CN106064728A - A kind of for yarn group automatic transferring equipment - Google Patents
A kind of for yarn group automatic transferring equipment Download PDFInfo
- Publication number
- CN106064728A CN106064728A CN201610592616.1A CN201610592616A CN106064728A CN 106064728 A CN106064728 A CN 106064728A CN 201610592616 A CN201610592616 A CN 201610592616A CN 106064728 A CN106064728 A CN 106064728A
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- Prior art keywords
- track
- yarn
- motor
- plate
- gear
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- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 230000003028 elevating effect Effects 0.000 claims abstract description 29
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 11
- 239000010959 steel Substances 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 description 7
- 230000006378 damage Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000007779 soft material Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000007380 fibre production Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
- 238000005491 wire drawing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Yarns And Mechanical Finishing Of Yarns Or Ropes (AREA)
Abstract
nullThe present invention relates to a kind of for yarn group automatic transferring equipment，Including X is to travel mechanism、Y-direction travel mechanism、Rotating mechanism、Elevating mechanism、Telescoping mechanism and take yarn plate，Described X includes X to track to travel mechanism、I-steel、Coaster、X is to motor and drive link，Described Y-direction travel mechanism includes Y-direction track、Y-direction moving parts、Y-direction motor and Timing Belt，Described rotating mechanism includes installing plate、Electric rotating machine、Rotate driving gear and rotary drive gear，The upper end of described elevating mechanism is connected with the output of rotary drive gear，Described telescoping mechanism is connected with the lower end of elevating mechanism，The described yarn plate that takes is arranged on the output of telescoping mechanism，The end taking yarn plate is provided with industrial camera，It is separately installed with for detecting whether there is the infrared ray sensor of foreign matter on four sidewalls of elevating mechanism，The side of elevating mechanism is provided with control panel.It is an advantage of the current invention that: structure setting is rationally, feeding precision is high and takes up room little.
Description
Technical field
The present invention relates to a kind of for yarn group automatic transferring equipment.
Background technology
In current fiber production industry, produce at fiber and in the handling process after fiberizing resultant yarn group, there is employee
Labour intensity is big, the situation of poor working environment.Traditional needs rely on and manually yarn group are unloaded from machine one by one and removed
It is transported to transport on dolly.Owing to product quantity is big, it is high that employee carries labour intensity, and production efficiency is low；A dead lift simultaneously
Operator scheme, in handling process, employee is easy to injured.
The mode that existing yarn group automatic transferring equipment uses ground to lay track moves, and itself moves and takies too much
Operation interval, and equipment activity in orbit in the course of the work have impact on the normal production operation of employee and existence is certain
Potential safety hazard, it moves and limited range of rotation simultaneously, causes what it used to be limited in scope, and this device is picking and placeing yarn group process
In, owing to picking and placeing the structure design reasons of yarn group device, easily certain injury is produced to the yarn group being picked and placeed, affect yarn group matter
Amount.
Content of the invention
It is an object of the invention to overcome the shortcoming of prior art, provide a kind of structure arrange rationally, feeding precision high and
Take up room and little roll into a ball automatic transferring equipment for yarn.
The purpose of the present invention is achieved through the following technical solutions: a kind of for yarn group automatic transferring equipment, including X is to shifting
Motivation structure, Y-direction travel mechanism, rotating mechanism, elevating mechanism, telescoping mechanism and take yarn plate, described X to travel mechanism include X to
Track, I-steel, coaster, X are arranged on the inner top surface of workshop to motor and drive link, two I-steel being parallel to each other, and X is to rail
Road is fixed on I-steel by suspender member, and X is fixed with tooth bar on the lower surface of track, and two X are to the lower section of track respectively
Be provided with a coaster, each coaster include side plate, X to motor, X to mobile driving gear and X to mobile driven gear, two pieces
Side plate is oppositely arranged, and is fixed with section bar at the top of two blocks of side plates, and section bar is slidably matched to track with X, between two blocks of side plates
Be rotatablely equipped with X respectively to mobile driving gear and X to mobile driven gear, X to mobile driving gear with X to mobile driven tooth
Wheel engagement, X also engages with tooth bar to mobile driving gear, the lateral wall of side plate is also installed with X to motor, and X is to motor
Output shaft and X be in transmission connection to mobile driving gear, X is connected with knuckle to the output of mobile driven gear, at two
Being connected by power transmission shaft between knuckle, described Y-direction travel mechanism includes Y-direction track, Y-direction moving parts, Y-direction motor and synchronization
Band, the downside of coaster is fixed with Y-direction track, and the lower surface of Y-direction track is provided with Timing Belt, and Y-direction track is slidably installed Y
Being provided with Y-direction motor on moving parts, Y-direction moving parts, Y-direction motor is connected with toothed belt transmission, and Y-direction motor can drive
Y-direction moving parts along Y-direction track slide, described rotating mechanism include installing plate, electric rotating machine, rotation driving gear and rotate from
Moving gear, installing plate track on Y-direction moving parts, installing plate be arranged above electric rotating machine, the lower section of installing plate is installed
Having intermeshing rotation driving gear and rotary drive gear, the output of electric rotating machine connects with rotating driving gear transmission
Connecing, the upper end of described elevating mechanism is connected with the output of rotary drive gear, the lower end of described telescoping mechanism and elevating mechanism
Connecting, the described yarn plate that takes is arranged on the output of telescoping mechanism, and the end taking yarn plate is provided with industrial camera, elevating mechanism
Four sidewalls on be separately installed with for detecting whether there is the infrared ray sensor of foreign matter, the side of elevating mechanism is provided with control
Panel processed, control panel respectively with X to motor, Y-direction motor, electric rotating machine, elevating mechanism, telescoping mechanism, industrial camera and
Infrared ray sensor electrically connects.
Described X is provided with the limited block for limiting coaster derailing on the downside of the two ends of track.
Described take yarn plate in be additionally provided with the sensor can weighed yarn group, this sensor and control panel electricity
Connect.
The invention have the advantages that
1st, simple in construction, reasonable in design, it is accurately controlled the movement of feeding device, and automaticity is high, operating efficiency obtains
Improve.
2nd, crossbeam is arranged on above the ground, and Y-direction travel mechanism and X are respectively positioned on above the ground to travel mechanism, will not take
Ground space, by Y-direction travel mechanism and X to the cooperation of travel mechanism, it is achieved the movement of feeding device, it is not necessary to lay on ground
Track, reduces further and takes up room, do not interfere with the normal operation on ground, and the rotating range of rotating mechanism is unrestricted, because of
And feeding, blowing scope are bigger.
3rd, at the end taking yarn plate, industrial camera is installed, to tile real time imagery, is calculated by corresponding video identification
Method calculates the center of tile compared with the calculating position of industrial computer, adjusts three-dimensional coordinate when yarn group places in real time,
Reach to prevent the mistake in yarn group placement process, cause the damage of yarn group.
4th, it is separately installed with on four sidewalls of elevating mechanism for detecting whether there is the infrared ray sensor of foreign matter, when
When foreign matter having been detected, whole equipment stops immediately, thus can prevent security incident.
5th, take yarn plate and use the design of arc soft material, it is ensured that yarn group can be automatically concentric when picking and placeing yarn group, exists simultaneously
Fetching process also will not damage yarn group, it is ensured that quality rolled into a ball by yarn.
Brief description
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the side structure schematic diagram of the present invention；
Fig. 3 is the structural representation of coaster；
Fig. 4 is the structural representation of rotating mechanism；
In figure: 1-X is to track, 2-I-steel, 3-tooth bar, 4-suspender member, 5-coaster, 6-section bar, 7-side plate, and 8-X is to motor, 9-
X to mobile driving gear, 10-X to driven gear, 11-knuckle, 12-drive link, 13-Y to track, 14-Y to moving parts,
15-Y to motor, 16-Timing Belt, 17-installing plate, 18-electric rotating machine, 19-rotates driving gear, 20-rotary drive gear,
21-elevating mechanism, 22-telescoping mechanism, 23-takes yarn plate, 24-yarn group, 25-control panel, 26-limited block.
Detailed description of the invention
The present invention will be further described below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to following institute
State.
As shown in Figures 1 to 4, a kind of roll into a ball automatic transferring equipment for yarn, including X to travel mechanism, Y-direction travel mechanism,
Rotating mechanism, elevating mechanism, telescoping mechanism and take yarn plate 23, described X includes X to track the 1st, I-steel the 2nd, coaster to travel mechanism
5th, X is arranged on the inner top surface of workshop to motor 8 and drive link 12, two I-steel being parallel to each other 2, and X passes through hanging to track 1
Part 4 is fixed on I-steel 2, and X is fixed with tooth bar 3, two X being respectively arranged below to track 1 on the lower surface of track 1
One coaster 5, each coaster 5 include side plate the 7th, X to motor the 8th, X to mobile driving gear 9 and X to mobile driven gear 10, two
Block side plate 7 is oppositely arranged, and is fixed with section bar 6 at the top of two blocks of side plates 7, and section bar 6 is slidably matched to track 1 with X, two pieces of sides
Being rotatablely equipped with X between plate 7 respectively to mobile driving gear 9 and X to mobile driven gear 10, X is to mobile driving gear 9 and X
Engaging to mobile driven gear 10, X also engages with tooth bar 3 to mobile driving gear 9, and the lateral wall of side plate 7 also fixedly mounts
Having X to be in transmission connection to mobile driving gear 9 with X to the output shaft of motor 8 to motor 8, X, X is to the output of mobile driven gear 10
End is connected with knuckle 11, is connected by power transmission shaft 12 between two knuckles 11, and described Y-direction travel mechanism includes Y-direction rail
Road the 13rd, Y-direction moving parts the 14th, Y-direction motor 15 and Timing Belt 16, the downside of coaster 5 is fixed with Y-direction track 13, Y-direction track 13
Lower surface is provided with Timing Belt 16, and Y-direction track 13 is slidably installed Y-direction moving parts 14, and Y-direction moving parts 14 is installed
Having Y-direction motor 15, Y-direction motor 15 is in transmission connection with Timing Belt 16, and Y-direction motor 15 can drive Y-direction moving parts 14 along Y-direction rail
Road 13 slides, and described rotating mechanism includes that the 18th, installing plate the 17th, electric rotating machine rotates driving gear 19 and rotary drive gear 20,
Installing plate 17 track on Y-direction moving parts 14, installing plate 17 be arranged above electric rotating machine 18, the lower section of installing plate 17 peace
Equipped with intermeshing rotation driving gear 19 and rotary drive gear 20, the output of electric rotating machine 18 and rotation driving gear
19 are in transmission connection, and the upper end of described elevating mechanism 21 is connected with the output of rotary drive gear 20, described telescoping mechanism 22 with
The lower end of elevating mechanism 21 connects, and the described yarn plate 23 that takes is arranged on the output of telescoping mechanism 22, takes yarn plate 23 and uses arc
Soft material designs, and the end taking yarn plate 23 is provided with industrial camera, and four sidewalls of elevating mechanism 21 are separately installed with
For detecting whether there is the infrared ray sensor of foreign matter, the side of elevating mechanism 21 is provided with control panel 25, control panel 25
Respectively with X to motor the 8th, Y-direction motor the 15th, electric rotating machine the 18th, elevating mechanism the 21st, telescoping mechanism the 22nd, industrial camera and infrared ray
Sensor electrically connects.
As preferably, derail as it is shown in figure 1, described X is provided with on the downside of the two ends of track 1 for limiting coaster 5
Limited block 26.
As preferably, described take yarn plate 23 in be additionally provided with the sensors can weighed yarn group 24, this biography
Sensor electrically connects with control panel 25, can carry out, to yarn group 24, classification of weighing, can also calculate simultaneously yarn roll into a ball the line density of 24 with
Detection yarn rolls into a ball whether 24 reach technology requirement.
The course of work of the present invention is as follows: X is to movement: X rotates to motor 8, drives X to rotate to mobile driving gear 9, with
When X engage to driven gear 10 with X to mobile driving gear 9, by knuckle 11 and drive link 12 be transferred to the X of opposite side to
On driven gear 10 so that the coaster 5 to track 1 both sides for the X is synchronized with the movement.Y-direction moves: Y-direction motor 15 rotates, and drives Y-direction fortune
Dynamic assembly 14 moves along Y-direction track 13.Rotate: steer motor 18 rotation is rotated driving gear 19 and rotates, and rotates actively
Gear 19 engages with rotary drive gear 20, thus driven gear 20 is rotated and rotates, elevating mechanism 21 be arranged on rotation from
On moving gear 20, thus elevating mechanism 21 is driven to rotate in horizontal plane.Elevating mechanism 21 drives telescoping mechanism 22 to move up and down
(Z-direction moves), telescoping mechanism 22 drives and takes yarn plate 23 movement in the horizontal direction.Operationally, yarn plate 23 is taken at telescopic machine
Stretching out on structure 22, elevating mechanism 21 moves down into correct position simultaneously, and robot moves to wire drawing entirely through Y-direction moving parts 14
Machine relevant position, reaches and specifies position, and elevating mechanism 21 rises certain altitude, is detected take by taking the sensor in yarn plate 23
After yarn group 24, taking yarn plate 23 and regaining, robot back moves yarn group 24 taking-up entirely through Y-direction moving parts 14 simultaneously,
Now take yarn process to finish；During putting yarn, robot moves to correct position in X direction entirely through coaster 5, revolves simultaneously
Rotation mechanism rotates to an angle parallel with charka X-direction, and Y-direction moving parts 14 also moves to correct position, and three mechanisms are same
Shi Zuoyong, it is ensured that be accurately positioned in yarn group 24 on charka, takes yarn plate 23 and stretches out alignment position, elevating mechanism 21 during putting yarn
Move down certain altitude, take yarn plate 23 inner sensor and detect that yarn group 24 has put well, take yarn plate 23 and regain, Y-direction moving parts 14
Regaining, at this moment robot repeats and takes yarn action.
Claims (3)
1. roll into a ball automatic transferring equipment for yarn for one kind, it is characterised in that: include X to travel mechanism, Y-direction travel mechanism, whirler
Structure, elevating mechanism, telescoping mechanism and take yarn plate (23), described X includes X to track (1), I-steel (2), coaster to travel mechanism
(5), X is arranged on the inner top surface of workshop to motor (8) and drive link (12), two I-steel being parallel to each other (2), and X is to track
(1) being fixed on I-steel (2) by suspender member (4), X is fixed with tooth bar (3) on the lower surface of track (1), and two X are to rail
Road (1) be respectively arranged below a coaster (5), each coaster (5) include side plate (7), X to motor (8), X to mobile main
Moving gear (9) and X are to mobile driven gear (10), and two pieces of side plates (7) are oppositely arranged, and fix at the top of two pieces of side plates (7)
Having section bar (6), section bar (6) is slidably matched to track (1) with X, is rotatablely equipped with X respectively to mobile master between two pieces of side plates (7)
Moving gear (9) and X engage to mobile driven gear (10) with X to mobile driving gear (9) to mobile driven gear (10), X, X
Also engage with tooth bar (3) to mobile driving gear (9), the lateral wall of side plate (7) be also installed with X to motor (8), X to
The output shaft of motor (8) is in transmission connection to mobile driving gear (9) with X, and X is connected with to the output of mobile driven gear (10)
Knuckle (11), is connected by power transmission shaft (12) between two knuckles (11), and described Y-direction travel mechanism includes Y-direction track
(13), Y-direction moving parts (14), Y-direction motor (15) and Timing Belt (16), the downside of coaster (5) is fixed with Y-direction track (13), Y
Lower surface to track (13) is provided with Timing Belt (16), and Y-direction track (13) is slidably installed Y-direction moving parts (14), Y
Being provided with Y-direction motor (15) on moving parts (14), Y-direction motor (15) is in transmission connection with Timing Belt (16), Y-direction motor (15)
Y-direction moving parts (14) can be driven to slide along Y-direction track (13), and described rotating mechanism includes installing plate (17), electric rotating machine
(18), rotating driving gear (19) and rotary drive gear (20), installing plate (17) track, on Y-direction moving parts (14), is pacified
Fill plate (17) is arranged above electric rotating machine (18), and the lower section of installing plate (17) is provided with intermeshing rotation driving gear
(19) and rotary drive gear (20), the output of electric rotating machine (18) is in transmission connection with rotating driving gear (19), described liter
The upper end of descending mechanism (21) is connected with the output of rotary drive gear (20), described telescoping mechanism (22) and elevating mechanism (21)
Lower end connect, the described yarn plate (23) that takes is arranged on the output of telescoping mechanism (22), and the end taking yarn plate (23) is provided with
Industrial camera, four sidewalls of elevating mechanism (21) are separately installed with for detecting whether there is the infrared ray sensing of foreign matter
Device, the side of elevating mechanism (21) is provided with control panel (25), control panel (25) respectively with X to motor (8), Y-direction motor
(15), electric rotating machine (18), elevating mechanism (21), telescoping mechanism (22), industrial camera and infrared ray sensor electrical connection.
2. one according to claim 1 rolls into a ball automatic transferring equipment for yarn, it is characterised in that: described X is to track (1)
Two ends on the downside of be provided with for limiting the limited block (26) that coaster (5) derails.
3. one according to claim 1 rolls into a ball automatic transferring equipment for yarn, it is characterised in that: described takes yarn plate (23)
Inside being additionally provided with the sensor can weighed yarn group (24), this sensor electrically connects with control panel (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610592616.1A CN106064728B (en) | 2016-07-26 | 2016-07-26 | One kind is used for yarn group automatic transferring equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610592616.1A CN106064728B (en) | 2016-07-26 | 2016-07-26 | One kind is used for yarn group automatic transferring equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106064728A true CN106064728A (en) | 2016-11-02 |
| CN106064728B CN106064728B (en) | 2018-04-17 |
Family
ID=57207061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610592616.1A Active CN106064728B (en) | 2016-07-26 | 2016-07-26 | One kind is used for yarn group automatic transferring equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106064728B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284946A (en) * | 2017-07-10 | 2017-10-24 | 温州大学 | A kind of potted plant automatic carriage of greenhouse |
| CN108100640A (en) * | 2018-01-04 | 2018-06-01 | 泰山玻璃纤维有限公司 | The pinpoint chopped strand of view-based access control model goes up yarn system automatically |
| CN108163483A (en) * | 2018-01-18 | 2018-06-15 | 中车长春轨道客车股份有限公司 | End space rotary motion system |
| CN108639965A (en) * | 2018-06-14 | 2018-10-12 | 张亚东 | A kind of row handling transfer device |
| CN109132395A (en) * | 2018-08-22 | 2019-01-04 | 华晓精密工业(苏州)有限公司 | A kind of times journey translation mechanism |
| CN110980157A (en) * | 2019-12-10 | 2020-04-10 | 利辛县富亚纱网有限公司 | Rail hanger for hanging wide gauze |
| CN111703833A (en) * | 2020-06-17 | 2020-09-25 | 福德机器人（成都）有限责任公司 | Multi-shaft yarn unloading robot |
| CN112132518A (en) * | 2020-09-28 | 2020-12-25 | 四川长虹智能制造技术有限公司 | Yarn taking and releasing task processing method, device and system |
| CN113352306A (en) * | 2021-05-19 | 2021-09-07 | 芜湖锐冠智能装备有限公司 | Material taking robot structure |
| CN115159006A (en) * | 2022-07-13 | 2022-10-11 | 中国工程物理研究院材料研究所 | Material transfer system |
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| EP0000877A1 (en) * | 1977-08-31 | 1979-03-07 | Grisebach, Hans-Theodor | Manipulator for positionning workpieces or other loads |
| CN1812867A (en) * | 2003-06-25 | 2006-08-02 | 本田技研工业株式会社 | Assist transportation method and device |
| CN101559880A (en) * | 2008-04-18 | 2009-10-21 | 村田机械株式会社 | Plate material conveying device |
| CN102991977A (en) * | 2012-11-29 | 2013-03-27 | 天津滨海国际花卉科技园区股份有限公司 | Potted flower transfer device in greenhouse |
| CN102991978A (en) * | 2012-11-30 | 2013-03-27 | 湖北华昌达智能装备股份有限公司 | Self-propelling car system |
| CN204151040U (en) * | 2014-10-15 | 2015-02-11 | 武汉黎赛科技有限责任公司 | A kind of transfer equipment |
| CN204748622U (en) * | 2015-06-09 | 2015-11-11 | 广州市文穂塑料机械有限公司 | Five full servo manipulator devices |
| CN205802302U (en) * | 2016-07-26 | 2016-12-14 | 巨石集团成都有限公司 | A kind of for yarn group automatic transferring equipment |
-
2016
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP0000877A1 (en) * | 1977-08-31 | 1979-03-07 | Grisebach, Hans-Theodor | Manipulator for positionning workpieces or other loads |
| CN1812867A (en) * | 2003-06-25 | 2006-08-02 | 本田技研工业株式会社 | Assist transportation method and device |
| CN101559880A (en) * | 2008-04-18 | 2009-10-21 | 村田机械株式会社 | Plate material conveying device |
| CN102991977A (en) * | 2012-11-29 | 2013-03-27 | 天津滨海国际花卉科技园区股份有限公司 | Potted flower transfer device in greenhouse |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284946A (en) * | 2017-07-10 | 2017-10-24 | 温州大学 | A kind of potted plant automatic carriage of greenhouse |
| CN108100640A (en) * | 2018-01-04 | 2018-06-01 | 泰山玻璃纤维有限公司 | The pinpoint chopped strand of view-based access control model goes up yarn system automatically |
| CN108163483A (en) * | 2018-01-18 | 2018-06-15 | 中车长春轨道客车股份有限公司 | End space rotary motion system |
| CN108163483B (en) * | 2018-01-18 | 2024-04-02 | 中车长春轨道客车股份有限公司 | End space rotary motion system |
| CN108639965A (en) * | 2018-06-14 | 2018-10-12 | 张亚东 | A kind of row handling transfer device |
| CN109132395B (en) * | 2018-08-22 | 2023-11-10 | 华晓精密工业(苏州)有限公司 | Stroke doubling translation mechanism |
| CN109132395A (en) * | 2018-08-22 | 2019-01-04 | 华晓精密工业(苏州)有限公司 | A kind of times journey translation mechanism |
| CN110980157A (en) * | 2019-12-10 | 2020-04-10 | 利辛县富亚纱网有限公司 | Rail hanger for hanging wide gauze |
| CN110980157B (en) * | 2019-12-10 | 2021-04-20 | 利辛县富亚纱网有限公司 | Rail hanger for hanging wide gauze |
| CN111703833A (en) * | 2020-06-17 | 2020-09-25 | 福德机器人（成都）有限责任公司 | Multi-shaft yarn unloading robot |
| CN112132518B (en) * | 2020-09-28 | 2021-10-01 | 四川长虹智能制造技术有限公司 | Yarn taking and releasing task processing method, device and system |
| CN112132518A (en) * | 2020-09-28 | 2020-12-25 | 四川长虹智能制造技术有限公司 | Yarn taking and releasing task processing method, device and system |
| CN113352306A (en) * | 2021-05-19 | 2021-09-07 | 芜湖锐冠智能装备有限公司 | Material taking robot structure |
| CN115159006A (en) * | 2022-07-13 | 2022-10-11 | 中国工程物理研究院材料研究所 | Material transfer system |
| CN115159006B (en) * | 2022-07-13 | 2024-03-29 | 中国工程物理研究院材料研究所 | Material transfer system |
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| Publication number | Publication date |
|---|---|
| CN106064728B (en) | 2018-04-17 |
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