CN110407030B - Intelligent textile production system based on AGV trolley - Google Patents

Intelligent textile production system based on AGV trolley Download PDF

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Publication number
CN110407030B
CN110407030B CN201910780686.3A CN201910780686A CN110407030B CN 110407030 B CN110407030 B CN 110407030B CN 201910780686 A CN201910780686 A CN 201910780686A CN 110407030 B CN110407030 B CN 110407030B
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China
Prior art keywords
driving motor
guide
temporary storage
spinning
lead screw
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CN201910780686.3A
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Chinese (zh)
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CN110407030A (en
Inventor
郑祥盘
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Hefei Minglong Electronic Technology Co ltd
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Minjiang University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • 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
    • B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
    • B65H67/0405—Arrangements for removing completed take-up packages or for loading an empty core
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention relates to an intelligent textile production system based on an AGV (automatic guided way) trolley, which comprises an ACWW5T, a JRT type full-automatic winding machine, an AGV trolley and a paper tube or yarn cake temporary storage mechanism, wherein the ACWW5T, the JRT type full-automatic winding machine and the AGV trolley are installed in a spinning winding workshop; the paper tube or spinning cake temporary storage mechanism comprises a supporting frame, a conveying chain, a driving sprocket, a driven sprocket and a pushing-out unit, wherein the supporting frame is arranged on a wall on the left side or the right side of a spinning winding workshop. The function of the AVG trolley running along a specified track is utilized, and a rotating disc and a pushing mechanism are additionally arranged on the AVG trolley; the automatic installation of the paper tube and the unloading of the spinning cake are realized, the working complexity is greatly reduced, the working strength is reduced, the installation efficiency of the paper tube is improved, and the unloading efficiency of the spinning cake is improved; the automatic transformation cost and transformation time of the production line are reduced.

Description

Intelligent textile production system based on AGV trolley
Technical Field
The invention relates to the technical field of textile equipment, in particular to an intelligent textile production system based on an AGV trolley.
Background
The existing spinning winding workshops adopt equipment for winding a plurality of long rolls such as the Bama lattice ACWW5T series and a JRT full-automatic winding machine simultaneously, a paper tube is sleeved on a spinning roller, a silk thread is wound on the paper tube to form spinning cakes, when products are accumulated to a certain amount and then are required to be packaged for delivery or for next working procedure, when the existing spinning cakes are packaged or transported, a spinning cake bearing base is required to be placed first, the wound spinning cakes are then transported, so that the efficiency is low, a worker repeatedly acts at high strength, the excessive fatigue attention of the worker is easily reduced, the error probability of the worker at high strength for a long time can be greatly improved, a new paper tube is required to be sleeved on the spinning roller of the full-automatic winding machine after the spinning cakes are dismounted, the worker is required to be sleeved on each spinning cake, time and labor are wasted, the working efficiency is low, the traditional production line is required to be automatically modified, the whole set of production equipment is required to be replaced, and the transformation period is long, and the cost is high.
Disclosure of Invention
In order to solve the problems, the invention aims to provide an intelligent textile production system based on an AGV trolley, which realizes automatic installation of paper cylinders and automatic unloading of spinning cakes.
The embodiment of the invention is realized by adopting the following scheme: the utility model provides an intelligence textile production system based on AGV dolly, including installing ACWW5T and JRT formula full-automatic winder and the AGV dolly in the spinning coiling workshop, still include fiber container or silk cake temporary storage mechanism, the upper surface of AGV dolly is provided with the carousel, install planetary gear train under the carousel, planetary gear train includes ring gear, planet wheel, sun gear, the pivot of planet wheel is fixed the lower surface of carousel, the annular spout that supplies planet wheel pivot revolution has been seted up to the upper surface of AGV dolly, the last mid-mounting first driving motor of carousel, the output shaft of first driving motor pass the carousel with the pivot of sun gear is connected; the upper surface of the turntable is provided with a push-out mechanism, the push-out mechanism comprises a sleeve, a first lead screw nut, a second driving motor and a support panel, the support panel is arranged on the upper surface of the turntable, the first driving motor is embedded into the support panel, the second driving motor is fixed at the top of the rear side surface of the support panel, an output shaft of the second driving motor penetrates through the support panel to be connected with the first lead screw, the first lead screw nut is arranged on the first lead screw, two first push rods are symmetrically connected on the outer side surface of the first lead screw nut along the radial direction of the first lead screw nut, the sleeve is sleeved on the first lead screw, one end of the sleeve is fixed on the support panel, two first push rod sliding grooves are symmetrically arranged on the sleeve along the radial direction from the tail to the head, and a sealing cover is arranged at the head of the sleeve to play a limiting role to prevent the first lead screw nut from sliding out;
the paper tube or spinning cake temporary storage mechanism comprises a supporting frame, a conveying chain, a driving sprocket, a driven sprocket and a pushing-out unit, wherein the supporting frame is arranged on the wall on the left side or the right side of a spinning winding workshop, the supporting frame comprises a motor support, the motor support stands on the wall which is tightly attached in the spinning winding workshop, a third driving motor is arranged on the motor support, a driven rotating shaft is arranged on an output shaft of the third driving motor, the driven sprocket is arranged on the wall of the spinning winding workshop right in front of the third driving motor, the driven sprocket is arranged on the driven rotating shaft, the conveying chain is provided with the conveying chain, a temporary storage tube is arranged on the conveying chain at equal intervals, a push plate is sleeved on the temporary storage tube, a fourth driving motor is arranged under the driven sprocket, the output shaft of the fourth driving motor is fixedly connected with a second lead screw, the second lead screw is further arranged on the mounting support, the second lead screw is parallel to the second lead screw, and the second lead screw is arranged on the second lead screw, and the second lead screw is in parallel to the surface of the connecting sleeve.
In one embodiment of the invention, four guide grooves are formed in the temporary storage pipe along the radial directions of two diameters which are mutually perpendicular, and guide wheels corresponding to the guide grooves are arranged on the inner surface of the push plate; a limiting block for preventing the second screw nut from being separated from the second screw is arranged at the left end of the second screw; the temporary storage pipe and the second lead screw are parallel to each other, and an included angle a is formed between the temporary storage pipe and the horizontal direction in an inclined direction so as to prevent the placed spinning cakes or paper cylinders from sliding off; the wire winding rod of the full-automatic winding machine is the same as the first screw rod and the temporary storage pipe when running to the lowest point, so that the loading and unloading of a spinning cake and a paper tube are ensured.
In one embodiment of the invention, an electromagnetic rail is stuck on the ground of the spinning winding workshop to guide the AGV trolley to move; the first driving motor and the second driving motor are powered by a storage battery, and the storage battery is arranged on the upper surface of the turntable; the AGV trolley is characterized in that a guide chute is arranged below the rotary table in a surrounding mode on the upper surface of the AGV trolley, the guide chute is concentric with the annular chute, a guide wheel is arranged on the outer side of the lower surface of the rotary table, the guide wheel is arranged in the guide chute, and the rotary range of the rotary table is 0-180 degrees.
The invention has the beneficial effects that: the invention provides an intelligent textile production system based on an AGV (automatic guided vehicle), which utilizes the function of the AVG trolley running along a designated track, and a rotating disc and a pushing mechanism are additionally arranged on the AVG trolley; the automatic paper tube installation and cake unloading are realized, and workers only need to timely supplement the paper tube in the paper tube or cake temporary storage mechanism and timely transport away the cake on the paper tube or cake temporary storage mechanism, so that the complexity of work is greatly reduced, the working strength is reduced, the installation efficiency of the paper tube is improved, and the cake unloading efficiency is improved; only needs to simply install some devices, and adopts mature technology, thereby greatly reducing the automatic transformation cost and transformation time of the production line.
Drawings
FIG. 1 is a schematic diagram of an intelligent textile production system based on AGV carts.
Fig. 2 is a front view of an intelligent textile production system based on an AGV trolley.
FIG. 3 is a cross-sectional view of an AGV cart.
FIG. 4 is a schematic view of the structure of an AGV.
Fig. 5 is a schematic structural view of a paper tube or cake temporary storage mechanism.
Fig. 6 is a schematic structural view of the push-out unit.
FIG. 7 is a schematic diagram of the connection of the temporary storage tube and the push plate.
Fig. 8 is a schematic diagram of the connection of the paper tube or cake temporary storage mechanism to the wall surface.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 8, the invention provides an intelligent textile production system based on an AGV trolley, which comprises an ACWW5T installed in a spinning winding workshop, a JRT type full-automatic winding machine 1 and the AGV trolley 2, and further comprises a paper tube or spinning cake temporary storage mechanism 3, wherein a turntable 22 is arranged on the upper surface of the AGV trolley 2, a planet wheel 262 system 26 is installed under the turntable 22, the planet wheel 262 system 26 comprises a gear ring 261, a planet wheel 262 and a sun wheel 263, a rotating shaft of the planet wheel 262 is fixed on the lower surface of the turntable 22, an annular chute for the rotation shaft of the planet wheel 262 to revolve is formed on the upper surface of the AGV trolley 2, a first driving motor 24 is installed in the middle of the turntable 22, and an output shaft of the first driving motor 24 passes through the turntable 22 and is connected with the rotating shaft of the sun wheel 263; the upper surface of the turntable 22 is provided with a push-out mechanism 25, the push-out mechanism 25 comprises a sleeve 251, a first lead screw 257, a first lead screw nut 255, a second driving motor 256 and a support panel 254, the support panel 254 is arranged on the upper surface of the turntable 22, the first driving motor 24 is embedded in the support panel 254, the top of the rear side surface of the support panel 254 is fixed with the second driving motor 256, an output shaft of the second driving motor 256 penetrates through the support panel 254 to be connected with the first lead screw 257, the first lead screw nut 255 is arranged on the first lead screw 257, two first push rods 253 are symmetrically connected on the outer side surface of the first lead screw nut 255 along the radial direction of the first lead screw nut 255, the sleeve 251 is sleeved on the first lead screw 257, one end of the sleeve 251 is fixed on the support panel 254, the sleeve 251 is symmetrically provided with two first push rod sliding grooves 253 from the tail to the head in the radial direction, and the head of the sleeve 251 is provided with a sealing cover 252 for limiting the first lead screw nut 255;
the paper tube or spinning cake temporary storage mechanism 3 comprises a supporting frame, a conveying chain 33, a driving sprocket 32, a driven sprocket 39 and a pushing-out unit 38, wherein the supporting frame is installed on the wall on the left side or the right side of a spinning winding workshop, the supporting frame comprises a motor support 31, the motor support 31 stands on the wall tightly attached to the inside of the spinning winding workshop, a third driving motor 36 is installed on the motor support 31, the driving sprocket 32 is installed on an output shaft of the third driving motor 36, a driven rotating shaft is arranged on the wall of the spinning winding workshop right in front of the third driving motor 36, the driven sprocket 39 is installed on the driven rotating shaft, the driven sprocket 39 and the driving sprocket 32 are provided with the conveying chain 33, temporary storage tubes 35 are installed on the conveying chain 33 at equal intervals, pushing-out plates 34 are sleeved on the temporary storage tubes 35, the driving sprocket 39 are installed under the driving sprocket 38, the pushing-out units 38 comprise mounting support plates 386 fixed on the wall, fourth driving motors 386 are installed on the mounting support plates 388, the fourth driving motors are fixedly connected with the second guide screws 382, and the second guide screws 381 are connected with the second guide screws 382 by the second guide screws 381, and the second guide screws 381 are connected with the second guide screws 383.
Referring to fig. 1 to 8, in an embodiment of the present invention, four guide grooves are formed on the temporary storage tube 35 along two radial directions of two diameters perpendicular to each other, and guide wheels 27 corresponding to the guide grooves are disposed on the inner surface of the push plate 34; a limiting block for preventing the second screw nut 384 from being separated from the second screw 382 is arranged at the left end of the second screw 382; the temporary storage tube 35 and the second screw 382 are parallel to each other, and the temporary storage tube 35 forms an included angle a with the horizontal direction obliquely upwards to prevent the placed spinning cake or paper tube from sliding off; the winding rod of the fully automatic winding machine 1 has the same height as the first screw 257 and the temporary storage tube 35 when running to the lowest point, so as to facilitate the assembly and disassembly of the spinning cake 4 and the paper tube 5.
Referring to fig. 1 to 4, in one embodiment of the present invention, an electromagnetic rail 28 is stuck on the ground of the spinning winding workshop to guide the movement of the AGV trolley 2; the first driving motor 24 and the second driving motor 256 are powered by a storage battery 23, and the storage battery 23 is mounted on the upper surface of the turntable 22; the upper surface of the AGV trolley 2 is positioned below the turntable 22 and is provided with a guide chute in a surrounding manner, the guide chute is concentric with the annular chute, the outer side of the lower surface of the turntable 22 is provided with a guide wheel 27, the guide wheel 27 is arranged in the guide chute, and the rotation range of the turntable 22 is 0-180 degrees; the AGV trolley only needs to replace a yarn cake or a paper cylinder on a winding machine at the same side, the positions for placing the paper cylinder and the yarn cake are at two ends of the same electromagnetic track, all actions can be completed only by rotating 180 degrees, and the preferred rotating angles are 0 degree, 90 degrees and 180 degrees.
In an embodiment of the present invention, the paper tube or cake temporary storage mechanism 3 installed on the left side wall of the spinning winding workshop is used for storing the cake, and the paper tube or cake temporary storage mechanism 3 installed on the right side wall of the spinning winding workshop is used for storing the paper tube.
The invention has the following working modes;
after the full-automatic winder winds the wire into the cake, the AGV trolley moves to the front of a winding roller 11 of the full-automatic winder along an electromagnetic track on the ground of a spinning winding workshop, a first driving motor works to drive the coil to enable the sleeve to be in butt joint with the winding roller, the full-automatic winder pushes the wound cake 4 onto the sleeve, then the AGV trolley moves to the left part of the workshop along the electromagnetic track to be in butt joint with a paper tube or a cake temporary storage mechanism temporary storage tube on the left part of the workshop, and a second driving motor works to drive a lead screw to drive a first lead screw nut to move outwards to push out the cake, so that the cake is pushed out onto the temporary storage tube; the third driving motor works to drive the conveying chain to rotate, so that the temporary storage pipes at the butt joint positions are all free of spinning cakes; the AGV trolley runs to the right part of the workshop along an electromagnetic track, the rotating disk is driven to rotate through the operation of the first driving motor to enable the sleeve to be in butt joint with the temporary storage pipe of the paper tube or the cake temporary storage mechanism at the right part, the fourth driving motor is driven to drive the push rod of the paper tube or the cake temporary storage mechanism to push the push plate to push the paper tube 5 out, the push plate is pushed onto the sleeve, and the third driving motor is driven to operate and convey; the AGV trolley moves along the electromagnetic track to the front of a winding drum machine needing to be filled into the paper drum to be in butt joint with the wire winding roller, and pushes the paper drum into the wire winding roller. The staff needs to supplement the paper tube on the temporary storage mechanism in time and take away the yarn cakes temporarily stored on the temporary storage mechanism in time.
The foregoing description of the preferred embodiments of the present invention should not be construed as limiting the scope of the invention, which is defined by the appended claims.

Claims (1)

1. Intelligent textile production system based on AGV dolly, including installing ACWW5T and the full-automatic coiler of JRT and AGV dolly in spinning winding workshop, its characterized in that: the automatic feeding device comprises a carrier, a planetary gear train, a planet wheel and a sun gear, wherein the carrier is arranged on the upper surface of the carrier, the carrier is provided with a turntable, the planetary gear train is arranged below the turntable and comprises a gear ring, the planet wheel and the sun gear, a rotating shaft of the planet wheel is fixed on the lower surface of the turntable, the upper surface of the carrier is provided with an annular chute for the rotation of the rotating shaft of the planet wheel, the middle part of the turntable is provided with a first driving motor, and an output shaft of the first driving motor penetrates through the turntable and is connected with the rotating shaft of the sun gear; the upper surface of the turntable is provided with a push-out mechanism, the push-out mechanism comprises a sleeve, a first lead screw nut, a second driving motor and a support panel, the support panel is arranged on the upper surface of the turntable, the first driving motor is embedded into the support panel, the second driving motor is fixed at the top of the rear side surface of the support panel, an output shaft of the second driving motor penetrates through the support panel to be connected with the first lead screw, the first lead screw nut is arranged on the first lead screw, two first push rods are symmetrically connected on the outer side surface of the first lead screw nut along the radial direction of the first lead screw nut, the sleeve is sleeved on the first lead screw, one end of the sleeve is fixed on the support panel, two first push rod sliding grooves are symmetrically arranged on the sleeve along the radial direction from the tail to the head, and a sealing cover is arranged at the head of the sleeve to play a limiting role to prevent the first lead screw nut from sliding out;
the paper tube or spinning cake temporary storage mechanism comprises a support frame, a conveying chain, a driving sprocket, a driven sprocket and a pushing-out unit, wherein the support frame is arranged on a wall on the left side or the right side of a spinning winding workshop, the support frame comprises a motor support, the motor support is erected in the spinning winding workshop and is tightly attached to the wall, a third driving motor is arranged on the motor support, the driving sprocket is arranged on an output shaft of the third driving motor, a driven rotating shaft is arranged on the wall of the spinning winding workshop right in front of the third driving motor, the driven sprocket is arranged on the driven rotating shaft, the driven sprocket and the driving sprocket are provided with the conveying chain, temporary storage tubes are arranged on the conveying chain at equal intervals, push plates are sleeved on the temporary storage tubes, a fourth driving motor is arranged under the driven sprocket, an output shaft of the fourth driving motor is fixedly connected with a second guide screw, the second guide screw is arranged on the mounting support plate and is parallel to the second guide shaft, the second guide screw is arranged on the second push plate, the guide screw is connected with a connecting rod sleeve, and the second guide screw is fixedly connected with the connecting rod is arranged on one side of the push rod, and the push rod is in contact with the wall; four guide grooves are formed in the temporary storage pipe along the radial directions of two diameters which are perpendicular to each other, and guide wheels corresponding to the guide grooves are arranged on the inner surface of the push plate; a limiting block for preventing the second screw nut from being separated from the second screw is arranged at the left end of the second screw; the temporary storage pipe and the second lead screw are parallel to each other, and an included angle a is formed between the temporary storage pipe and the horizontal direction in an inclined direction so as to prevent the placed spinning cakes or paper cylinders from sliding off; the wire winding roller of the full-automatic winding machine is the same as the first lead screw and the temporary storage pipe when running to the lowest point, so that the loading and unloading of a spinning cake and a paper cylinder are facilitated; an electromagnetic rail is stuck on the ground of the spinning winding workshop to guide the AGV trolley to move; the first driving motor and the second driving motor are powered by a storage battery, and the storage battery is arranged on the upper surface of the turntable; the AGV trolley is characterized in that a guide chute is arranged below the rotary table in a surrounding mode on the upper surface of the AGV trolley, the guide chute is concentric with the annular chute, a guide wheel is arranged on the outer side of the lower surface of the rotary table, the guide wheel is arranged in the guide chute, and the rotary range of the rotary table is 0-180 degrees.
CN201910780686.3A 2019-08-22 2019-08-22 Intelligent textile production system based on AGV trolley Active CN110407030B (en)

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CN206705405U (en) * 2017-04-25 2017-12-05 福建景丰科技有限公司 A kind of two-way spinning cake discharge mechanism
CN107738957A (en) * 2017-11-03 2018-02-27 杭州锐冠科技有限公司 A kind of doffing control system and lick-up control method
CN208454154U (en) * 2018-07-17 2019-02-01 福建伟益锦纶科技有限公司 A kind of longitudinal handling spinning cake spindle mechanism
CN109607086A (en) * 2019-01-17 2019-04-12 闽江学院 A kind of temporary conveyer system of spinning spinning cake unloading
CN210456982U (en) * 2019-08-22 2020-05-05 闽江学院 Intelligent textile production system based on AGV dolly

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