CN108502637B - Yarn inserting device - Google Patents
Yarn inserting device Download PDFInfo
- Publication number
- CN108502637B CN108502637B CN201810251748.7A CN201810251748A CN108502637B CN 108502637 B CN108502637 B CN 108502637B CN 201810251748 A CN201810251748 A CN 201810251748A CN 108502637 B CN108502637 B CN 108502637B
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- China
- Prior art keywords
- bobbin
- yarn
- manipulator
- yarn inserting
- detection
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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
- B65H67/064—Supplying or transporting cross-wound packages, also combined with transporting the empty core
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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
- B65H63/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package
- B65H63/08—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package responsive to delivery of a measured length of material, completion of winding of a package, or filling of a receptacle
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
- D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
- D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
- D01H9/08—Doffing arrangements independent of spinning or twisting machines
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
- D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
- D01H9/18—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for supplying bobbins, cores, receptacles, or completed packages to, or transporting from, paying-out or take-up stations ; Arrangements to prevent unwinding of roving from roving bobbins
Abstract
The invention discloses a yarn inserting method and a yarn inserting device, which can realize automatic delivery of bobbins and improve the operation efficiency. The yarn inserting method comprises the following steps: s10) detecting bobbin base information and bobbin information on the conveyer belt; s20) controlling the operation of the bobbin releasing mechanism and the bobbin inserting robot according to the detected information.
Description
Technical Field
The invention belongs to the field of spinning, and particularly relates to a yarn inserting device.
Background
The robot has been widely used in the industrial field. In the textile industry, the automatic bobbin winder production line and the automatic doffing production line are also applied to manipulators, but most of the automatic bobbin winder production lines are long car production lines, the requirements of upgrading and reforming short cars and existing equipment cannot be met, and the defects of poor adaptability, high cost, poor universality and the like are overcome. In addition, in the prior art, most manufacturers still adopt manual bobbin delivery, but with the increasing of labor cost and other practical problems, and the requirement of modern production line development, the manual mode is inevitably replaced by automation.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the yarn inserting device is provided, automatic delivery of bobbins is achieved, and operation efficiency is improved.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
in one aspect, an embodiment of the present invention provides a yarn inserting method, including:
s10) detecting bobbin base information and bobbin information on the conveyer belt;
s20) controlling the operation of the bobbin releasing mechanism and the bobbin inserting robot according to the detected information.
As a preferable example, in S10), the bobbin magazine information and the bobbin information on the conveyer are detected by a reciprocating circulation method in the yarn inserting area.
As a preferable example, in S10), the detecting bobbin stock information includes: simultaneously detecting information in n yarn tube banks each time; n is an integer greater than 1, and n is less than or equal to the total number of the bobbin storehouses.
As a preferable example, in S10), when the bobbin magazine information is detected, the bobbin is gripped by the hand of the yarn inserting robot.
As a preferable example, the step S10) of detecting the bobbin information on the transport belt includes: and detecting whether the information of the bobbin exists on the position of the conveying belt corresponding to the mechanical hand of the yarn inserting robot or not through a sensor arranged on the yarn inserting robot.
As a preferable example, in S20), the controlling the operation of the yarn inserting robot based on the detected information includes: if the bobbin library information indicates that all the n bobbin libraries have empty library positions, controlling a manipulator of the yarn inserting robot to insert bobbins into the empty library positions; if the bobbin library information indicates that a part of the n bobbin libraries has a vacant library position, controlling a manipulator of the yarn inserting robot to insert bobbins into the vacant library position, and not inserting bobbins into other bobbin libraries; if the bobbin library information indicates that no empty bobbin library position exists in the n bobbin libraries, the yarn inserting operation is not carried out; and after the yarn inserting robot inserts the yarn tube into the empty storage position, the manipulator of the yarn inserting robot is controlled to grab the yarn tube from the position corresponding to the manipulator and the conveying belt.
Preferably, in S20), the controlling the operation of the bobbin release mechanism based on the detected information includes: if the bobbin is arranged on the position of the conveying belt corresponding to the manipulator of the yarn inserting robot, the releasing mechanism is not started to release the bobbin; and if part or all of the positions of the conveying belts corresponding to the mechanical hands of the yarn inserting robot are not provided with the yarn bobbins, controlling the yarn bobbin releasing mechanism to release the yarn bobbins, wherein the number of the released yarn bobbins is the same as that of the positions without the yarn bobbins.
On the other hand, the embodiment of the invention also provides a yarn inserting device, which comprises a bobbin winder comprising a bobbin storage, a track, a yarn inserting robot comprising a manipulator, a bobbin releasing mechanism, a conveying belt, a first detection device, a control device, a frame, a stop block and a second detection device; the track is connected to the lower part of the bobbin winder; the yarn inserting robot is positioned on the track and can move along the track; the conveying belt is connected with the frame, and the conveying belt and the track are positioned on the same side of the bobbin winder; the bobbin releasing mechanism is connected with the frame and is matched with the conveying belt; the first detection device and the second detection device are respectively connected with the yarn inserting robot; the stop block is positioned above the conveying belt and is connected with the yarn inserting robot; the control device is respectively connected with the first detection device, the second detection device, the mechanical arm, the yarn inserting robot and the bobbin releasing mechanism.
As a preferred example, the first detection device is used for detecting whether a storage position is available in the bobbin winder or not and sending a detection result to the control device; the control device controls the yarn inserting robot to advance and controls the mechanical arm to insert the yarn according to the detection information of the first detection device.
As a preferred example, when the detection result is that there is no empty bobbin magazine, the control device controls the yarn inserting robot to advance according to the detection result, and detects the next group of bobbin magazines; and when the detection result is that the empty storage position exists, the control device controls the manipulator to insert the bobbin into the empty storage position according to the detection result.
As a preferred example, the second detection device is used for detecting whether a bobbin is on the position of the conveyor belt corresponding to the manipulator and sending the detection result to the control device; the control device controls the operation of the bobbin release mechanism, the manipulator and the stopper based on the detection information of the second detection device.
As a preferred example, when the detection result indicates that the bobbin is located at the position of the conveyor belt corresponding to the manipulator, the control device controls the manipulator without the bobbin to grab the bobbin according to the detection result; and when the detection result indicates that no bobbin exists at the position of the conveyer belt corresponding to the manipulator, the control device controls the stop block to move and open the bobbin release mechanism according to the detection result, so that the bobbin moves to the position corresponding to the manipulator on the conveyer belt.
Preferably, the stopper moving includes: rotation, lifting or translation of the stop.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: the yarn inserting device is provided, automatic delivery of bobbins is achieved, and operation efficiency is improved. In the yarn inserting method and device of the above embodiments, the first detecting device is used for detecting whether there is a vacant space in the winder, and sending the detection result to the control device. The second detection device is used for detecting whether a bobbin exists at the position of the conveyor belt corresponding to the manipulator or not and sending a detection result to the control device.
The control device controls the yarn inserting robot to advance, the mechanical hand to operate, the stop block to move and the bobbin releasing mechanism to open and close according to detection results of the first detection device and the second detection device. In the whole working process, the operation of workers is not needed, the automation is completely realized, and the working efficiency is greatly improved.
Drawings
FIG. 1 is a block flow diagram of a method of inserting a yarn according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an apparatus according to an embodiment of the present invention;
FIG. 3 is a side view of an apparatus according to an embodiment of the present invention.
The figure shows that: the bobbin winder comprises a bobbin winder 1, a bobbin storage 101, a track 2, a bobbin inserting robot 3, a manipulator 301, a bobbin releasing mechanism 4, a conveying belt 5, a first detection device 6, a control device 7, a frame 8, a stop block 9 and a second detection device 10.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
The yarn magazine is a component of the winding machine 1. Typically, the yarn magazine can accommodate 9 bobbins as a rotatable disc mechanism. When the current bobbin yarn is wound up, the bobbin storage automatically rotates for a certain angle, so that the next bobbin automatically falls into a specific position of the bobbin winder under the action of gravity to continue winding. At this time, the magazine position of the previous bobbin is empty.
As shown in fig. 1, a yarn inserting method according to an embodiment of the present invention includes:
s10) detecting bobbin base information and bobbin information on the conveyer belt;
s20) controlling the operation of the bobbin releasing mechanism and the bobbin inserting robot according to the detected information.
In the above embodiment, whether the yarn inserting operation is performed is determined by detecting whether there is a magazine position in the yarn magazine. Delivering the bobbins is automatically completed by a yarn inserting robot. And detecting the information of the bobbin on the position, corresponding to the manipulator, on the conveying belt, and if no bobbin exists, controlling the bobbin releasing mechanism to release the bobbin for the manipulator to grab. Therefore, the whole method can realize automatic yarn insertion, so that the labor is saved, and the working efficiency is improved.
As a preferable example, in S10), the bobbin magazine information and the bobbin information on the conveyer are detected by a reciprocating circulation method in the yarn inserting area. A plurality of yarn tube banks exist in the yarn inserting area. When the yarn insertion area is long, it is costly to detect all the yarn magazines simultaneously. Therefore, the bobbin base information and the bobbin information on the conveying belt are detected back and forth in a reciprocating circulating mode, so that the cost is reduced, and the required information can be detected.
In order to further improve the detection efficiency, preferably, the detecting bobbin library information includes: simultaneously detecting information in n yarn tube banks each time; n is an integer greater than 1, and n is less than or equal to the total number of the bobbin storehouses. The detection device can simultaneously detect the positions in the n bobbin storehouses at each time, so that the detection efficiency can be improved. The yarn inserting device has high traveling speed, so that the detection device can simultaneously detect n bobbin storehouses at each time, and the missed detection can be avoided. The yarn inserting robot is provided with n equidistant mechanical arms, and the distance between the mechanical arms is equal to the distance between the bobbin storehouses of the winding machine. n may be 4, 5 or 6.
In the above embodiment, in the process of detecting information of the bobbin magazine, the bobbin is gripped in the manipulator. And when the empty storage position is detected, putting the bobbin in the manipulator into the empty storage position. And when no bobbin exists in the manipulator, grabbing the bobbin from the conveying belt at the position corresponding to the manipulator.
As a preferable example, the step S10) of detecting the bobbin information on the transport belt includes: and detecting whether the information of the bobbin exists on the position of the conveying belt corresponding to the mechanical hand of the yarn inserting robot or not through a sensor arranged on the yarn inserting robot.
The yarn bobbin grabbed by the yarn inserting robot manipulator is from the conveying belt at the position corresponding to the manipulator. When there is no bobbin in the position, the empty manipulator cannot grab a new bobbin. The intubation procedure cannot be continued. Therefore, the presence or absence of the bobbin on the conveyor belt at a position corresponding to the robot is detected by the detection device. When there is no bobbin, the system releases the appropriate number of bobbins by controlling the bobbin release mechanism.
As a preferable example, in S20), the controlling the operation of the yarn inserting robot based on the detected information includes:
if the bobbin library information indicates that all the n bobbin libraries have empty library positions, controlling a manipulator of the yarn inserting robot to insert bobbins into the empty library positions;
if the bobbin library information indicates that a part of the n bobbin libraries has a vacant library position, controlling a manipulator of the yarn inserting robot to insert bobbins into the vacant library position, and not inserting bobbins into other bobbin libraries;
if the bobbin library information indicates that no empty bobbin library position exists in the n bobbin libraries, the yarn inserting operation is not carried out;
and after the yarn inserting robot inserts the yarn tube into the empty storage position, the manipulator of the yarn inserting robot is controlled to grab the yarn tube from the position corresponding to the manipulator and the conveying belt.
In this preferred embodiment, the yarn inserting robot throws the yarn as needed based on the detection result of the detection device. If the bobbin is stored in the corresponding storage position of the manipulator of the yarn inserting robot, the manipulator keeps the original position and does not perform yarn inserting operation. If no bobbin exists in the corresponding storage position of the manipulator of the yarn inserting robot, the manipulator puts the bobbin clamped by the manipulator into the empty storage position.
Preferably, in S20), the controlling the operation of the bobbin release mechanism based on the detected information includes:
if the bobbin is arranged on the position of the conveying belt corresponding to the manipulator of the yarn inserting robot, the releasing mechanism is not started to release the bobbin;
and if part or all of the positions of the conveying belts corresponding to the mechanical hands of the yarn inserting robot are not provided with the yarn bobbins, controlling the yarn bobbin releasing mechanism to release the yarn bobbins, wherein the number of the released yarn bobbins is the same as that of the positions without the yarn bobbins.
According to the signal collected by the detection device, when the bobbin is not on the position of the conveyer belt corresponding to the mechanical hand of the yarn inserting robot, the system opens the bobbin releasing mechanism to release the bobbin and conveys a new bobbin to the yarn inserting area. And when the bobbins are arranged at all the positions corresponding to the mechanical hand of the yarn inserting robot, closing the bobbin releasing mechanism. In order to improve the effective utilization rate of the bobbins, the bobbins with the same number are released according to the number of the vacant positions. The mechanical arm without clamping the bobbin grabs the bobbin released by the bobbin releasing mechanism. The manipulator, which is not performing the yarn insertion operation, remains in place without grabbing a new bobbin.
As shown in fig. 2 and 3, the embodiment of the present invention further provides a yarn inserting device, which includes a winder 1 including a yarn bobbin magazine 101, a rail 2, a yarn inserting robot 3 including a manipulator 301, a yarn bobbin releasing mechanism 4, a conveyor 5, a first detecting device 6, a control device 7, a frame 8, a stopper 9, and a second detecting device 10. The track 2 is connected to the lower part of the winder 1. The yarn inserting robot 3 is located on the rail 2 and can move along the rail 2. The conveyor belt 5 is connected with the frame 8, and the conveyor belt 5 and the track 2 are positioned at the same side of the winding machine 1. The bobbin releasing mechanism 4 is connected with the frame 8, and the bobbin releasing mechanism 4 is matched with the conveying belt 5. The first detecting device 6 and the second detecting device 10 are connected to the yarn inserting robot 3, respectively. The stop block 9 is positioned above the conveying belt, and the stop block 9 is connected with the yarn inserting robot 3. The control device 7 is connected to the first detection device 6, the second detection device 10, the manipulator 301, the yarn inserting robot 3, and the bobbin release mechanism 4, respectively. Preferably, the robot 301 is a pneumatic finger.
The yarn inserting device of the embodiment can realize automatic yarn inserting without manual assistance, and greatly improves the working efficiency.
In the above embodiment, the first detecting device 6 is used for detecting whether there is a vacant position in the winder 1 and sending the detection result to the control device 7. The control device 7 controls the yarn inserting robot 3 to advance and the manipulator 301 to perform yarn inserting operation according to the detection information of the first detection device 6. The winder 1 is provided with n winding units. Each spooling unit is correspondingly provided with a yarn bobbin storage 101. And when the detection result shows that no empty bobbin storage position exists, the control device 7 controls the yarn inserting robot 3 to advance according to the detection result so as to detect the next group of bobbin storages 101. When the detection result indicates that the empty magazine position exists, the control device 7 controls the manipulator 301 to insert the bobbin into the empty magazine position according to the detection result.
In the above embodiment, the second detection device 10 is configured to detect whether or not there is a bobbin at the position of the conveyor corresponding to the manipulator 301, and to send the detection result to the control device 7. The controller 7 controls the operations of the bobbin release mechanism 4, the hand 301, and the stopper 9 based on the detection information of the second detector 10. When the detection result indicates that the bobbin exists at the position of the conveyor belt corresponding to the manipulator 301, the control device 7 controls the manipulator 301 without the bobbin to grab the bobbin according to the detection result. When the detection result indicates that no bobbin is on the position of the conveyor belt corresponding to the manipulator 301, the control device 7 controls the stopper 9 to move and open the bobbin release mechanism 4 according to the detection result, so that the bobbin moves to the position corresponding to the manipulator 301 on the conveyor belt.
In the above embodiment, the movement of the stopper 9 includes: rotation, lifting or translation of the stop 9. When there is no bobbin on the conveyor belt at a position corresponding to the manipulator 301, the stopper 9 is moved so that the bobbin released from the bobbin releasing mechanism can be conveyed to the position by the conveyor belt. And after the bobbin reaches the position, the stop block 9 is moved again, so that the stop block 9 is contacted with the bobbin, and the bobbin is prevented from continuously moving along with the conveying belt but moving along with the yarn inserting robot. For example, when 4 robots are provided, the robots are numbered 1, 2, 3, and 4 in terms of the moving direction of the conveyor. The No. 4 manipulator is farthest away from the bobbin releasing mechanism. When no spool exists in the position corresponding to the No. 3 manipulator, the stop block corresponding to the No. 1 manipulator and the stop block corresponding to the No. 2 manipulator are raised, so that the spool corresponding to the No. 2 manipulator moves to the No. 3 position, the spool corresponding to the No. 1 manipulator moves to the position corresponding to the No. 2 manipulator, the stop block corresponding to the No. 2 manipulator is lowered, and the spool is blocked by the stop blocks. And moving one bobbin released from the bobbin releasing mechanism to a position corresponding to the No. 1 manipulator, and lowering the stop block corresponding to the No. 1 manipulator to stop the bobbin. The bobbin is positioned on the tray. After the manipulator grabs the spool, because the tray is located the dog below, so the tray that is located on the conveyer belt continues to remove along with the conveyer belt. This avoids interference between the positions of the previous and subsequent trays carrying bobbins.
In the device of the embodiment, the yarn inserting robot 3 is hung on the track 2 and can move quickly, so that the yarn inserting work of the whole production line is realized. Through first detection device 6 and second detection device 10, realize accurate location. The first detection device 6 and the second detection device 10 detect in real time, and the bobbin release mechanism 4 supplies the bobbin in time. Through inserting yarn robot 3 according to group tour, deliver according to the group, supply according to the group, the action of a plurality of yarn cop storehouses yarn insertion can be accomplished to action once, improves and inserts yarn efficiency, reduces equipment frequency of use, extension equipment life cycle.
In the above embodiment, the release of the bobbin is real-time, and the speed of the transport is adjustable. The time required by bobbin conveying is less than the whole set of action time of inspection, yarn insertion and automatic supply of the yarn inserting robot. This ensures that the tube is already delivered to the corresponding conveyor position of the robot before the next automatic tube supply. Therefore, the yarn inserting robot only needs to continuously patrol and insert yarns. And yarn inserting refers to that a manipulator delivers the yarn tubes in hands to empty positions of a yarn tube bank. The automatic supply means that after the yarn is inserted by the manipulator, the bobbin is automatically grabbed from the conveying belt because no bobbin exists in the manipulator. And the releasing supply means that the bobbin releasing mechanism receives a releasing instruction and releases the bobbin as required.
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 (3)
1. A yarn inserting device is characterized by comprising a bobbin winder (1) with a bobbin storage (101), a track (2), a yarn inserting robot (3) with a manipulator (301), a bobbin releasing mechanism (4), a conveying belt (5), a first detection device (6), a control device (7), a frame (8), a stop block (9) and a second detection device (10);
the track (2) is connected to the lower part of the bobbin winder (1); the yarn inserting robot (3) is positioned on the track (2) and can move along the track (2); the conveying belt (5) is connected with the frame (8), and the conveying belt (5) and the track (2) are positioned on the same side of the bobbin winder (1); the bobbin releasing mechanism (4) is connected with the frame (8), and the bobbin releasing mechanism (4) is matched with the conveying belt (5); the first detection device (6) and the second detection device (10) are respectively connected with the yarn inserting robot (3); the stop block (9) is positioned above the conveying belt, and the stop block (9) is connected with the yarn inserting robot (3);
the control device (7) is respectively connected with the first detection device (6), the second detection device (10), the manipulator (301), the yarn inserting robot (3) and the bobbin releasing mechanism (4);
the first detection device (6) is used for detecting whether a storage position is available in the bobbin winder (1) or not and sending a detection result to the control device (7); the control device (7) controls the yarn inserting robot (3) to move forward and the mechanical arm (301) to insert the yarn according to the detection information of the first detection device (6); when the detection result indicates that no empty bobbin position exists, the control device (7) controls the yarn inserting robot (3) to advance according to the detection result so as to detect the next group of bobbin storehouses (101); when the detection result is that a bobbin is empty, the control device (7) controls the manipulator (301) to insert the bobbin into the empty bobbin according to the detection result;
the second detection device (10) is used for detecting whether a bobbin exists at the position of the conveying belt corresponding to the manipulator (301) or not and sending a detection result to the control device (7);
the control device (7) controls the operation of the bobbin release mechanism (4), the manipulator (301) and the stopper (9) according to the detection information of the second detection device (10).
2. A yarn inserting device according to claim 1, wherein when the detection result indicates that there is a bobbin at the position of the conveyer belt corresponding to the manipulator (301), the control device (7) controls the manipulator (301) without a bobbin to grasp the bobbin based on the detection result;
and when the detection result indicates that no bobbin exists at the position of the conveyer belt corresponding to the manipulator (301), the control device (7) controls the stop block (9) to move and open the bobbin release mechanism (4) according to the detection result, so that the bobbin moves to the position corresponding to the manipulator (301) on the conveyer belt.
3. Yarn insertion device according to claim 2, characterized in that the movement of the stop (9) comprises: rotation, lifting or translation of the stop (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810251748.7A CN108502637B (en) | 2018-03-26 | 2018-03-26 | Yarn inserting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810251748.7A CN108502637B (en) | 2018-03-26 | 2018-03-26 | Yarn inserting device |
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| CN108502637A CN108502637A (en) | 2018-09-07 |
| CN108502637B true CN108502637B (en) | 2021-02-26 |
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| CN201810251748.7A Active CN108502637B (en) | 2018-03-26 | 2018-03-26 | Yarn inserting device |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102019110294A1 (en) * | 2019-04-18 | 2020-10-22 | Saurer Spinning Solutions Gmbh & Co. Kg | Tube storage and transport device for a textile machine producing cheese |
| CN112239108A (en) * | 2019-07-19 | 2021-01-19 | 铜陵松宝智能装备股份有限公司 | Yarn inserting method, automatic bobbin yarn conveying and throwing unit of automatic winder and automatic bobbin yarn conveying and throwing equipment |
| CN112320180B (en) * | 2020-09-26 | 2023-04-04 | 桐乡市永富纺织股份有限公司 | Bobbin winder for fiber line |
| CN113387235A (en) * | 2021-07-07 | 2021-09-14 | 上海天孚实业有限公司 | Weaving yarn section of thick bamboo turning device for yarn inserting machine robot based on image recognition |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5842107B2 (en) * | 1975-10-17 | 1983-09-17 | 東洋紡績株式会社 | rotary magazine |
| JPS5612268A (en) * | 1979-07-05 | 1981-02-06 | Murata Mach Ltd | Method for supplying wound thread into magazine of winder |
| KR920002549B1 (en) * | 1985-02-15 | 1992-03-27 | 가부시끼가이샤 무라오앤드 캄파니 | System for delivering packages to an automatic winder |
| JPH0631131B2 (en) * | 1987-01-22 | 1994-04-27 | 株式会社ムラオ・アンド・カンパニー | Tubing yarn feeder for automatic winder |
| CN205676580U (en) * | 2016-05-17 | 2016-11-09 | 青岛国邦工业科技发展有限公司 | Fly frame Automatic doffing devices |
| CN206107644U (en) * | 2016-08-30 | 2017-04-19 | 南京华创包装机械设备有限公司 | Vat robot case packer |
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2018
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