth bar, 234, elevating lever, 235, second place sensor, 241, paw, 242, cylinder, 243, second pressure sensor, 251, first screw, 252, second reductor, 253, first screw mandrel, 254, platen, 255, first pressure sensor.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
Consult shown in Fig. 1, a kind of warp beam charging crane provided by the invention, comprises rotating basis 1, and the manipulator part 2 relative with rotating basis 1 is also provided with a warp beam waggon 3 between rotating basis 1 and manipulator part 2;
Rotating basis 1 comprises a base 11, and base is provided with a rotating mechanism 12, and rotating mechanism 12 being provided with one can the dyeing sarong 13 of the multiple warp beam 5 of clamping;
Manipulator part 2 comprises a bearing 21, bearing 21 is connected with an elevating mechanism 23 by a telescoping mechanism 22, elevating mechanism 23 is connected with one for the mechanical paw 24 of clamping warp beam 5, mechanical paw 24 is corresponding with dyeing sarong 13 position, elevating mechanism 23 is also provided with one for locking the retaining mechanism 25 of warp beam 5;
Warp beam waggon 3 comprises a warp beam waggon 31, and warp beam waggon 31 is arranged between rotating basis 1 and mechanical paw 24.
Also comprise the control device 4 controlling rotating mechanism 12, mechanical paw 24, telescoping mechanism 22, elevating mechanism 23, retaining mechanism 25 action.
The warp beam 5 of dyeing sarong 13 clamping is supported by the base 11 in rotating basis 1, warp beam 5 on dyeing sarong 13 can be rotated the position to mechanical paw 24 can capture by rotating mechanism 12, control mechanical paw 24 by telescoping mechanism 22 and elevating mechanism 23 move to the position of dyeing sarong 13 or move to the position of warp beam waggon 3, facilitate mechanical paw 24 to capture warp beam 5 and move to the function that another location realizes handling warp beam 5 from one of them position, when mechanical paw 24 captures warp beam, warp beam 5 locked by locking device 25, prevent warp beam 5 from moving or dropping, it is orderly that control device 4 controls each transmission mechanism, stable operation.Can be controlled easily on warp beam 5 to the warp beam waggon 3 on mechanical paw 24 crawl dyeing sarong 13 by this device, or the warp beam 5 on warp beam waggon 3 be captured on dyeing sarong 13.
Consult shown in Fig. 2, rotating mechanism 12 comprises the first reductor 121 be arranged in rotating basis 1, the gear ring 122 driven by the first reductor 121, gear ring 122 is also connected with a rotating disk 123, also comprise one for detecting the position sensor 124 of rotating disk 123 position of rotation, primary importance sensor 124 is all connected with control device 4 with the first reductor 121.Rotating disk 123 can be rotatably connected with base 11 by a rotary support, drives gear ring 122 by the first reductor 121, thus drives rotating disk 123 to rotate, and the dyeing sarong 13 on rotating disk follows rotation.The warp beam 5 of diverse location on dyeing sarong 13 can be made to aim at mechanical paw 24, facilitate mechanical paw 24 to capture the warp beam of diverse location, or make the warp beam 5 of crawl put into the diverse location dyeed on sarong 13.Primary importance sensor 124 is for detecting the position of rotation of rotating disk 123 in real time, thus control device 4 can control rotating disk 123 carries out accurate angle rotation.
Consult shown in Fig. 3, Fig. 4, retaining mechanism 25 comprises the first screw 251 and the second reductor 252 be arranged on elevating mechanism 23, second reductor 252 drives first screw mandrel 253 coordinated with the first screw 251, a platen 254 is provided with bottom first screw mandrel 253, and platen 254 is arranged at directly over mechanical paw 24, also comprise one to be all connected with control device with the second reductor 252 for detecting first pressure sensor 255, first pressure sensor 255 of whether locking warp beam 5.When mechanical paw 24 has captured warp beam 5, control device 4 controls the second reductor 252 and rotates, the first screw mandrel 253 is driven to rotate, first leading screw 253 drives platen 254 to lock warp beam 5, make warp beam 5 be not easy to come off from mechanical paw 24, retaining mechanism 25 also can be designed as the mode that warp beam 5 locked by direct manual rotation first screw mandrel 253.First pressure sensor 255 detects that platen 254 has locked warp beam 5, and control device 4 controls the second reductor 252 to be stopped and locking.
Mechanical paw 24 comprises the paw 241 be oppositely arranged, drive the cylinder 242 of paw 241 action, cylinder is controlled by a control valve (not shown), also comprise one to be all connected with control device 4 with control valve for the second pressure sensor 243, second pressure sensor 243 detecting whether promptly warp beam 5.Drive the advantage of paw 241 action to be by cylinder 242: because mechanical paw 24 drive part position is narrow and small, cylinder 242 can realize the effect driving paw 241 to move in very little space, does not need complicated mechanical transmission mechanism.When the second pressure sensor 243 detects that paw 241 firmly grasps warp beam 5, control device 4 controls control valve and cuts out and lock.Preferably, mechanical paw 24 can be set to 2 covers, a set of clamping warp beam 5 top, a set of clamping warp beam 5 bottom, and warp beam 5 is being stablized by during clamping, and warp beam 5 also can not be rocked when mobile, and when warp beam 5 is placed to target area, control accuracy is stablized.The mechanical paw 24 on clamping warp beam 5 top is connected with elevating mechanism 23, the mechanical paw 24 of clamping warp beam 5 bottom can be highly fixing, when warp beam waggon 3 is put in warp beam 5 crawl, only warp beam 5 need be aimed at the position to be placed on warp beam waggon 3, first the mechanical paw 24 of bottom unclamps warp beam 5, mechanical paw 25 times general who has surrendered's warp beams 5 that elevating mechanism 23 controls top deliver to position to be placed, and then unclamp the mechanical paw 25 on top.
Elevating mechanism 23 comprises one the 3rd reductor 231,3rd reductor 231 drives a tooth bar 233 by a gear 232, tooth bar 233 is connected with an elevating lever 234, also comprise one for detecting the second place sensor 235 of elevating lever 234 lifting position, second place sensor 235 is all connected with control device 4 with the 3rd reductor 231.Control device 4 controls the 3rd reductor 231 driven wheel 232, thus band carry-over bar 233 and elevating lever 234 move up and down, and elevating lever 234 is connected with mechanical paw 24, thus controls moving up and down of mechanical paw 24.When second place sensor 235 detect arrive target location time, by signal transmission to control device 4, control device control the 3rd reductor 231 stops and locking.
Telescoping mechanism 22 comprises one and is arranged at the 4th reductor 221 in manipulator part 2,4th reductor 221 is connected with one second screw 222, second screw 222 matches with one second screw mandrel 223, second screw mandrel 223 is connected with elevating mechanism 23, telescoping mechanism 22 also comprises a guide post 224, manipulator part 2 is connected by sliding sleeve 225 guide post 224, also comprise one to be all connected with control device 4 with the 4th reductor 221 for the 3rd position sensor the 226, three position sensor 226 detecting telescopic location.Control device 4 controls the 4th reductor 221 and drives the second screw 222 to rotate, thus drive the second screw mandrel 223 to rotate, second screw mandrel 223 drives connected elevating mechanism 23 to move, and guide post 224, for leading for telescoping mechanism 22, makes telescoping mechanism 22 stretch time shift Dynamic stability.When the 3rd position sensor 226 detects that telescoping mechanism arrives target location, control device 4 controls the 4th reductor 221 to be stopped and locking.
Preferably, warp beam waggon 3 also comprises a guide rail 32, and warp beam waggon 31 is installed on guide rail 32.When the warp beam 5 on warp beam waggon 31 is filled, warp beam waggon 31 can move to next target area by guide rail 32, carries out follow-up work.Dyeing sarong 13 is for being placed in the dye cage 131 on rotating mechanism 12, and the center line circumference along dye cage 131 is evenly distributed with multiple warp beam clamping portion 132.In the present embodiment, warp beam clamping portion 132 quantity is 6, also can be other quantity, uses dye cage 131 directly as dyeing sarong 13 at this, and dye cage 131 convenient sources, also directly can design the dyeing sarong 13 of other axial arranged warp beams 5.Base component 1 is also connected with one for detecting the sensor 133 whether each warp beam clamping portion 132 having warp beam 5, sensor 133 is connected with control device 4.Whether sensor 133 will have the model of warp beam 5 to pass to control device 4, control device 4 can calculate rotating mechanism 12 to be needed to rotate how many angles and just can rotate warp beam clamping portion 132 to not placing warp beam 5, or placed the warp beam clamping portion 132 of warp beam 5, place warp beam 5 for mechanical paw 24 or capture warp beam 5.
The above, be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and any change of expecting without creative work or replacement, all should be encompassed within protection scope of the present invention.Therefore, the protection domain that protection scope of the present invention should limit with claims is as the criterion.
Claims (9)
1. a warp beam charging crane, is characterized in that: comprise rotating basis (1), the manipulator part (2) relative with described rotating basis (1), is also provided with a warp beam waggon (3) between described rotating basis (1) and described manipulator part (2); Described rotating basis (1) comprises a base (11), and described base is provided with a rotating mechanism (12), and described rotating mechanism (12) being provided with one can the dyeing sarong (13) of the multiple warp beam of clamping (5); Described manipulator part (2) comprises a bearing (21), described bearing (21) is connected with an elevating mechanism (23) by a telescoping mechanism (22), described elevating mechanism (23) is connected with one for the mechanical paw (24) of clamping warp beam (5), and described mechanical paw (24) is corresponding with described dyeing sarong (13) position; Dyeing sarong (13) corresponding to the present invention is provided with one for locking the retaining mechanism (25) of warp beam (5); Described warp beam waggon (3) comprises a warp beam waggon (31), described warp beam waggon (31) is arranged between described rotating basis (1) and described mechanical paw (24), also comprises the control device (4) controlling described rotating mechanism (12), mechanical paw (24), telescoping mechanism (22), elevating mechanism (23), retaining mechanism (25) action.
2. warp beam charging crane according to claim 1, it is characterized in that: described rotating mechanism (12) comprises the first reductor (121) be arranged in described rotating basis (1), the gear ring (122) driven by described first reductor (121), described gear ring (122) is also connected with a rotating disk (123), also comprise one for detecting the position sensor (124) of rotating disk (123) position of rotation, described primary importance sensor (124) is all connected with described control device (4) with described first reductor (121).
3. warp beam charging crane according to claim 1, it is characterized in that: described retaining mechanism (25) comprises and is arranged at the first screw (251) on described elevating mechanism (23) and the second reductor (252), described second reductor (252) drives first screw mandrel (253) coordinated with described first screw (251), described first screw mandrel (253) bottom is provided with a platen (254), and described platen (254) is arranged at directly over described mechanical paw (24), also comprise one for detecting first pressure sensor (255) of whether locking warp beam (5), described first pressure sensor (255) is all connected with described control device with described second reductor (252).
4. warp beam charging crane according to claim 1, it is characterized in that: described mechanical paw (24) comprises the paw (241) be oppositely arranged, drive the cylinder (242) of described paw (241) action, described cylinder is controlled by a control valve, whether promptly also comprise one for detecting second pressure sensor (243) of warp beam (5), described second pressure sensor (243) is all connected with described control device (4) with described control valve.
5. warp beam charging crane according to claim 1, it is characterized in that: described elevating mechanism (23) comprises one the 3rd reductor (231), described 3rd reductor (231) drives a tooth bar (233) by a gear (232), described tooth bar (233) is connected with an elevating lever (234), also comprise one for detecting the second place sensor (235) of elevating lever (234) lifting position, described second place sensor (235) is all connected with described control device (4) with described 3rd reductor (231).
6. warp beam charging crane according to claim 1, it is characterized in that: described telescoping mechanism (22) comprises one and is arranged at the 4th reductor (221) in described manipulator part (2), described 4th reductor (221) is connected with one second screw (222), described second screw (222) is matched with one second screw mandrel (223), described second screw mandrel (223) is connected with described elevating mechanism (23), described telescoping mechanism (22) also comprises a guide post (224), described manipulator part (2) is connected by a sliding sleeve (225) described guide post (224), also comprise one for detecting the 3rd position sensor (226) of telescopic location, described 3rd position sensor (226) is all connected with described control device (4) with described 4th reductor (221).
7. warp beam charging crane according to claim 1, is characterized in that: described warp beam waggon (3) also comprises a guide rail (32), and described warp beam waggon (31) is installed on described guide rail (32).
8. warp beam charging crane according to claim 1, it is characterized in that: described dyeing sarong (13) is for being placed in the dye cage (131) on described rotating mechanism (12), and the center line circumference along described dye cage (131) is evenly distributed with multiple warp beam clamping portion (132).
9. warp beam charging crane according to claim 8, it is characterized in that: described base component (1) is also connected with one for detecting the sensor (133) whether each warp beam clamping portion (132) having warp beam (5), described sensor (133) is connected with described control device (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510432386.8A CN104999245B (en) | 2015-09-08 | 2015-09-08 | Warp beam loading and unloading machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510432386.8A CN104999245B (en) | 2015-09-08 | 2015-09-08 | Warp beam loading and unloading machine |
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| CN104999245A true CN104999245A (en) | 2015-10-28 |
| CN104999245B CN104999245B (en) | 2017-02-01 |
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| CN201510432386.8A Active CN104999245B (en) | 2015-09-08 | 2015-09-08 | Warp beam loading and unloading machine |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105347109A (en) * | 2015-12-07 | 2016-02-24 | 机械科学研究总院先进制造技术研究中心 | Warp beam yarn dismounting method and warp beam yarn mounting method |
| CN105537900A (en) * | 2016-03-04 | 2016-05-04 | 郑州纺机工程技术有限公司 | Automatic beam mounting and dismounting device for slasher |
| CN105648682A (en) * | 2016-01-05 | 2016-06-08 | 机械科学研究总院先进制造技术研究中心 | Beamed yarn loading and unloading control method |
| CN105921974A (en) * | 2016-06-21 | 2016-09-07 | 广东汇益纺织有限公司 | Improved automatic shaft pushing machine used for loading and unloading grinding head |
| CN108051337A (en) * | 2018-02-22 | 2018-05-18 | 长沙开元仪器股份有限公司 | A kind of full-automatic water sorting-detecting instrument |
| CN109250581A (en) * | 2018-10-31 | 2019-01-22 | 泰安康平纳机械有限公司 | Gravity gravity type cheese fills yarn equipment automatically |
| CN109732632A (en) * | 2019-01-21 | 2019-05-10 | 苏州优得精智装备有限公司 | A kind of three positions assembly gripper platform |
| CN112722799A (en) * | 2020-12-16 | 2021-04-30 | 嘉善边锋机械股份有限公司 | Automatic feeding equipment |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105347109A (en) * | 2015-12-07 | 2016-02-24 | 机械科学研究总院先进制造技术研究中心 | Warp beam yarn dismounting method and warp beam yarn mounting method |
| CN105347109B (en) * | 2015-12-07 | 2019-03-12 | 机械科学研究总院先进制造技术研究中心 | Beamed yarn method for dismounting and beamed yarn installation method |
| CN105648682A (en) * | 2016-01-05 | 2016-06-08 | 机械科学研究总院先进制造技术研究中心 | Beamed yarn loading and unloading control method |
| CN105648682B (en) * | 2016-01-05 | 2018-01-05 | 机械科学研究总院先进制造技术研究中心 | Beamed yarn loads and unloads control method |
| CN105537900A (en) * | 2016-03-04 | 2016-05-04 | 郑州纺机工程技术有限公司 | Automatic beam mounting and dismounting device for slasher |
| CN105921974A (en) * | 2016-06-21 | 2016-09-07 | 广东汇益纺织有限公司 | Improved automatic shaft pushing machine used for loading and unloading grinding head |
| CN108051337A (en) * | 2018-02-22 | 2018-05-18 | 长沙开元仪器股份有限公司 | A kind of full-automatic water sorting-detecting instrument |
| CN109250581A (en) * | 2018-10-31 | 2019-01-22 | 泰安康平纳机械有限公司 | Gravity gravity type cheese fills yarn equipment automatically |
| CN109250581B (en) * | 2018-10-31 | 2024-04-12 | 泰安康平纳机械有限公司 | Gravity self-falling type automatic cheese loading equipment |
| CN109732632A (en) * | 2019-01-21 | 2019-05-10 | 苏州优得精智装备有限公司 | A kind of three positions assembly gripper platform |
| CN109732632B (en) * | 2019-01-21 | 2024-04-05 | 苏州优得精智装备有限公司 | Three-position assembling paw platform |
| CN112722799A (en) * | 2020-12-16 | 2021-04-30 | 嘉善边锋机械股份有限公司 | Automatic feeding equipment |
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| CN104999245B (en) | 2017-02-01 |
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