CN107745017B - A kind of coiling control method for fully automatic with Garlert Coiler - Google Patents
A kind of coiling control method for fully automatic with Garlert Coiler Download PDFInfo
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- CN107745017B CN107745017B CN201710954337.XA CN201710954337A CN107745017B CN 107745017 B CN107745017 B CN 107745017B CN 201710954337 A CN201710954337 A CN 201710954337A CN 107745017 B CN107745017 B CN 107745017B
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- elevator
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- helix tube
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
- B21C47/02—Winding-up or coiling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
- B21C47/24—Transferring coils to or from winding apparatus or to or from operative position therein; Preventing uncoiling during transfer
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Winding, Rewinding, Material Storage Devices (AREA)
Abstract
The invention discloses a kind of coiling control method for fully automatic with Garlert Coiler belongs to and coils automatic control in the production line field.This method calculates the initial time of rising and the speed of rotation first, and helix tube elevator rotates to initial position；Then after coiling, which reaches, sets fixing turn, helix tube elevator rises to extreme higher position, coils unloading, while Garlert Coiler is collected and coiled using the rotating cylinder of rotation and the coiling disk of lifting；Last ejecting gear takes out the coiling in Garlert Coiler, coils elevator and the coiling on ejecting gear is put on pallet automatically.The invention proposes the controls of the swing speed of the control of the rise time of helix tube elevator and speed, Garlert Coiler, realize the coiling Automatic Control with Garlert Coiler, pass through the logical action sequence of each important equipment of rational allocation, make the more regular beauty of product scroll, improves the operational efficiency coiled and collected.
Description
Technical field
The invention belongs to coil automatic control in the production line field, specifically a kind of coiling with Garlert Coiler is full-automatic
Control method.
Background technique
Increase with steel market to the demand of coiling in recent years, domestic upper coiling production line new successively.Coil production line
Important equipment include helix tube elevator, Garlert Coiler, ejecting gear and coil elevator, these equipment control accuracy
It is largely fixed the quality of production, rhythm of production and the yield for coiling production line.
Be embodied in: helix tube elevator is used to upstream rolled piece is sent into Garrett volume inside Garlert Coiler
Machine is taken, the speed of the time and rising that begin to ramp up determine the diameter and ring of coiling, are the key that guarantee product quality.
Garlert Coiler is made of rotatable rotating cylinder and liftable coiling disk, is coiled for collecting；The speed of rotating cylinder determines
The ring of coiling, Garlert Coiler reel stops the precision of positioning and rapidity determines the rhythm coiled and collected, and
The key point of quality control.Ejecting gear is used to take out the coiling in Garlert Coiler, and position control accuracy requires high.It coils
Elevator is used to the coiling on ejecting gear to be put on pallet to transport.
Coiling Automatic Control with Garlert Coiler is outer with Italian Da Nieli etc. at home also in mid-term stage
The controlled level of company, state is compared, and there is also a certain distance.How by PLC, (Programm Logic Control, can be compiled
Cyclelog) system reasonably control coil collect each stage, improve helix tube elevator, Garlert Coiler,
Ejecting gear and the operational efficiency for coiling elevator avoid " drawing steel ", " piling of steel " phenomenon in production process, keep scroll more regular
And it is beautiful, for promoting the domestic coiling automatic control level with Garlert Coiler, and the production capacity of raising coiling production line
And product quality, all it is of great significance.
Summary of the invention
The present invention to solve the above-mentioned problems, improve the coilings equipment with Garlert Coiler operation stability, reliably
Property and off-position accuracy, obtain ideal rhythm of production, propose a kind of coiling control method for fully automatic with Garlert Coiler.
Specific step is as follows:
Step 1: in process of production, helix tube elevator is controlled according to the logical order of auto-action, calculate separately
The speed of the initial time and rotation that rise；
The initial time P that helix tube elevator rises:
P=(1.2*3.14*Q)/V；
Q is the circle number of one layer of coiling, Q=200/D-1；D is product specification；V is the speed of finishing mill line.
The rotation speed that helix tube elevator rises calculates as follows: H=(D/P) * K
Wherein: K is safety coefficient, generally rule of thumb choosing value.
Step 2: initial time, helix tube elevator crosses coiling and rotates to initial position waiting；
Initial position is 0mm height；
Step 3: starting to calculate disk when the hot metal detector at Garlert Coiler detects workpiece front end signal
The circle number of volume, helix tube elevator follow coil formed speed rise, when reach set fixing turn after, helix tube elevator rise
To extreme higher position；
Extreme higher position is set as 1000mm height；
Step 4: helix tube elevator goes to initial position, waits and coil unloading；
After coiling unloading and Garlert Coiler is turned over again, and helix tube elevator is rotated to Garlert Coiler simultaneously
Drop to initial position, restarts to wait new coiling rolled piece.
The high-speed counter module of PLC receives the signal that absolute value encoder transmits, and the code-disc circle number read is converted to
The angle actually rotated, the set angle then turned to as needed carry out the rotational positioning control of helix tube elevator respectively,
Angular deviation is at ± 5 °.
Step 5: Garlert Coiler is collected and is coiled using the rotating cylinder of rotation and the coiling disk of lifting；
After the circle number coiled in entrance rotating cylinder, which reaches, sets fixing turn, Garlert Coiler starts in triangular wave oscillation curve
It swings, the hot metal detector at pinch roller before helix tube elevator detects that steel tail begins to calculate tail length, arrives
Garlert Coiler stops swinging when the tail length of remaining HMI setting, coils all collections and finishes；
Before Garlert Coiler heat inspection no signal after, Garlert Coiler slows down and stop to unload volume position waiting unload volume；
After the completion of unloading, the coiling disk in rotating cylinder rises, and detects that highest order stops being sent into PLC to close to switch.
Step 6: ejecting gear takes out the coiling in Garlert Coiler, and wait coiling elevator；
After volume position is unloaded in ejecting gear arrival, its rotation is driven by hydraulic proportion valve, rotation angle is total to unloading position from position is loaded
It is altogether 110 °.Location control, positioning accuracy ± 0.5 ° are carried out to rotation by absolute value code-disc.There are also by pneumatic for ejecting gear simultaneously
Three lift arms of valve driving, are divided into 120 degree；For being promoted to coiling.
After ejecting gear, which is gone to, to be loaded position and lock lift arm, the coiling disk in reel rises to a high position, struts unload at this time
The lift arm of volume machine catches coiling, coils disk decline, falls into place rear ejecting gear and goes to and unloads volume position.
The coiling on ejecting gear is put on pallet automatically Step 7: coiling elevator.
It coils the frame that elevator is vertically moved by two to form, each frame respectively has a rotatable collection arm；
The rotation of the up and down motion and collection arm of coiling elevator is driven by hydraulic proportion valve.
Coiling elevator, detailed process is as follows:
Original state are as follows: coil the pallet of elevator as sky, and collection arm is in closed configuration, coil elevator and be located at height
Position.
After the ejecting gear for having coiling goes to unloading position, coils elevator rising and go to loading position, the lift arm of ejecting gear
It retracts, coils elevator and begin to decline unloading position, coiling is placed on pallet, is coiled elevator with coiling and is dropped to low level；
Then, rotatable collection arm is opened, and is opened in place afterwards equipped with the tray retracted coiled；The empty support of insertion simultaneously one
Disk coils elevator and rises to initial position simultaneously during being inserted into empty pallet；After equal empty pallets are inserted in place, collection arm
Close up, elevator waits next coiling.
The present invention has the advantages that
1) a kind of, coiling control method for fully automatic with Garlert Coiler, realizes the coiling with Garlert Coiler
Automatic Control improves the operational efficiency coiled and collected by the logical action sequence of each important equipment of rational allocation.
2), a kind of coiling control method for fully automatic with Garlert Coiler, when proposing the rising of helix tube elevator
Between and the control of speed, the swing speed control of Garlert Coiler, make the more regular beauty of product scroll, improve coiling life
Produce yield.
Detailed description of the invention
Fig. 1 is the coiling control method for fully automatic flow chart of the invention with Garlert Coiler；
Fig. 2 is the rising working drawing of helix tube elevator of the present invention；
Fig. 3 is the curve graph of Garlert Coiler swing speed of the present invention；
Specific embodiment
Specific implementation method of the invention is described in detail with reference to the accompanying drawing.
A kind of coiling control method for fully automatic with Garlert Coiler of the present invention, control including helix tube elevator,
The control of Garlert Coiler, the control of ejecting gear and the control for coiling elevator.
The logical order control of helix tube elevator is as follows: the initial hot metal detector detection at Garlert Coiler
To workpiece front end signal, start the circle number for calculating reel, helix tube elevator follows the speed coiled and formed to rise, works as coiling machine
After coiling in cylinder reaches and sets fixing turn, helix tube elevator rotates to 0 degree of position after rising to extreme higher position, waits Garrett
Coiling machine unloads volume；Rear screw pipe elevator steering coiling machine is turned over again and drops to initial position when Garlert Coiler waits
Rolled piece is received again；The spinning movement of helix tube elevator is controlled to complete by accurate finder.
Garlert Coiler automatic control is divided into logic control and speed control two parts；Logic control is as follows: initial shape
State starts to calculate circle number when its preceding hot metal detector detects and coils head, counts to HMI when entering the circle coiled in reel
After preset numerical value, coiling machine begins to swing；Hot metal detector detects steel tail at pinch roller before helix tube elevator
Begin to calculate tail length, to remaining HMI set tail length when coiling machine just stop swinging.
Before coiling machine heat inspection no signal after, coiling machine slows down and stop to correctly unload volume position waiting unload volume.
After ejecting gear, which is gone to, to be loaded position and lock lift arm, the coiling disk in reel rises to a high position, struts unload at this time
The lift arm of volume machine catches coiling, coils disk decline, falls into place rear ejecting gear and goes to and unloads volume position.
Ejecting gear is gone to unload volume position after, coil elevator and rise to and load position height, in ejecting gear is retracted into lift arm
Position postpones coiling elevator and begins to decline unloading position, and coiling is placed on after pallet and drops to bottom, then opens rotating arm,
Empty pallet is changed in waiting, in waiting process, is coiled elevator and is risen to elemental height, rotation is closed up after empty pallet is finished changing
Arm, waiting act next time.
As shown in Figure 1, the specific steps are as follows:
Step 1: helix tube elevator is controlled according to the logical order of auto-action in production process, rising is calculated separately
Initial time and rotation speed；
Helix tube elevator is hydraulically operated, and realizes the movement and spinning movement of vertical direction, rises the time started
And the rate of climb is as shown in Figure 2:
The initial time P that helix tube elevator rises is: the circle number Q coiled by one layer calculates length and rolls again divided by supplied materials
The speed of part obtains；Specific formula is as follows:
P=(1.2*3.14*Q)/V；
Q is the circle number of one layer of coiling, is set, can be adjusted on HMI according to time situation；Q=200/D-1.D
To indicate the diameter coiled, product specification (mm)；V=finishing mill linear velocity (m/s).
Its speed, diameter, the initial time of rotation speed H and coiling are controlled in helix tube elevator uphill process
And safety coefficient is related, calculates as follows:
H=(D/P) * K
Wherein: K is safety coefficient, generally rule of thumb choosing value；Safety coefficient be in order to guarantee that spiral lift starts on
It is collected after rising and coils a not random coefficient, be typically set at 1.1, can be adjusted according to the actual situation, in actual implementation work
Empirical data in journey is 1.2.
Step 2: initial time, helix tube elevator crosses coiling and rotates to initial position waiting；
Helix tube elevator is there are two types of azimuthal rotational motion: 0 degree is arrived offline position with 50 degree to crossing coiling.Helix tube liter
Drop machine is usually gone up and down to be run in 0-1000mm height, and the height of 1000-2000mm is only that maintenance is used, and the height of lifting is by one
Absolute value encoder accesses PLC system to measure；
Under automated manner, helix tube elevator is rotating to the position waiting for crossing coiling, and helix tube elevator exists at this time
Initial position 0mm height.
Step 3: starting to calculate disk when the hot metal detector at Garlert Coiler detects workpiece front end signal
The circle number of volume, helix tube elevator follow coil formed speed rise, when reach set fixing turn after, helix tube elevator rise
To extreme higher position；
Enter reel when coiling head, having collected several circles, (number is on HMI (Human Machine Inteface, man-machine boundary
Face) on be configured) coil after, helix tube elevator just follow coil formed speed rise to extreme higher position, extreme higher position
For 1000mm height；
Step 4: helix tube elevator passes again to 0 degree of position of starting, Garlert Coiler is waited to unload the disk being collected into
Volume；
After coiling unloading and after Garlert Coiler turns over again, helix tube elevator turns to Garlert Coiler simultaneously
Drop to initial position, restarts to wait new coiling rolled piece.
The high-speed counter module of PLC receives the signal that absolute value encoder transmits, and the code-disc circle number read is converted to
The angle actually rotated, the set angle then turned to as needed carry out the rotational positioning control of helix tube elevator respectively,
Angular deviation is at ± 5 °.
Step 5: Garlert Coiler is collected and is coiled using the rotating cylinder of rotation and the coiling disk of lifting；
In order to obtain good scroll, the coiling speed of Garlert Coiler is in a triangular wave oscillation curve.It swings bent
As shown in figure 3, after the preset coiling head circle number of HMI enters reel, Garlert Coiler begins to swing line, works as helix tube
The hot metal detector at pinch roller before elevator detects the tail that steel tail starts to calculate tail length, sets to remaining HMI
Garlert Coiler stops swinging when minister spends, and coils all collections and finishes.After coiling all collections, Garrett is batched
Machine retarded motion, finally stop to correctly unload volume position wait unload volume.
Refer to after workpiece front end enters coiling machine the speed of coiling machine in for some time in coiler front-end in figure.
In the circle number before starting of oscillation it is the adjustable number on HMI in figure, is to guarantee that several leading circle is put in coiler mandrel bottom
Set stabilization.
Before Garlert Coiler heat inspection no signal after, Garlert Coiler slows down and stop to unload volume position waiting unload volume；
After the completion of unloading, the coiling disk in rotating cylinder rises, and detects that highest order stops being sent into PLC to close to switch.
Step 6: ejecting gear takes out the coiling in Garlert Coiler, and wait coiling elevator；
After volume position is unloaded in ejecting gear arrival, its rotation is driven by hydraulic proportion valve, rotation angle is total to unloading position from position is loaded
It is altogether 110 °.Location control, positioning accuracy ± 0.5 ° are carried out to rotation by absolute value code-disc.There are also by pneumatic for ejecting gear simultaneously
Three lift arms of valve driving, are divided into 120 degree；For being promoted to coiling.
After ejecting gear, which is gone to, to be loaded position and lock lift arm, the coiling disk in reel rises to a high position, struts unload at this time
The lift arm of volume machine catches coiling, coils disk decline, falls into place rear ejecting gear and goes to and unloads volume position.
The coiling on ejecting gear is put on pallet automatically Step 7: coiling elevator.
It coils the frame vertically moved that elevator respectively has a rotatable collection arm by two to form, coils elevator
Up and down motion and the rotation of collection arm driven by hydraulic proportion valve.
Coiling elevator, detailed process is as follows:
Original state are as follows: coil the pallet of elevator as sky, and collection arm is in closed configuration, coil elevator and be located at height
Position.
After the ejecting gear for having coiling goes to unloading position, coils elevator rising and go to loading position, the lift arm of ejecting gear
It retracts, coiling is placed on pallet, is coiled elevator with coiling and is dropped to low level；
Then, rotatable collection arm is opened, and is opened in place afterwards equipped with the tray retracted coiled；The empty support of insertion simultaneously one
Disk coils elevator and rises to initial position simultaneously during being inserted into empty pallet；After equal empty pallets are inserted in place, collection arm
Close up, elevator waits next coiling.
It coils elevator lifting and shares 4 fixed positions: starting/waiting position, 2100mm；Loading position, 3600mm；It is unloaded into
Pallet position, 35mm；Bottom position, 0mm.
The present invention unloads volume position when ejecting gear is parked in, and Garlert Coiler reel is also parked in when unloading volume position, the coiling in reel
Disk rise, to a high position after stop.The positioning accuracy of Garlert Coiler reel wants high (± 1 °), just can guarantee unload volume it is normal into
Row, therefore the position control of reel is critically important.In addition, the triangular wave oscillation curve of Garlert Coiler determines final collection again
The ring quality of coiling, therefore the weave control of coiling machine is equally also critically important.
The present invention connects volume automatically and the process of unloading is as follows:
Original state: for helix tube against the Garlert Coiler of a dry run, the pallet in coiling machine is located at low level.
After workpiece front end enters helix tube, pinch roller steps up before Garlert Coiler, and reel goes to the circle number set on HMI
After begin to swing.Garlert Coiler is collected on HMI after preset length of rolled piece, and reel stops swinging.Rolled piece tail portion is arrived
Pinch roller is opened when pinch roller；After tail portion is all introduced into reel, helix tube elevator is raised to a high position and goes to zero-bit, rolls up simultaneously
Cylinder positioning stops to unloading position.
Then, plume journey is unloaded in starting.
Original state: elevator is coiled 2100mm height (waiting position/initial bit), there is empty pallet in lower section, ejecting gear
Lift arm is retracted and is lockked.
Ejecting gear goes to the position for crossing coiling, and reel inner pallet rises to a high position, struts lift arm and catches coiling, pallet
It begins to decline, ejecting gear, which is gone to, unloads volume position, and coiling elevator, which is gone to, connects volume position；After pallet is fallen into place, starting Garrett is batched
Machine；When ejecting gear is to after unloading volume position and lock, helix tube goes to the Garlert Coiler against dry run, waits the period.
When the pallet in Garrett reel is begun to decline, coiling elevator, which is gone to, connects volume position；Ejecting gear goes to unloading position
Afterwards, it coils elevator and is just raised to 3600mm height (reprinting position), then ejecting gear moving arm is retracted into inner ring position, coils lifting
Machine, which drops to, unloads goods yard 35mm (unloading position), and coiling is put on pallet, bottom 0mm height (bottom position) is dropped to that, beats
Open rotating arm；After changing new pallet, elevator rises to initial position 2100mm height (waiting position/initial bit), waits new
Coiling；Close up rotating arm after new pallet is plugged.
Algorithm at the beginning of The present invention gives the rising of helix tube elevator with the rate of climb；And Garrett batches
The curve graph of machine swing speed proposes to need a certain number of disks before Garlert Coiler is swung according to practical operating experiences
Retracting collection is batching in machine barrel, and to guarantee to collect the scroll coiled, this quantity is can be on HMI according to production actual conditions
It is adjusted.
Claims (5)
1. a kind of coiling control method for fully automatic with Garlert Coiler, which is characterized in that specific step is as follows:
Step 1: in process of production, helix tube elevator is controlled according to the logical order of auto-action, rising is calculated separately
The speed of initial time and rotation；
Step 2: initial time, helix tube elevator crosses coiling and rotates to initial position waiting；
Step 3: starting to calculate coiling when the hot metal detector at Garlert Coiler detects workpiece front end signal
Enclose number, helix tube elevator follow coil formed speed rise, when reach set fixing turn after, helix tube elevator rises to most
High position；
Step 4: helix tube elevator goes to initial position, waits and coil unloading；
After coiling unloading and Garlert Coiler is turned over again, and helix tube elevator rotates to Garlert Coiler and declines
To initial position, restart to wait new coiling rolled piece；
The high-speed counter module of PLC receives the signal that absolute value encoder transmits, and the code-disc circle number read is converted to reality
The angle of rotation, the set angle then turned to as needed carry out the rotational positioning control of helix tube elevator, angle respectively
Deviation is at ± 5 °；
Step 5: Garlert Coiler is collected and is coiled using the rotating cylinder of rotation and the coiling disk of lifting；
After the circle number coiled in entrance rotating cylinder, which reaches, sets fixing turn, Garlert Coiler starts to put in triangular wave oscillation curve
Dynamic, the hot metal detector at pinch roller before helix tube elevator detects that steel tail begins to calculate tail length, arrives surplus
Garlert Coiler stops swinging when the tail length of remaining HMI setting, coils all collections and finishes；
Before Garlert Coiler heat inspection no signal after, Garlert Coiler slows down and stop to unload volume position waiting unload volume；When unloading
After the completion of load, the coiling disk in rotating cylinder rises, and detects that highest order stops being sent into PLC to close to switch；
Step 6: ejecting gear takes out the coiling in Garlert Coiler, and wait coiling elevator；
After volume position is unloaded in ejecting gear arrival, its rotation is driven by hydraulic proportion valve, rotation angle is total up to from loading position to volume position is unloaded
110°；Location control, positioning accuracy ± 0.5 ° are carried out to rotation by absolute value code-disc；There are also driven ejecting gear by pneumatic operated valve simultaneously
Three dynamic lift arms, are divided into 120 degree；For being promoted to coiling；
After ejecting gear, which is gone to, to be loaded position and lock lift arm, the coiling disk in reel rises to a high position, struts ejecting gear at this time
Lift arm catch coiling, coil disk decline, fall into place rear ejecting gear and go to and unload volume position；
The coiling on ejecting gear is put on pallet automatically Step 7: coiling elevator；
It coils the frame that elevator is vertically moved by two to form, each frame respectively has a rotatable collection arm；It coils
The up and down motion of elevator and the rotation of collection arm are driven by hydraulic proportion valve；
Coiling elevator, detailed process is as follows:
Original state are as follows: coil the pallet of elevator as sky, and collection arm is in closed configuration, coil elevator and be located at a high position；
After thering is the ejecting gear of coiling to go to unload volume position, to coil elevator rising and goes to and load position, the lift arm of ejecting gear retracts,
Coiling elevator, which is begun to decline, unloads volume position, and coiling is placed on pallet, is coiled elevator with coiling and is dropped to low level；
Then, rotatable collection arm is opened, and is opened in place afterwards equipped with the tray retracted coiled；It is inserted into an empty pallet simultaneously,
It is inserted into during empty pallet, coils elevator and rise to initial position simultaneously；After equal empty pallets are inserted in place, collection arm closes up,
Elevator waits next coiling.
2. a kind of coiling control method for fully automatic with Garlert Coiler as described in claim 1, which is characterized in that step
In one, the initial time P of the helix tube elevator rising:
P=(1.2*3.14*Q)/V；
Q is the circle number of one layer of coiling, Q=(200/D) -1；D is product specification, indicates the diameter coiled；V is the speed of finishing mill line
Degree；
The rotation speed that the helix tube elevator rises calculates as follows: H=(D/P) * K；Wherein, K is safety coefficient.
3. a kind of coiling control method for fully automatic with Garlert Coiler as described in claim 1, which is characterized in that step
In two, the initial position is 0mm height.
4. a kind of coiling control method for fully automatic with Garlert Coiler as described in claim 1, which is characterized in that step
In three, the extreme higher position is set as 1000mm height.
5. a kind of coiling control method for fully automatic with Garlert Coiler as described in claim 1, which is characterized in that described
The lifting of coiling elevator share 4 fixed positions: a starting/waiting position i.e. high position, 2100mm；Load position, 3600mm；Unload volume
Position, 35mm；Most bottom position is low level, 0mm.
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| WO2020245953A1 (en) * | 2019-06-05 | 2020-12-10 | Ｊｆｅスチール株式会社 | Bar-in-coil winding method |
| CN113753522B (en) * | 2021-07-23 | 2022-11-04 | 阳春新钢铁有限责任公司 | Control system and method for preventing collision in coil rail transportation |
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| KR20160112239A (en) * | 2015-03-18 | 2016-09-28 | 이지철강산업주식회사 | Slitting apparatus of steel sheet coil |
| CN107225160A (en) * | 2017-08-01 | 2017-10-03 | 尚成荣 | A kind of directive wheel combined mechanism for controlling automatic uniform to fall silk |
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| CN107745017A (en) | 2018-03-02 |
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