CN111793894A - Warp feeding device of warp knitting machine and warp knitting machine - Google Patents
Warp feeding device of warp knitting machine and warp knitting machine Download PDFInfo
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- CN111793894A CN111793894A CN202010771907.3A CN202010771907A CN111793894A CN 111793894 A CN111793894 A CN 111793894A CN 202010771907 A CN202010771907 A CN 202010771907A CN 111793894 A CN111793894 A CN 111793894A
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- 238000009940 knitting Methods 0.000 title claims abstract description 100
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 238000000034 method Methods 0.000 description 11
- 239000004744 fabric Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 238000003199 nucleic acid amplification method Methods 0.000 description 1
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- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B27/00—Details of, or auxiliary devices incorporated in, warp knitting machines, restricted to machines of this kind
- D04B27/10—Devices for supplying, feeding, or guiding threads to needles
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B27/00—Details of, or auxiliary devices incorporated in, warp knitting machines, restricted to machines of this kind
- D04B27/10—Devices for supplying, feeding, or guiding threads to needles
- D04B27/12—Tensioning devices for individual threads
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- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B27/00—Details of, or auxiliary devices incorporated in, warp knitting machines, restricted to machines of this kind
- D04B27/10—Devices for supplying, feeding, or guiding threads to needles
- D04B27/14—Thread tensioning rod arrangements
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- Knitting Machines (AREA)
Abstract
The invention relates to the technical field of warp knitting machines, and discloses a warp feeding device of a warp knitting machine and the warp knitting machine. The invention is provided with a plurality of let-off rolls which are respectively connected with the driving motors, different let-off rolls are respectively driven by the driving motors to carry out active let-off, and because each let-off roll is respectively driven by an independent driving motor, the different let-off rolls can supply warp at different speeds, thereby accurately controlling the transmission amount and tension of each warp, and greatly improving the transmission precision and warp knitting quality of the warp. In addition, each let-off roll adopts an active let-off mode, so that the structure is compact, the occupied space is small, and the space utilization rate is high.
Description
Technical Field
The invention relates to the technical field of warp knitting machines, in particular to a let-off device of a warp knitting machine and a control method.
Background
Knitting can be divided into warp knitting, in which a plurality of yarns are sequentially looped in the longitudinal direction (warp direction) of a cloth surface at the same time, and weft knitting, in which one or more yarns are sequentially looped in the transverse direction (weft) of a door. Warp knitting is, as the name implies, a knitting apparatus for warp knitting. The warp feeding is a process that when the warp knitting machine normally operates, warp yarns are unwound from a warp beam and are fed into a looping system according to a certain warp feeding amount to be knitted by a looping machine element.
The existing warp knitting machine mainly adopts a warp beam to drive a pan head to actively feed yarns or adopts a creel to passively feed yarns. As shown in fig. 1, in the active yarn feeding method, a plurality of warps are actively fed by the same pan head 11, so that the feeding speeds of the plurality of warps are the same, and in general, the plurality of pan heads 11 are fed by the same driving motor 12, and the rotation speed of the pan head 11 is relatively fixed, so that different requirements on the feeding amount and density when weaving different products cannot be satisfied, and the types of products are limited. The warp let-off mode is a passive yarn feeding mode of a creel, wherein warp beams are directly pulled by warp tension to rotate for warp feeding, the warp feeding mode causes large fluctuation of the warp tension due to large rotating inertia of the warp beams, and the warp can not be effectively braked during high-speed running, so that the warp knitting quality is influenced.
Disclosure of Invention
Therefore, the warp feeding device of the warp knitting machine is needed to be provided for solving the technical problems that the warp tension fluctuation of the existing warp feeding device is large, the warp feeding speeds of different warps are fixed, and the warp knitting quality is influenced.
In order to achieve the above purpose, the inventor provides a warp feeding device of a warp knitting machine, which comprises a plurality of warp feeding rollers, wherein the warp feeding rollers are respectively used for feeding warp for the knitting device, the warp feeding rollers are respectively connected with a driving motor, and the driving motor drives the corresponding warp feeding rollers to rotate, so that the rotating speed of each warp feeding roller is controllable.
The warp feeding device further comprises a plurality of tension rods, wherein the tension rods are correspondingly arranged at the front end of the warp feeding roller in the warp conveying direction, warp is conveyed to the front end of the conveying direction through the tension rods, and the tension rods are used for adjusting the tension of the warp.
Furthermore, the tension adjusting device further comprises a tension adjusting motor, wherein the tension adjusting motor is connected with the tension rod and used for adjusting the position of the tension rod relative to the warp yarns so as to adjust the tension of the warp yarns.
The tension detection sensor is arranged on the warp conveying path and used for detecting the tension of the warp;
the tension adjusting motor adjusts the tension rod according to the detected tension of the warp yarns, so that the tension of the warp yarns is constant in a preset range.
Furthermore, the plurality of let-off rollers are axially and rotatably arranged on the panel, the driving motor and the corresponding let-off rollers are oppositely arranged on the back of the panel, and the driving motor is in transmission connection with the let-off rollers through a gear set.
Furthermore, the let-off roll comprises a first roll body and a second roll body, the gear set comprises a first gear, a second gear and a third gear, the rotating shaft of the driving motor is provided with the first gear, the second gear and the third gear are respectively connected with the first roll body and the second roll body, the first gear is meshed with the second gear, the second gear is meshed with the third gear, the first roll body is tangent to the roll surface of the second roll body, warp yarns enter the first roll body from a first tangent direction, pass through the first roll body and the second roll body around the roll surface of the first roll body, and then stretch out from a second tangent direction around the roll surface of the second roll body.
In order to solve the above technical problem, the present invention further provides another technical solution:
a warp knitting machine comprises a warp feeding device and a knitting device, wherein the warp feeding device is used for conveying warp yarns for the knitting device, the knitting device comprises knitting needles and a main shaft for driving the knitting needles to work, and the warp feeding device is characterized by being the warp feeding device of the warp knitting machine in any technical scheme.
Furthermore, the warp knitting machine controls the knitting device and the let-off device to work cooperatively according to pattern data corresponding to the knitting pattern, so that the let-off length of each let-off roller is adapted to the warp amount of the corresponding knitting needle.
Furthermore, the main shaft is provided with an encoder for recording the position of the main shaft, and a driving motor of the yarn supply roller takes pulse signals output by the encoder as synchronous signals to control the let-off roller to synchronously rotate so that the let-off length of the let-off roller is adapted to the warp yarn using amount of the corresponding knitting needle.
Further, the warp knitting machine divides one looping cycle of the main shaft into a plurality of equal parts, and the let-off roller performs one warp yarn conveying action in each equal part.
Different from the prior art, the technical scheme is provided with the plurality of let-off rolls, the plurality of let-off rolls are respectively connected with the driving motors, different let-off rolls are respectively driven by the driving motors to carry out active let-off, and the let-off rolls are respectively driven by the independent driving motors, so that the different let-off rolls can supply warp at different speeds, the conveying amount and the tension of each warp can be accurately controlled, and the conveying precision and the warp knitting quality of the warp are greatly improved. In addition, each let-off roll adopts an active let-off mode, so that the structure is compact, the occupied space is small, and the space utilization rate is high.
Drawings
FIG. 1 is a schematic structural diagram of the manner of active yarn feeding of a warp knitting machine in the background art;
FIG. 2 is a schematic structural view of a warp knitting machine according to an embodiment;
FIG. 3 is an enlarged view of portion A of FIG. 2 (i.e., the let-off roll and drive motor);
FIG. 4 is a schematic structural view of the let-off roll in an embodiment;
FIG. 5 is a schematic view of the connection of the tensioning motor to the tension bar;
FIG. 6 is a structural view of a tension adjusting mechanism;
FIG. 7 is a block diagram of a control module of the warp knitting machine according to the embodiment;
FIG. 8 is a warp tension control module of the warp knitting machine according to the embodiment; description of reference numerals:
1. a let-off device;
11. coiling;
12. a drive motor;
13. a mounting frame;
14. a warp drive array;
140. a let-off roll;
141. a drive motor;
142. a first roller body;
143. a second roller body;
144. installing a panel;
15. a tension bar;
151. a driving lever;
152. a driven lever;
153. a traction motor;
154. adjusting seat
2. A knitting device;
21. knitting needles;
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 2 to 8, the present embodiment provides a warp knitting machine. As shown in fig. 2, the warp knitting machine includes a warp feeding device 1 and a knitting device 2, wherein the warp feeding device 1 is used for conveying warp yarns for the knitting device 2, and the warp yarns are knitted into a warp knitting fabric by the knitting device 2. As shown in fig. 2, the let-off device 1 of the warp knitting machine at least comprises a mounting frame 13 and a warp driving array 14, the mounting frame can be formed by fixedly connecting cross bars and vertical bars, a plurality of warp driving arrays 14 are arranged on the mounting frame 13, a let-off roller 140 is arranged on each warp driving array 14, and warp is driven by the let-off roller 140 to be conveyed to the knitting device 2. The knitting device comprises a knitting needle and a main shaft for driving the knitting needle to work, and the main shaft drives the knitting needle to reciprocate up and down to knit warp into warp-knitted fabric. A tension bar may be provided in front of the let-off roller 140 in the warp yarn transferring direction to adjust the tension of the warp yarns to ensure constant tension during the warp yarn transferring process, and the yarns are transferred to the tension bar 150 of the knitting device through the tension bar and are finally guided to the knitting needle 21 through the carrier to be knitted into a warp knitting fabric by the knitting needle.
Fig. 3 is a partially enlarged view of a portion a in fig. 2, that is, a sectional view showing a specific structure of the let-off roll 140. Each let-off roll 140 is provided with a driving motor 141, and the let-off rolls 140 are driven to rotate by the driving motors 140. The warp yarn contacts with the surface of the let-off roll 140 and is transferred to the knitting device by being driven by the let-off roll 140. In the present embodiment, the let-off roll 140 is provided for each warp yarn, and each let-off roll 140 is driven to rotate by the separately provided driving motor 141, so that the rotation speed of each let-off roll 140 is independent, thereby precisely controlling the transfer speed of each warp yarn and greatly improving the transfer accuracy of the warp yarns.
As shown in fig. 3, the let-off rollers 140 are axially and rotatably disposed on one surface (i.e., front surface) of the panel 144, the driving motor 141 is disposed on the other surface (i.e., back surface) of the panel opposite to the corresponding let-off roller 140, and a rotation shaft of the driving motor 141 penetrates through the panel 144 and is in transmission connection with the let-off rollers 140, so as to drive the let-off rollers 140 to rotate. In the present embodiment, the driving motor 141 is provided on the back surface of the panel 144, and the let-off rollers 140 are provided on the front surface of the panel 144, so that the warp yarn driving array has a smaller volume, a more compact structure, and a larger number of let-off rollers 140 can be provided per unit area. Further, in the present embodiment, the driving motor 141 may be in transmission connection with the let-off roller 140 through a gear set. The rotational accuracy of the let-off roll 140 can be ensured by gear train meshing transmission, and in other embodiments, other transmission structures such as belt transmission and chain transmission can be used.
As shown in fig. 3 and 4, in order to reduce the relative slip between the warp yarn and the let-off roll 140 and improve the accuracy of the warp yarn conveyance, in the present embodiment, the let-off roll 140 is a double-roll structure, that is, the let-off roll 140 includes a first roll body 142 and a second roll body 143, and the first roll body 142 and the second roll body 143 cooperate to convey one warp yarn. Specifically, the first roller body 142 and the second roller body 143 are disposed opposite to each other, and the roller surfaces of the first roller body 142 and the second roller body 143 are abutted (i.e., contact with each other), and the warp yarn passes through between the first roller body 142 and the second roller body 143 and is forwarded by the cooperation of the first roller body 142 and the second roller body 143. As shown in fig. 4, the first roller 142 is tangent to the surface of the second roller 143, and the warp yarn 100 enters the first roller from a first tangential direction, passes between the first roller and the second roller around the surface of the first roller, and extends from a second tangential direction around the surface of the second roller, wherein the first tangential direction and the second tangential direction extend in a crossed manner (i.e. are not parallel to each other). In the embodiment, the warp feeding roller adopts a pair roller mode, so that the friction force between the warp and the roller surface can be greatly improved, and the warp conveying precision is improved. Of course, in other embodiments, the let-off roll 140 may also be a single roll body structure.
Further, in this embodiment, the gear set for driving the let-off roll to rotate includes a first gear, a second gear and a third gear, the first gear is disposed on the rotating shaft of the driving motor, the second gear and the third gear are respectively connected with the first roller body and the second roller body, the first gear is engaged with the second gear, and the second gear is engaged with the third gear. Therefore, the driving motor 141 can simultaneously drive the first roller and the second roller to rotate through the first gear, the second gear, and the third gear, and the number of teeth and the diameter of the second gear can be the same as those of the third gear, which can ensure that the first roller and the second roller rotate at the same speed.
As shown in fig. 5 and 6, in one embodiment, the tension rod 15 includes a driving rod 151, a driven rod 152, a tension adjusting motor 153 and an adjusting seat 154, the tension adjusting motor 153 is connected to the driving rod 151, the driving rod 151 and the driven rod 152 are oppositely disposed on the adjusting seat 154, warp yarns pass through between the driving rod 151 and the driven rod 152, and the tension of the warp yarns is adjusted by adjusting the position of the tension rod 15 relative to the warp yarns. The tension detection sensor is arranged on the warp conveying path and used for detecting the tension of the warp; the tension adjusting motor adjusts the tension rod according to the detected tension of the warp yarns, so that the tension of the warp yarns is constant in a preset range.
As shown in fig. 7, the control module diagram of the warp knitting machine is shown, the warp knitting machine includes an industrial personal computer and a plurality of single-chip microcomputers, wherein the industrial personal computer is a main control unit, the plurality of single-chip microcomputers are subordinate control units, and each single-chip microcomputer can control at least one let-off roller to move. The industrial personal computer can be connected with the single chip microcomputer through RS-485 or other communication connection, and sends pattern data (namely the pattern data corresponding to the knitting drawings) to each single chip microcomputer, and the single chip microcomputer controls the driving motor of the warp feeding roller to work. As shown in fig. 7, in the present embodiment, the drive motor of the let-off roller is a servo motor, and therefore, the single chip microcomputer sends a control command to the servo motor driver, and the servo motor driver controls the rotation of the servo motor. The servo motor is used as the driving motor of the let-off roll, so that the rotation angle of the finishing roll can be accurately controlled, and the control accuracy of the let-off roll can be confirmed.
The warp knitting machine controls the knitting device and the let-off device to work cooperatively according to pattern data corresponding to the knitting pattern, so that the let-off length of each let-off roller is adapted to the warp amount of the corresponding knitting needle. Specifically, in the warp knitting process, the industrial personal computer can convert pattern data which can be identified by the servo motor controller board according to the design pattern, and download the pattern data into the corresponding controller after data division processing. In order to track the position of the main shaft (i.e., the knitting needle), a photoelectric encoder is mounted on the main shaft. The single chip microcomputer receives position information about the main shaft through pulse output signals of the capturing encoder, periodically communicates with the industrial personal computer, the industrial personal computer receives signals sent by the single chip microcomputer, preferentially sends control instructions (addresses, compensation values, characteristic position information and the like) to a substation controller (namely the single chip microcomputer of a corresponding unit), and receives state information from the controller, so that the state information is respectively used for a driving motor of a let-off roller and a tension adjusting motor of a tension rod. The sub-station controller (i.e. the single chip microcomputer) finishes pattern reading according to an instruction sent by the industrial personal computer, sends a signal to a specific servo motor control panel according to pattern data to inform the specific servo motor control panel to rotate a specific servo motor driver of the servo motor control panel to send a control pulse so as to finish yarn feeding of the servo motor, and a pulse output signal of the encoder is used as a servo motor synchronous signal. The servomotor, in turn, provides position control information to its servomotor controller board, allowing bi-directional processing of the position information.
Because the yarn is always in motion during the knitting process of the warp knitting machine, the tension can be changed continuously, the tension determines the yarn feeding amount, and therefore the tension must be controlled accurately. As shown in fig. 8, in one embodiment, the warp knitting machine performs warp tension feedback control during the knitting process, monitors the warp tension in real time by hardware such as a tension sensor, and controls the tension of the warp by adjusting the position of a tension lever by a tension adjusting motor, thereby realizing closed loop control of the warp tension and confirming the warp knitting accuracy of the knitting device. The warp knitting machine with tension closed-loop control is particularly suitable for high-precision and high-speed warp knitting fabric processing occasions. The tension system acquires a yarn tension signal in the working process of the warp knitting machine, feeds back and compares the yarn tension signal with a preset tension value to obtain a difference value, and controls the tension adjusting motor through amplification, so that the yarn tension is further controlled, and the yarn tension is in a normal range in the whole process.
Furthermore, in order to ensure that the yarn feeding of the warp feeding roller driving motor keeps synchronous with the main shaft in a looping period, namely the warp feeding roller is synchronous with the knitting needle, a discretized position control mode is adopted for the yarn feeding of the warp knitting machine, wherein the looping period refers to a process that the main roller drives the knitting needle to complete reciprocating motion one above the other. The discretized position control mode means that the warp knitting machine equally divides one looping period of the main shaft into a plurality of equal parts, and the warp delivering roller performs one warp conveying action in each equal part. The discretization position control mode averages the yarn feeding amount required by one looping period of the main roller in the whole equal part so as to realize uniform yarn feeding, and the yarn feeding precision depends on the tracking precision of the main shaft.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.
Claims (10)
1. The warp let-off device of the warp knitting machine is characterized by comprising a plurality of warp let-off rollers, wherein the warp let-off rollers are respectively used for let-off of the knitting device, the warp let-off rollers are respectively connected with a driving motor, and the driving motors drive the corresponding warp let-off rollers to rotate so that the rotating speed of each warp let-off roller is controllable.
2. The warp let-off device of a warp knitting machine according to claim 1, further comprising a plurality of tension levers provided at the front end of the let-off roller in the warp yarn conveying direction, through which the warp yarns are conveyed toward the front end in the conveying direction, the tension levers being configured to adjust the tension of the warp yarns.
3. The warp feeder of warp knitting machine as claimed in claim 2, further comprising a tension adjusting motor connected to said tension bar for adjusting a position of said tension bar relative to said warp yarns to adjust a tension of said warp yarns.
4. The warp let-off device of a warp knitting machine according to claim 3, further comprising a tension detecting sensor provided on the warp conveying path for detecting the tension of the warp;
and the tension adjusting motor adjusts the tension rod according to the detected tension of the warp yarn, so that the tension of the warp yarn is constant in a preset range.
5. The warp let-off device of a warp knitting machine according to claim 1, wherein the plurality of let-off rollers are axially rotatably provided on a panel, the driving motor is provided on a back surface of the panel opposite to the corresponding let-off roller, and the driving motor is drivingly connected to the let-off rollers through a gear train.
6. The warp let-off device of a warp knitting machine according to claim 5, wherein the let-off roller includes a first roller body and a second roller body, the gear train includes a first gear, a second gear and a third gear, the first gear is provided on a rotating shaft of the driving motor, the second gear is connected to the first roller body, the third gear is connected to the second roller body, the first gear is engaged with the second gear, the second gear is engaged with the third gear, the first roller body is tangent to a roller surface of the second roller body, the warp yarn enters the first roller body from a first tangential direction, passes between the first roller body and the second roller body around the roller surface of the first roller body, and then extends from a second tangential direction around the roller surface of the second roller body.
7. A warp knitting machine comprising a let-off device for transferring warp yarns to the knitting device and a knitting device comprising needles and a main shaft for driving the needles in operation, characterized in that the let-off device is a let-off device of a warp knitting machine according to any one of claims 1 to 6.
8. The warp knitting machine according to claim 7, wherein the warp knitting machine controls the knitting means and the let-off means to cooperate with each other according to pattern data corresponding to a knitting pattern so that a let-off length of each let-off roller is adapted to a warp amount of a corresponding needle.
9. The warp knitting machine according to claim 7, wherein the main shaft is provided with an encoder for recording the position of the main shaft, and the drive motor of the yarn supplying roller controls the let-off roller to rotate synchronously with the output pulse signal of the encoder as a synchronous signal, so that the let-off length of the let-off roller is adapted to the warp amount of the corresponding knitting needle.
10. The warp knitting machine of claim 7 wherein the machine divides a looping cycle of the main shaft into equal halves, the let-off roller performing one warp yarn transfer motion in each half.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010771907.3A CN111793894A (en) | 2020-08-04 | 2020-08-04 | Warp feeding device of warp knitting machine and warp knitting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010771907.3A CN111793894A (en) | 2020-08-04 | 2020-08-04 | Warp feeding device of warp knitting machine and warp knitting machine |
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| Publication Number | Publication Date |
|---|---|
| CN111793894A true CN111793894A (en) | 2020-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010771907.3A Pending CN111793894A (en) | 2020-08-04 | 2020-08-04 | Warp feeding device of warp knitting machine and warp knitting machine |
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| CN (1) | CN111793894A (en) |
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| CN103726213A (en) * | 2014-02-09 | 2014-04-16 | 郑依福 | Yarn tension control mechanism of warp knitting machine |
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| CN105256457A (en) * | 2015-11-25 | 2016-01-20 | 江南大学 | Two-stage multispeed warp knitting machine electronic let-off device and control method thereof |
| CN205347706U (en) * | 2015-11-18 | 2016-06-29 | 广州永晋机械有限公司 | Automatic pacing of warp equipment of inkle loom |
| CN206570530U (en) * | 2017-01-11 | 2017-10-20 | 常州武鼎地毯机械有限公司 | Polychrome complete alternation carpet jacquard weave tufting device |
| CN212533325U (en) * | 2020-08-04 | 2021-02-12 | 福建屹立智能化科技有限公司 | Warp feeding device of warp knitting machine and warp knitting machine |
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2020
- 2020-08-04 CN CN202010771907.3A patent/CN111793894A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200266393Y1 (en) * | 2001-11-20 | 2002-02-28 | 박승헌 | Warp supplying controller of warp knitting machine |
| CN101713118A (en) * | 2009-10-30 | 2010-05-26 | 江苏万工科技集团有限公司 | Multi-beam let-off device |
| CN102587009A (en) * | 2012-02-28 | 2012-07-18 | 天津工业大学 | Let-off device for multilayer carbon fiber angle interlocking loom |
| CN103243474A (en) * | 2013-04-26 | 2013-08-14 | 常州市武进五洋纺织机械有限公司 | Let-off device of warp knitting machine |
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| CN205347706U (en) * | 2015-11-18 | 2016-06-29 | 广州永晋机械有限公司 | Automatic pacing of warp equipment of inkle loom |
| CN105256457A (en) * | 2015-11-25 | 2016-01-20 | 江南大学 | Two-stage multispeed warp knitting machine electronic let-off device and control method thereof |
| CN206570530U (en) * | 2017-01-11 | 2017-10-20 | 常州武鼎地毯机械有限公司 | Polychrome complete alternation carpet jacquard weave tufting device |
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