CN108483130B - Automatic winding conveying belt, conveying equipment and conveying method - Google Patents
Automatic winding conveying belt, conveying equipment and conveying method Download PDFInfo
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- CN108483130B CN108483130B CN201810144794.7A CN201810144794A CN108483130B CN 108483130 B CN108483130 B CN 108483130B CN 201810144794 A CN201810144794 A CN 201810144794A CN 108483130 B CN108483130 B CN 108483130B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
- B65H67/068—Supplying or transporting empty cores
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Abstract
The invention discloses an automatic winding conveyer belt, conveying equipment and a conveying method, which are used for realizing automatic bobbin delivery, improving the operation efficiency and reducing the cost of the whole conveying equipment. The automatic winding conveyer belt comprises a forward area, a yarn inserting area and a return area; the range-removing area comprises a yarn tube loading sub-area, a yarn tube head-generating sub-area and a range-removing connecting sub-area; the outlet end of the yarn feeding bobbin loading sub-area is connected with the inlet end of the yarn bobbin spinning-in sub-area, the outlet end of the yarn bobbin spinning-in sub-area is connected with the inlet end of the journey-going connecting sub-area, the outlet end of the journey-going connecting sub-area is connected with the inlet end of the yarn inserting area, the outlet end of the yarn inserting area is connected with the inlet end of the return area, and the outlet end of the return area is connected with the inlet end of the yarn feeding bobbin loading sub-.
Description
Technical Field
The invention relates to an automatic winding conveyer belt, conveying equipment and a conveying method.
Background
In the existing textile field, a manual bobbin delivery or an expensive automatic winder production line is often adopted. The former has low efficiency and large workload, and is inevitably eliminated by automation along with the development of modern industry. Although the automatic winder production line is released on the market for many years, the automatic winder production line is not favored by the broad enterprises. The reason is that the automatic winder production line has high purchase cost and poor universality, and is not suitable for automatic upgrading of the existing production equipment of enterprises.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the automatic winding conveyer belt, the conveying equipment and the conveying method are provided, the automatic delivery of bobbins is realized, the operation efficiency is improved, and the whole conveying equipment is low in cost.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides an automatic winding conveyor belt, including a forward-stroke area, a yarn-inserting area, and a return-stroke area; the range-removing area comprises a yarn tube loading sub-area, a yarn tube head-generating sub-area and a range-removing connecting sub-area; the outlet end of the yarn feeding bobbin loading sub-area is connected with the inlet end of the yarn bobbin spinning-in sub-area, the outlet end of the yarn bobbin spinning-in sub-area is connected with the inlet end of the journey-going connecting sub-area, the outlet end of the journey-going connecting sub-area is connected with the inlet end of the yarn inserting area, the outlet end of the yarn inserting area is connected with the inlet end of the return area, and the outlet end of the return area is connected with the inlet end of the yarn feeding bobbin loading sub-.
As a preferred example, the number of the bobbin yarn generation subareas is n, the n bobbin yarn generation subareas are arranged in parallel, the inlet end of the bobbin yarn generation subarea is connected with the outlet end of the yarn supply bobbin loading subarea, and the outlet end of the bobbin yarn generation subarea is connected with the inlet end of the journey-going connecting subarea; n is an integer greater than 1.
As a preferred example, in the n bobbin yarn feeding sub-areas, the inlet ends of n-1 bobbin yarn feeding sub-areas closest to the yarn supply bobbin loading sub-area are respectively provided with a first branch mechanism, and the first branch mechanisms are used for shunting the tray.
As a preferred example, a recovery channel is arranged at the outlet end of the yarn bobbin threading sub-area.
As a preferred example, the forward range area further includes a buffer subarea, and the buffer subarea is located in the forward range connection subarea.
As a preferred example, the cache subregions are arranged in an S shape.
As a preferred example, the automatic winding conveyor belt further includes a first limiting mechanism, the first limiting mechanism is located in the yarn supply bobbin loading sub-area, and the first limiting mechanism is used for intercepting the tray in the yarn supply bobbin loading sub-area.
As a preferred example, the automatic winding conveyer belt further comprises a second limiting mechanism, and the second limiting mechanism is positioned at the tail end of the forward range area and is close to the yarn inserting area; the second limiting mechanism is used for intercepting the tray with the yarn tube and adjusting the distance between the tray entering the yarn inserting area.
As a preferred example, the automatic winding conveyor belt further comprises a second branch mechanism, and the second branch mechanism is connected between the forward-travel connection sub-area and the return-travel area; the second turnout mechanism is used for realizing tray lane change, directly changing empty trays in the journey-going connection sub-area into a return stroke area, or directly changing trays with bobbins inserted into the return stroke area into the journey-going connection sub-area.
In a second aspect, an embodiment of the present invention further provides an automatic winding and conveying apparatus, where the apparatus includes a conveying belt, a bobbin feeder, a bobbin yarn feeding device, a bobbin magazine, and a yarn inserting robot; the conveying belt comprises a forward stroke area, a yarn inserting area and a return stroke area; the range-removing area comprises a yarn tube loading sub-area, a yarn tube head-generating sub-area and a range-removing connecting sub-area; the outlet end of the yarn feeding bobbin loading sub-area is connected with the inlet end of the yarn bobbin spinning-in sub-area, the outlet end of the yarn bobbin spinning-in sub-area is connected with the inlet end of the journey-going connecting sub-area, the outlet end of the journey-going connecting sub-area is connected with the inlet end of the yarn inserting area, the outlet end of the yarn inserting area is connected with the inlet end of the return area, and the outlet end of the return area is connected with the inlet end of the yarn feeding bobbin loading sub-. The yarn supply bobbin machine is opposite to the yarn supply bobbin loading sub-area; the bobbin repiece device is opposite to the bobbin repiece sub-area; the yarn bobbin storeroom and the yarn inserting robot are positioned on two sides of the yarn inserting area.
As a preferred example, the number of the bobbin yarn generation subareas is n, the n bobbin yarn generation subareas are arranged in parallel, the inlet end of the bobbin yarn generation subarea is connected with the outlet end of the yarn supply bobbin loading subarea, and the outlet end of the bobbin yarn generation subarea is connected with the inlet end of the journey-going connecting subarea; n is an integer greater than 1.
As a preferred example, in the n bobbin yarn feeding sub-areas, the inlet ends of n-1 bobbin yarn feeding sub-areas closest to the yarn supply bobbin loading sub-area are respectively provided with a first branch mechanism, and the first branch mechanisms are used for shunting the tray.
As a preferred example, a recovery channel is arranged at the outlet end of the yarn bobbin threading sub-area.
As a preferred example, the forward range area further includes a buffer subarea, and the buffer subarea is located in the forward range connection subarea.
As a preferred example, the cache subregions are arranged in an S shape.
As a preferred example, the automatic winding conveyor belt further includes a first limiting mechanism, the first limiting mechanism is located in the yarn supply bobbin loading sub-area, and the first limiting mechanism is used for intercepting the tray in the yarn supply bobbin loading sub-area.
As a preferred example, the automatic winding conveyer belt further comprises a second limiting mechanism, and the second limiting mechanism is positioned at the tail end of the forward range area and is close to the yarn inserting area; the second limiting mechanism is used for intercepting the tray with the yarn tube and adjusting the distance between the tray entering the yarn inserting area.
As a preferred example, the automatic winding conveyor belt further comprises a second branch mechanism, and the second branch mechanism is connected between the forward-travel connection sub-area and the return-travel area; the second turnout mechanism is used for realizing tray lane change, directly changing empty trays in the journey-going connection sub-area into a return stroke area, or directly changing trays with bobbins inserted into the return stroke area into the journey-going connection sub-area.
As a preferred example, a recovery channel is arranged at the outlet end of the yarn tube threading sub-area, and the recovery channel is communicated with the yarn tube supply machine.
In a third aspect, an embodiment of the present invention provides an automatic winding and conveying method, where the method includes:
step 10), conveying the tray to a yarn supply bobbin loading sub-area, and loading full yarn bobbins;
step 20) conveying the tray output from the yarn supply bobbin loading sub-area to a yarn bobbin repiece sub-area, and repiece yarn bobbins on the tray;
step 30) conveying the tray output from the yarn tube threading subregion to a forward stroke connection subregion;
step 40) conveying the tray output by the trip connecting sub-area to a yarn inserting area, and inserting full bobbins on the tray into a bobbin storage;
and 50) conveying the tray output from the yarn inserting area to a yarn supply bobbin loading sub-area through a return area.
As a preferred example, the method further includes step 60): returning to the step 10), and circulating the conveying until the end.
As a preferred example, the step 10) includes:
step 101) extending a first stop block and a second stop block in a first limiting mechanism, wherein the first stop block a tray, and the tray is enabled to wait at the tail end of a return area;
step 102) retracting the first stop block to enable a preset number of trays to enter the yarn supply bobbin loading sub-area, and then extending the first stop block again to prevent the trays in the return area from entering the yarn supply bobbin loading sub-area;
step 103) loading the bobbin on the tray positioned in the bobbin supply loading sub-area by using the bobbin supply machine;
step 104) retracting the second stop block to enable the tray to leave the yarn supply bobbin loading sub-area and enter the yarn bobbin yarn feeding sub-area; then the second stop block is extended out again;
step 105) returns to step 101), and the operation is circulated until the end.
As a preferred example, in the step 20), n bobbin yarn feeding sub-regions are provided, and the n bobbin yarn feeding sub-regions are arranged in parallel; each bobbin threading sub-area is correspondingly provided with a bobbin threading device; n is an integer greater than 1;
as a preferred example, according to the distance between the bobbin repiece area and the yarn supply bobbin loading area, the trays output by the yarn supply bobbin loading area are conveyed into the bobbin repiece area from near to far.
As a preferable example, in step 30), the tray output from the bobbin yarn feeding sub-area is first conveyed to the buffer sub-area, and then conveyed from the buffer sub-area to the outgoing link sub-area.
As a preferable example, the step 20) further includes: detecting whether the bobbin on the tray is successfully pieced: if the yarn tube is successfully produced, conveying the tray and the yarn tube to a trip connecting sub-area; if the yarn tube is failed to be produced, the tray is conveyed to the forward stroke connecting subarea, and the yarn tube is conveyed to the yarn tube supplying machine.
As a preferred example, the step 40) includes:
extending a third stop block and a fourth stop block in a second limiting mechanism, wherein the third stop block and the fourth stop block are positioned in a forward stroke connecting sub-area, and the fourth stop block is close to a yarn inserting area;
and conveying the tray to the yarn inserting area by using the third stop block and the fourth stop block.
Preferably, in the step 40), the fourth stopper intermittently reciprocates according to a preset time, so that the trays are equidistantly fed into the yarn inserting area.
As a preferable example, the step 40) further includes: detecting the tray and the bobbin: if the bobbin is detected to be arranged on the tray in the forward stroke connection sub-area, the bobbin is conveyed to the yarn inserting area; and if no bobbin is detected on the tray in the forward stroke connection sub-area, conveying the tray to the return stroke area through the second turnout mechanism.
As a preferred example, the step 50) further includes: detecting the tray and the bobbin: if the bobbin is detected on the tray output from the yarn inserting area, the tray containing the bobbin is conveyed to the forward stroke connection sub-area through the second turnout mechanism; if no yarn tube is detected on the tray output from the yarn inserting area, the yarn tube is conveyed to the yarn feeding tube loading subarea through the return area.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: the embodiment of the invention realizes automatic bobbin delivery, improves the operation efficiency and has low cost of the whole conveying equipment. In the conveyer belt of the embodiment of the invention, a yarn supply bobbin loading sub-area, a yarn bobbin threading sub-area, a distance-moving area, a yarn inserting area and a return area are connected to form a loop. In this way, the tray can be moved in a reciprocating cycle in the conveyor belt. This greatly improves the working efficiency. And loading full bobbins on the empty tray in the bobbin supply loading subarea. And in the bobbin threading subregion, threading the full bobbin on the tray. The going area conveys the tray and the full bobbin to the yarn inserting area. In the yarn insertion area, a full bobbin on the tray is inserted into the bobbin magazine. And finally, the empty tray is sent to the yarn supply tube loading sub-area again from the return area. The conveying equipment and the conveying method can operate circularly, and the working efficiency is greatly improved.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
The figure shows that: the yarn inserting device comprises a conveying belt 1, a yarn supply bobbin loading sub-area 101, a bobbin yarn feeding sub-area 102, a going area 103, a yarn inserting area 104, a returning area 105, a first turnout mechanism 106, a recovery channel 107, a buffer sub-area 108, a first limiting mechanism 109, a first stopper 1091, a second stopper 1092, a second limiting mechanism 110, a third stopper 1101, a fourth stopper 1102, a second turnout mechanism 111, a going connection sub-area 112, a yarn supply bobbin machine 2, a bobbin yarn feeding device 3, a bobbin storage 4 and a yarn inserting robot 5.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
As shown in fig. 1, an automatic winding conveyor according to an embodiment of the present invention includes a forward-stroke area 103, a yarn insertion area 104, and a backward-stroke area 105. The forward stroke area 103 comprises a yarn supply bobbin loading sub-area 101, a yarn bobbin threading sub-area 102 and a forward stroke connector sub-area 112. The conveyer belt can be a whole piece, also can be by a plurality of bodies concatenation. The conveyor belt comprises a plurality of zones, which fulfill different functions. The outlet end of the yarn supply bobbin loading sub-area 101 is connected with the inlet end of the yarn bobbin spinning-in sub-area 102, the outlet end of the yarn bobbin spinning-in sub-area 102 is connected with the inlet end of the forward stroke connecting sub-area 112, the outlet end of the forward stroke connecting sub-area 112 is connected with the inlet end of the yarn inserting area 104, the outlet end of the yarn inserting area 104 is connected with the inlet end of the return stroke area 105, and the outlet end of the return stroke area 105 is connected with the inlet end of the yarn supply bobbin loading sub-.
In the conveyor belt of the above embodiment, the forward-run region 103, the yarn insertion region 104, and the backward-run region 105 are connected to form a loop. So that the tray can be moved in a reciprocating cycle in the conveyor belt. This greatly improves the working efficiency.
In the yarn supply bobbin loading sub-area 101, empty trays are loaded with full bobbins. In the bobbin threading sub-area 102, threading is performed on a full bobbin on the tray. The outbound zone 103 transports the tray and full bobbins to the yarn insertion zone 104. In the yarn insertion area 104, a full bobbin on the tray is inserted into the bobbin magazine 4. Finally, the empty tray is again fed from the return area 105 to the forward area 103. Therefore, the working efficiency is greatly improved by the circular operation.
Because the yarn feeding process is long, in order to improve the operation efficiency, preferably, n yarn tube yarn feeding sub-regions 102 are provided, the n yarn tube yarn feeding sub-regions 102 are arranged in parallel, the inlet end of the yarn tube yarn feeding sub-region 102 is connected with the outlet end of the yarn tube loading sub-region 101, and the outlet end of the yarn tube yarn feeding sub-region 102 is connected with the inlet end of the forward stroke connecting sub-region 112; n is an integer greater than 1.
In this preferred embodiment, n bobbin threading sub-regions 102 can be operated simultaneously. The n bobbin threading sub-areas 102 correspond to one bobbin supply loading sub-area 101, so that the output tray from the bobbin supply loading sub-area 101 can enter one bobbin threading sub-area 102 in time. Therefore, even if the yarn tube threading cycle is long, the yarn tube on the tray can be threaded in time. Preferably, n is 3 to 6, such as 3, 4, 5 or 6.
In the preferred embodiment, n bobbin threading sub-regions 102 are provided. In order to more efficiently distribute the trays to the bobbin thread-up sub-area 102, the inlet ends of n-1 bobbin thread-up sub-areas closest to the bobbin supply loading sub-area 101 are respectively provided with a first fork mechanism 106. The first fork mechanism 106 is used for shunting the trays.
A first fork mechanism 106 is arranged to realize the shunting of the tray and to limit which bobbin yarn spinning sub-area 102 the tray enters. For example, the priority level is higher as the distance from the bobbin threading sub-area 102 to the bobbin supply sub-area 101 is shorter. When the bobbin threading sub-area 102 with the highest priority level is empty, the first switch mechanism 106 shuts off the tray from the yarn supply bobbin loading sub-area 101 to the bobbin threading sub-area 102. If there is no empty space in the bobbin yarn feeding sub-area 102 with the highest priority, the first switch mechanism 106 at the inlet end of the bobbin yarn feeding sub-area 102 with the highest priority is turned off, so that the tray cannot flow into the bobbin yarn feeding sub-area 102 with the highest priority, and the tray is intercepted from the yarn supply bobbin loading sub-area 101 to the bobbin yarn feeding sub-area 102 by the first switch mechanism 106 at the inlet end of the bobbin yarn feeding sub-area 102 with the next priority. And so on. Through setting up first fork mechanism 106, regulate and control each spool repiece subregion 102 for the tray in time gets into spool repiece subregion 102 and carries out the repiece and handle, avoids all being located same spool repiece subregion 102, causes the tray to wait. The higher the priority level of the yarn feeding bobbin threading sub-area 102 closest to the yarn feeding bobbin loading sub-area 101. The tray preferably enters the bobbin threading sub-zone 102. Therefore, the length of the line can be reduced, and the working efficiency is improved.
In the bobbin threading sub-area 102, the bobbins on the tray are threaded. Although most of the bobbins can be successfully produced, if a bobbin with an unsuccessful production is introduced into the yarn inserting region 104, the suction of a new yarn end into the hollow cavity of the bobbin storage 4 cannot be realized. Therefore, a recovery passage 107 is provided at the outlet end of the bobbin threading area 102, and the recovery passage 107 communicates with the bobbin feeder 2. When the bobbin on the tray fails to be successfully threaded in the bobbin threading sub-area 102, the bobbin is returned to the bobbin feeder 2 through the recovery passage 107, and loading and threading are performed again. By setting the recovery channel 107, the success rate and the work efficiency are improved.
Preferably, the forward-bound region 103 further includes a buffer sub-region 108, and the buffer sub-region 108 is located in the forward-bound sub-region 112. The outbound zone 103 transports the tray to the insertion zone 104. When more trays are accumulated in the outbound area 103, the work progress will be influenced. Therefore, the buffer sub-area 108 is provided so that the trays on the buffer sub-area 108 can be timely supplied to the yarn inserting area 104. Meanwhile, the buffer sub-area 108 is used for storing the tray conveyed from the bobbin yarn feeding sub-area 102. To store more trays, the cache subsections 108 are arranged in an S-shape. By extending the length of the buffer sub-section 108, the buffer sub-section 108 can store more trays. Through the buffer sub-area 108, enough bobbins are effectively buffered accumulatively to meet the intermittent periodic large-area replenishment of the bobbin winder, and meanwhile, the speed between the bobbin supply loading sub-area 101, the bobbin yarn feeding sub-area 102 and the yarn inserting area 104 is matched.
Preferably, the conveying belt further comprises a first limiting mechanism 109, the first limiting mechanism 109 is located at the bobbin supplying and loading sub-area 101, and the first limiting mechanism 109 is used for intercepting the tray at the bobbin supplying and loading sub-area 101. The first limit mechanism 109 includes a first stopper 1091 and a second stopper 1092. The first stopper 1091 and the second stopper 1092 are in a normally extended state. A second stop 1092 is adjacent to the yarn supply spool loading sub-area 101. When the supply spool loading sub-zone 101 requires a tray, the second stop 1092 retracts so that the tray between the first stop 1091 and the second stop 1092 enters the supply spool loading sub-zone 101. When there is no tray between the first and second stoppers 1091 and 1092, the first stopper 1091 retracts so that an empty tray in the return zone 105 enters the first and second stoppers 1091 and 1092 and is caught by the protruding second stopper 1092.
Preferably, the conveyor belt further comprises a second limiting mechanism 110, and the second limiting mechanism 110 is positioned at the end of the going range 103 and is close to the yarn inserting range 104. The second stop mechanism 110 is used to catch trays with bobbins and adjust the spacing of the trays into the yarn insertion zone 104. The second limiting mechanism 110 includes a third stopper 1101 and a fourth stopper 1102. The fourth stop 1102 is adjacent to the insertion area 104. The third block 1101 and the fourth block 1102 are in a normally extended state. In response to a signal from the system, the fourth stop 1102 is retracted. At this time, the tray loaded with the full bobbin between the third stopper 1101 and the fourth stopper 1102 enters the yarn inserting region 104. After the bobbin is released, the fourth stopper 1102 is again in an extended state. In response to a signal from the system, the third stop 1101 is retracted. At this point, the tray in the outbound zone 103 enters between the third stop 1101 and the fourth stop 1102, and is trapped by the extended fourth stop 1102. After the bobbin is released, the third stopper 1101 is again in an extended state.
Since the bobbins in the bobbin threading sub-area 102 that have not been successfully threaded are fed back directly into the bobbin supply 2, the trays transported to the outgoing sub-area 112 may be empty trays. If the empty tray flows into the yarn inserting area 104, the yarn inserting robot 5 cannot grab a full bobbin, which will affect the working rhythm and even damage the equipment. In addition, if a full bobbin is left out in the yarn insertion area 104 without being grasped by the yarn insertion robot 5, the full bobbin enters the return area 105 from the yarn insertion area 104 along with the tray. If the yarn supply bobbin loading sub-zone 101 is entered from the return zone 105, a work conflict may arise. Since the tray is already full of bobbins, it is not necessary to reinsert full bobbins. Preferably, the conveyor belt 1 further comprises a second branch mechanism 111, wherein the second branch mechanism 111 is connected between the outbound connection sub-area 112 and the return area 105; the second switch mechanism 111 is used for changing the tray, and directly changes the empty tray in the forward-stroke connection sub-area 112 into the return-stroke area 105, or directly changes the tray with a bobbin inserted in the return-stroke area 105 into the forward-stroke connection sub-area 112. By arranging the second branch mechanism 111, the empty tray can directly enter the return area 105 from the forward-stroke connecting sub-area 112 without passing through the yarn inserting area 104, and the tray with full bobbins directly enters the forward-stroke connecting sub-area 112 from the return area 105 without entering the yarn supplying bobbin loading sub-area 101. This improves the working efficiency.
As shown in fig. 1, an embodiment of the present invention further provides an automatic winding and conveying apparatus, which includes a conveying belt 1, a bobbin feeder 2, a bobbin threading device 3, a bobbin magazine 4, and a bobbin inserting robot 5. The conveyor belt 1 of the above embodiment is used as the conveyor belt 1. Specifically, the conveyor belt 1 includes a forward travel area 103, a yarn insertion area 104, and a backward travel area 105; the forward stroke area 103 comprises a yarn supply bobbin loading sub-area 101, a yarn bobbin threading sub-area 102 and a forward stroke connector sub-area 112. The outlet end of the yarn supply bobbin loading sub-area 101 is connected with the inlet end of the yarn bobbin spinning-in sub-area 102, the outlet end of the yarn bobbin spinning-in sub-area 102 is connected with the inlet end of the forward stroke connecting sub-area 112, the outlet end of the forward stroke connecting sub-area 112 is connected with the inlet end of the yarn inserting area 104, the outlet end of the yarn inserting area 104 is connected with the inlet end of the return stroke area 105, and the outlet end of the return stroke area 105 is connected with the inlet end of the yarn supply bobbin loading sub-. The yarn feeder 2 is opposite to the yarn feeder loading sub-area 101. The bobbin yarn threading device 3 is opposed to the bobbin yarn threading sub-area 102. The yarn bobbin storage 4 and the yarn inserting robot 5 are positioned on two sides of the yarn inserting area 104. The bobbin feeder 2 inserts a full bobbin into an empty tray located in the bobbin supply loading sub-area 101. The bobbin threading device 3 performs threading processing on a full bobbin located in the bobbin threading sub-area 102. The yarn inserting robot 5 inserts the full bobbin located in the yarn inserting area 104 into the empty magazine position of the bobbin magazine 4.
The conveying equipment of the embodiment realizes automatic winding and improves the working efficiency. The tray carries the tubes to move on the conveyor belt 1. The tray returns to the yarn supply bobbin loading sub-area 101 after passing through the yarn supply bobbin loading sub-area 101, the yarn tube spinning-in sub-area 102, the forward travel connection sub-area 112, the yarn insertion area 104 and the return travel area 105. After the bobbins are loaded onto the empty tray from the bobbin supply loading sub-area 101, the bobbin insertion robot 5 pulls out the bobbins from the tray in the bobbin insertion area 104. Whole process has realized automatic winding, and the tray cyclic shift, has improved work efficiency greatly.
In the conveying belt of the automatic winding device of the embodiment, n bobbin yarn feeding sub-regions 102 are provided, the n bobbin yarn feeding sub-regions 102 are arranged in parallel, the inlet end of the bobbin yarn feeding sub-region 102 is connected with the outlet end of the yarn supply bobbin loading sub-region 101, and the outlet end of the bobbin yarn feeding sub-region 102 is connected with the inlet end of the forward-stroke connecting sub-region 112; n is an integer greater than 1.
As a preferable example, in the n bobbin yarn feeding sub-areas 102, the inlet ends of n-1 bobbin yarn feeding sub-areas closest to the yarn supply bobbin loading sub-area 101 are respectively provided with a first branch mechanism 106, and the first branch mechanisms 106 are used for realizing the shunting of the trays.
As a preferable example, the outlet end of the bobbin threading sub-area 102 is provided with a recovery channel 107, and the recovery channel 107 is communicated with the bobbin supplying machine 2.
Preferably, the conveyer belt further comprises a buffer sub-area 108, and the buffer sub-area 108 is connected between the bobbin threading sub-area 102 and the forward-stroke connector sub-area 112. More preferably, the cache sub-sections 108 are arranged in an S-shape.
Preferably, the conveying belt further comprises a first limiting mechanism 109, the first limiting mechanism 109 is located at the bobbin supplying and loading sub-area 101, and the first limiting mechanism 109 is used for intercepting the tray at the bobbin supplying and loading sub-area 101.
As a preferred example, the conveyor belt further comprises a second limiting mechanism 110, and the second limiting mechanism 110 is located at the end of the going range area 103 and is close to the yarn inserting area 104; the second stop mechanism 110 is used to catch trays with bobbins and adjust the spacing of the trays into the yarn insertion zone 104.
As a preferable example, the conveyor belt further includes a second branch mechanism 111, and the second branch mechanism 111 is connected between the outbound connection sub-area 112 and the return area 105; the second switch mechanism 111 is used for changing the tray, and directly changes the empty tray in the forward stroke connecting sub-area 112 into the return stroke area 105, or directly changes the tray with the bobbin inserted in the return stroke area 105 into the forward stroke area 103.
The various preferred configurations of the conveyor belts in the conveyor apparatus of this embodiment can be freely combined without conflict. In addition, the effects that can be achieved, or the effects that can be produced, by the preferred structure of the conveyor belt in the conveyor apparatus of this embodiment are described above, and are not described in detail in this embodiment.
The embodiment of the invention also provides an automatic winding and conveying method, which comprises the following steps:
step 10), conveying the tray to a yarn supply bobbin loading sub-area 101 to load yarn bobbins fully;
step 20) conveying the tray output from the yarn supply bobbin loading sub-area 101 to the yarn bobbin repiece sub-area 102, and repiece yarn bobbins on the tray;
step 30) conveying the tray output from the bobbin threading sub-area 102 to the outgoing distance connecting sub-area 112;
step 40) conveying the tray output by the forward-stroke connection sub-area 112 to the yarn inserting area 104, and inserting the full bobbin on the tray into the bobbin storage 4;
step 50) the trays output from the yarn insertion zone 104 are conveyed to the yarn supply bobbin loading sub-zone 101 through the return zone 105.
In the method of the above embodiment, through steps 10) to 50), a complete conveyance route is realized. For improving automation, the method further comprises the step 60): returning to the step 10), and circulating the conveying until the end. Thus, the conveying efficiency can be improved by the automatic circulation.
In the method of the above embodiment, in step 50), the tray discharged from the yarn inserting section 104 is conveyed to the yarn supply bobbin loading sub-section 101 through the return section 105, and the process returns to step 10). The method is continuously carried out by utilizing the reciprocating circulation of the conveying belt. This greatly improves the work efficiency.
As a preferred example, the step 10) includes:
step 101) extending a first stopper 1091 and a second stopper 1092 in the first limiting mechanism 109, wherein the first stopper 1091 stops the tray, so that the tray waits at the tail end of the return area 105;
step 102) retracting the first stopper 1091 so that a preset number of trays enter the yarn supply bobbin loading sub-area 101, and then extending the first stopper 1091 again so as to prevent the trays in the return area 105 from entering the yarn supply bobbin loading sub-area 101;
step 103) carrying out bobbin loading on the tray positioned in the bobbin feeding loading sub-area 101 by using the bobbin feeding machine 2;
step 104) retracting the second stopper 1092 so that the tray leaves the yarn supply bobbin loading sub-area 101 and enters the bobbin threading sub-area 102; then extend out of the second stopper 1092 again;
step 105) returns to step 101), and the operation is circulated until the end.
In the step 10), a first limiting mechanism 109 is arranged to regulate and control the tray entering the yarn supply bobbin loading sub-area 101. Since the number of bobbins loaded by the bobbin feeder 2 at the same operating time is limited, the first limit mechanism 109 adjusts the number of trays entering the bobbin supply loading sub-area 101. The first limit mechanism 109 includes a first stopper 1091 and a second stopper 1092. The first stopper 1091 and the second stopper 1092 are in a normally extended state. A second stop 1092 is adjacent to the yarn supply spool loading sub-area 101. When the supply spool loading sub-zone 101 requires a tray, the second stop 1092 retracts so that the tray between the first stop 1091 and the second stop 1092 enters the supply spool loading sub-zone 101. When there is no tray between the first and second stoppers 1091 and 1092, the first stopper 1091 retracts so that an empty tray in the return zone 105 enters the first and second stoppers 1091 and 1092 and is caught by the protruding second stopper 1092.
As a preferred example, in the step 20), n bobbin yarn feeding sub-regions 102 are provided, and the n bobbin yarn feeding sub-regions 102 are arranged in parallel; each bobbin yarn spinning-in sub-area 102 is correspondingly provided with a bobbin yarn spinning-in device 3; n is an integer greater than 1; the n bobbin threading sub-regions 102 can operate simultaneously. In this preferred embodiment, n bobbin threading sub-areas 102 correspond to one bobbin supply loading sub-area 101, so that a tray output from the bobbin supply loading sub-area 101 can enter one bobbin threading sub-area 102 in time. Therefore, even if the yarn tube threading period is long, the yarn tube on the tray can be threaded in time, and the working efficiency is improved.
As a preferable example, the trays output from the bobbin loading sub-area 101 are conveyed into the bobbin threading sub-area 102 in the order from near to far according to the distance between the bobbin threading sub-area 102 and the bobbin feeding sub-area 101. In order to improve the working efficiency, the inlet ends of n-1 bobbin yarn feeding sub-areas closest to the yarn supply bobbin loading sub-area 101 are respectively provided with a first turnout mechanism 106. The first fork mechanism 106 is used for shunting the trays. According to the preferred grade, the tray is conveyed to the yarn tube spinning-in sub-area 102 with higher grade. The closer the distance to the yarn supply bobbin loading sub-area 101, the higher the priority of the bobbin threading sub-area 102. This can greatly shorten the traveling route of the pallet to achieve the highest processing efficiency.
For bobbins processed in the bobbin threading sub-area 102, there are two processing results, one is a threading success and one is a threading failure. For a bobbin with failed threading, if the bobbin continues to enter the forward link sub-area 112 and the yarn insertion area 104 with the tray, the thread end cannot be found in the insertion bobbin magazine 4. Therefore, preferably, step 20) further comprises: detecting whether the bobbin on the tray is successfully pieced: if the yarn tube is successfully produced, the tray and the yarn tube are conveyed to a journey-going connection sub-area 112; if the bobbin is failed to be fed, the tray is conveyed to the forward stroke connecting sub-area 112, and the bobbin is conveyed to the bobbin feeder 2. The bobbin with failed yarn threading enters the yarn feeding bobbin machine 2, is inserted into the empty tray again, enters the yarn threading sub-area 102 again, and is threaded again.
In order to ensure that the trays can be input in the outbound area 103 in time and avoid the occurrence of tray congestion in the outbound area 103, preferably, in step 30), the trays output from the bobbin feeding sub-area 102 are first conveyed to the buffer sub-area 108 and then conveyed from the buffer sub-area 108 to the outbound connection sub-area 112. A buffer sub-area 108 is arranged between the bobbin threading sub-area 102 and the forward stroke connection sub-area 112. The bobbins output from the bobbin yarn feeding sub-area 102 enter the buffer sub-area 108, and a certain number of trays are buffered in the buffer sub-area 108.
Preferably, step 40) comprises:
extending a third block 1101 and a fourth block 1102 in the second limiting mechanism 110, wherein the third block 1101 and the fourth block 1102 are positioned in the forward stroke connecting sub-area 112, and the fourth block 1102 is close to the yarn inserting area 104; the tray is conveyed to the yarn insertion area 104 by the third stopper 1101 and the fourth stopper 1102. The third block 1101 and the fourth block 1102 are in a normally extended state. In response to a signal from the system, the fourth stop 1102 is retracted. At this time, the tray loaded with the full bobbin between the third stopper 1101 and the fourth stopper 1102 enters the yarn inserting region 104. After the bobbin is released, the fourth stopper 1102 is again in an extended state. In response to a signal from the system, the third stop 1101 is retracted. At this point, the tray in the outbound zone 103 enters between the third stop 1101 and the fourth stop 1102, and is trapped by the extended fourth stop 1102. After the bobbin is released, the third stopper 1101 is again in an extended state.
The yarn inserting robot 5 can simultaneously grab a plurality of full bobbins to insert into the bobbin magazine 4. The winder has a certain distance between the winding units, so that, preferably, in step 40), the fourth stopper 1102 is intermittently reciprocated at a predetermined time so that the trays are equally spaced and fed into the yarn inserting section 104. After the trays are input into the yarn inserting area 104 at equal intervals, the yarn inserting robot can be directly inserted into the yarn bobbin storehouses of the winding units of the bobbin winder after grabbing full yarn bobbins. The distance between the trays is equal to the distance between the winding units.
It is possible that the tray in the outbound connector sub-area 112 is an empty tray. If the tray is fed directly into the yarn insertion area 104, the bobbin cannot be grasped from the tray. In the yarn insertion zone 104, it is possible that a full bobbin on the tray is not gripped and remains on the tray. If the tray is fed into the yarn supply bobbin loading sub-area 101, a full yarn bobbin cannot be inserted into the tray. Preferably, step 40) further comprises: detecting the tray and the bobbin: if the bobbin is detected on the tray in the forward stroke connection sub-area 112, the bobbin is conveyed to the yarn inserting area 104; when it is detected that no bobbin is present on the tray in the forward link sub-area 112, the tray is conveyed to the return area 105 by the second switch mechanism 111.
Step 50) further comprises: detecting the tray and the bobbin: if the bobbin is detected on the tray output from the yarn inserting area 104, the tray containing the bobbin is conveyed to the forward stroke connection sub-area 112 through the second turnout mechanism 111; when it is detected that there is no bobbin on the tray discharged from the yarn inserting area 104, the tray is conveyed to the bobbin supply loading sub-area 101 through the return area 105.
By providing the second switch mechanism 111, the tray loaded with the bobbin and discharged from the yarn insertion area 104 is directly fed to the forward stroke connecting sub-area 112, and the yarn insertion process is performed again. Meanwhile, the tray without the bobbin in the forward link sub-area 112 is conveyed to the return area 105 by the second switch mechanism 111, enters the bobbin supply sub-area 101, and is reloaded with the bobbin.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to further illustrate the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, which is also intended to be covered by the appended claims. The scope of the invention is defined by the claims and their equivalents.
Claims (26)
1. An automatic winding conveyor belt, characterized in that the conveyor belt (1) comprises a forward travel zone (103), a yarn insertion zone (104) and a return travel zone (105); the going range area (103) comprises a yarn feeding tube loading sub-area (101), a yarn tube head producing sub-area (102) and a going range connecting sub-area (112); the forward stroke area (103) is used for conveying the trays and full bobbins to the yarn inserting area (104), the yarn inserting area (104) is used for inserting the full bobbins on the trays into the bobbin storage (4), and the backward stroke area (105) is used for conveying empty trays into the forward stroke area (103);
the outlet end of the yarn supplying tube loading sub-area (101) is connected with the inlet end of the yarn tube spinning-in sub-area (102), the outlet end of the yarn tube spinning-in sub-area (102) is connected with the inlet end of the forward stroke connecting sub-area (112), the outlet end of the forward stroke connecting sub-area (112) is connected with the inlet end of the yarn inserting area (104), the outlet end of the yarn inserting area (104) is connected with the inlet end of the return stroke area (105), and the outlet end of the return stroke area (105) is connected with the inlet end of the yarn supplying tube loading sub-area (101);
the system also comprises a second branch mechanism (111), wherein the second branch mechanism (111) is connected between the outbound connection sub-area (112) and the return area (105); the second branch mechanism (111) is used for realizing tray lane change, and directly changing empty trays in the forward-stroke connecting sub-area (112) into the return-stroke area (105) or directly changing trays with bobbins inserted in the return-stroke area (105) into the forward-stroke connecting sub-area (112).
2. The automatic winding conveyor belt according to claim 1, wherein the number of the bobbin yarn feeding sub-areas (102) is n, the n bobbin yarn feeding sub-areas (102) are arranged in parallel, the inlet end of each bobbin yarn feeding sub-area (102) is connected with the outlet end of the yarn supply bobbin loading sub-area (101), and the outlet end of each bobbin yarn feeding sub-area (102) is connected with the inlet end of the forward stroke connecting sub-area (112); n is an integer greater than 1.
3. The automatic winding conveyor according to claim 2, wherein the inlet ends of n-1 bobbin yarn feeding sub-areas closest to the yarn supply bobbin loading sub-area (101) among the n bobbin yarn feeding sub-areas (102) are respectively provided with a first switch mechanism (106), and the first switch mechanism (106) is used for realizing the branching of the trays.
4. The automatic winder conveyor according to claim 1, wherein the outlet end of the bobbin threading area (102) is provided with a recovery channel (107).
5. The automatic winder conveyor according to claim 1, 2, 3 or 4, wherein the forward run zone (103) further comprises a buffer sub-zone (108), the buffer sub-zone (108) being located between the bobbin thread take-up sub-zone (102) and the forward run link sub-zone (112).
6. The automatic winder conveyor according to claim 5, wherein the buffer sub-section (108) is arranged in an S-shape.
7. The automatic winder conveyor according to claim 1, further comprising a first limit mechanism (109), the first limit mechanism (109) being located in the supply bobbin loading sub-area (101), the first limit mechanism (109) being adapted to trap the tray in the supply bobbin loading sub-area (101).
8. The automatic spooling conveyor of claim 1 further comprising a second stop mechanism (110), the second stop mechanism (110) being located at the end of the forward travel region (103) proximate the yarn insertion region (104); the second limiting mechanism (110) is used for intercepting the tray with the yarn tubes and adjusting the distance between the trays entering the yarn inserting area (104).
9. An automatic winding and conveying device is characterized by comprising a conveying belt (1), a bobbin supplying machine (2), a bobbin spinning device (3), a bobbin storage (4) and a bobbin inserting robot (5);
the conveying belt (1) comprises a going area (103), a yarn inserting area (104) and a return area (105); the going range area (103) comprises a yarn feeding tube loading sub-area (101), a yarn tube head producing sub-area (102) and a going range connecting sub-area (112); the forward stroke area (103) is used for conveying the trays and full bobbins to the yarn inserting area (104), the yarn inserting area (104) is used for inserting the full bobbins on the trays into the bobbin storage (4), and the backward stroke area (105) is used for conveying empty trays into the forward stroke area (103);
the outlet end of the yarn supplying tube loading sub-area (101) is connected with the inlet end of the yarn tube spinning-in sub-area (102), the outlet end of the yarn tube spinning-in sub-area (102) is connected with the inlet end of the forward stroke connecting sub-area (112), the outlet end of the forward stroke connecting sub-area (112) is connected with the inlet end of the yarn inserting area (104), the outlet end of the yarn inserting area (104) is connected with the inlet end of the return stroke area (105), and the outlet end of the return stroke area (105) is connected with the inlet end of the yarn supplying tube loading sub-area (101);
the system also comprises a second branch mechanism (111), wherein the second branch mechanism (111) is connected between the outbound connection sub-area (112) and the return area (105); the second fork mechanism (111) is used for realizing tray lane change, and directly changing empty trays in the journey-going connection sub-area (112) into the return-stroke area (105) or directly changing trays with bobbins inserted in the return-stroke area (105) into the journey-going connection sub-area (112);
the yarn supply bobbin machine (2) is opposite to the yarn supply bobbin loading sub-area (101); the bobbin repiece device (3) is opposite to the bobbin repiece sub-area (102); the yarn bobbin storage (4) and the yarn inserting robot (5) are positioned at two sides of the yarn inserting area (104).
10. The automatic winding and conveying device according to claim 9, wherein the number of the bobbin yarn feeding sub-areas (102) is n, the n bobbin yarn feeding sub-areas (102) are arranged in parallel, the inlet end of each bobbin yarn feeding sub-area (102) is connected with the outlet end of the yarn supply bobbin loading sub-area (101), and the outlet end of each bobbin yarn feeding sub-area (102) is connected with the inlet end of the forward stroke connecting sub-area (112); n is an integer greater than 1.
11. The automatic winding and conveying apparatus according to claim 10, wherein the inlet ends of n-1 bobbin yarn feeding sub-areas closest to the yarn supply bobbin loading sub-area (101) among the n bobbin yarn feeding sub-areas (102) are respectively provided with a first switch mechanism (106), and the first switch mechanism (106) is used for realizing the branching of the trays.
12. The automatic winding and conveying device according to claim 9, wherein the outlet end of the bobbin threading sub-area (102) is provided with a recovery channel (107).
13. The automatic winder transport apparatus according to claim 9, 10, 11 or 12, wherein the forward stroke area (103) further comprises a buffer sub-area (108), the buffer sub-area (108) being located between the bobbin thread take-up sub-area (102) and the forward stroke link sub-area (112).
14. The automatic winder transport apparatus according to claim 13, wherein the buffer subareas (108) are arranged in an S-shape.
15. The automatic winder conveyor apparatus according to claim 9, further comprising a first limit mechanism (109), the first limit mechanism (109) being located in the bobbin loading sub-area (101), the first limit mechanism (109) being adapted to trap the tray in the bobbin loading sub-area (101).
16. The automatic winding conveyor apparatus according to claim 9, further comprising a second stop mechanism (110), the second stop mechanism (110) being located at an end of the forward travel area (103) adjacent to the insertion area (104); the second limiting mechanism (110) is used for intercepting the tray with the yarn tubes and adjusting the distance between the trays entering the yarn inserting area (104).
17. The automatic winder transport apparatus according to claim 9, wherein the outlet end of the bobbin threading area (102) is provided with a recovery channel (107), the recovery channel (107) being in communication with the bobbin supply (2).
18. An automatic winding and conveying method, characterized in that the method comprises:
step 10), conveying the tray to a yarn supply bobbin loading sub-area (101) to load yarn bobbins fully;
step 20) conveying the tray output from the yarn supply bobbin loading sub-area (101) to a yarn bobbin repiece sub-area (102) and repiece yarn bobbins on the tray;
step 30) conveying the tray output from the bobbin threading sub-area (102) to an outgoing distance connecting sub-area (112);
step 40), conveying the tray output by the forward stroke connection sub-area (112) to a yarn inserting area (104), and inserting full bobbins on the tray into a bobbin storage (4); the step 40) further comprises: detecting the tray and the bobbin: if the bobbin is detected to be on the tray in the forward stroke connection sub-area (112), the bobbin is conveyed to the yarn inserting area (104); if no bobbin is detected on the tray in the forward-stroke connection sub-area (112), the tray is conveyed to the backward-stroke area (105) through a second turnout mechanism (111);
step 50) conveying the tray output from the yarn inserting area (104) to a yarn supply pipe loading sub-area (101) through a return area (105); the step 50) further comprises: detecting the tray and the bobbin: if the bobbin is detected on the tray output from the yarn inserting area (104), the tray containing the bobbin is conveyed to the forward stroke connecting sub-area (112) through a second turnout mechanism (111); if no bobbin is detected on the tray output from the yarn inserting area (104), the tray is conveyed to a bobbin supply loading sub-area (101) through a return area (105).
19. The automatic winder conveying method of claim 18, further comprising the step 60): returning to the step 10), and circulating the conveying until the end.
20. The automatic winder conveying method according to claim 18, wherein the step 10) comprises:
step 101) extending a first stop block (1091) and a second stop block (1092) in a first limiting mechanism (109), wherein the first stop block (1091) stops the tray, so that the tray waits at the tail end of a return area (105);
step 102) retracting the first stopper (1091) to enable a preset number of trays to enter the yarn supply bobbin loading sub-area (101), and then extending the first stopper (1091) again to prevent the trays in the return area (105) from entering the yarn supply bobbin loading sub-area (101);
step 103) carrying out bobbin loading on the tray positioned in the bobbin supply loading sub-area (101) by using the bobbin supply machine (2);
step 104) retracting the second stopper (1092) to enable the tray to leave the yarn supply bobbin loading sub-area (101) and enter the yarn bobbin threading sub-area (102); then the second block (1092) is extended again;
step 105) returns to step 101), and the operation is circulated until the end.
21. The automatic winder conveying method according to claim 18, wherein in step 20), the number of the bobbin yarn feeding sub-regions (102) is n, and the n bobbin yarn feeding sub-regions (102) are arranged in parallel; each bobbin repiece area (102) is correspondingly provided with a bobbin repiece device (3); n is an integer greater than 1.
22. The automatic winding conveyance method according to claim 21, wherein the trays delivered from the yarn supply bobbin loading sub-area (101) are conveyed into the bobbin winding sub-area (102) in order from the near to the far, based on the distance between the bobbin winding sub-area (102) and the yarn supply bobbin loading sub-area (101).
23. The automatic winding method according to claim 18, wherein in step 30), the tray output from the bobbin yarn feeding sub-area (102) is first transferred to the buffer sub-area (108), and then transferred from the buffer sub-area (108) to the outgoing link sub-area (112).
24. The automatic winder conveying method of claim 18, wherein said step 20) further comprises: detecting whether the bobbin on the tray is successfully pieced: if the yarn tube is successfully produced, the tray and the yarn tube are conveyed to a trip connecting sub-area (112); if the yarn tube is failed to be produced, the tray is conveyed to the forward stroke connection sub-area (112), and the yarn tube is conveyed to the yarn tube feeding machine (2).
25. The automatic winder conveying method of claim 18, wherein said step 40) comprises:
extending a third stop block (1101) and a fourth stop block (1102) in the second limiting mechanism (110), wherein the third stop block (1101) and the fourth stop block (1102) are positioned in an outward-movement connecting sub-area (112), and the fourth stop block is close to a yarn inserting area (104);
the tray is conveyed to the yarn insertion area (104) by a third stopper (1101) and a fourth stopper (1102).
26. The automatic winder conveying method according to claim 25, wherein in said step 40), the fourth stopper (1102) is intermittently reciprocated for a predetermined time so that the trays are fed into the yarn inserting zone (104) at equal intervals.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3031089B2 (en) * | 1992-11-13 | 2000-04-10 | 村田機械株式会社 | Bobbin static eliminator |
| IT1298984B1 (en) * | 1998-03-31 | 2000-02-07 | Savio Macchine Tessili Spa | IMPROVED SPOOL AND TUBE HANDLING SYSTEM FOR AUTOMATIC WINDING MACHINES |
| JP3743386B2 (en) * | 2002-05-08 | 2006-02-08 | 村田機械株式会社 | Bobbin processing system |
| DE102008031596A1 (en) * | 2008-07-03 | 2010-01-07 | Oerlikon Textile Gmbh & Co. Kg | Spinning cop and tube transport system |
| JP2011020838A (en) * | 2009-07-17 | 2011-02-03 | Murata Machinery Ltd | Textile machine managing system for automatic winder, and the automatic winder |
| JP2013006671A (en) * | 2011-06-24 | 2013-01-10 | Murata Machinery Ltd | Yarn end processing apparatus, bobbin processing apparatus and yarn winding system |
| JP2015171921A (en) * | 2014-03-11 | 2015-10-01 | 村田機械株式会社 | Textile machine |
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