CN116040411A - Automatic reel material changing method and device - Google Patents
Automatic reel material changing method and device Download PDFInfo
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- CN116040411A CN116040411A CN202310211189.8A CN202310211189A CN116040411A CN 116040411 A CN116040411 A CN 116040411A CN 202310211189 A CN202310211189 A CN 202310211189A CN 116040411 A CN116040411 A CN 116040411A
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- winding drum
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- sliding table
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- inflatable
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- 239000000463 material Substances 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004804 winding Methods 0.000 claims abstract description 93
- 230000009467 reduction Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 10
- 238000009826 distribution Methods 0.000 claims description 6
- 239000011247 coating layer Substances 0.000 claims description 5
- 230000000694 effects Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
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Classifications
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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
- B65H67/04—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
- B65H67/0411—Arrangements for removing completed take-up packages or for loading an empty core for removing completed take-up packages
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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
- B65H67/04—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
- B65H67/0417—Arrangements for removing completed take-up packages or for loading an empty core for loading an empty core
Abstract
The invention relates to the technical field of reel transportation, in particular to an automatic reel material changing method and device, wherein the method comprises the following steps: s10: mounting a plurality of mounting frames and industrial cameras; s20: calibrating an industrial camera; s30: dismantling the calibration plate, and installing the inflatable shaft, the sliding table, the manipulator and the material table; s40: when the device is started initially, winding drums are sleeved on all the inflatable shafts; s50: shooting an image every T milliseconds, and identifying the area size of each area with the same color as the yarn; s60: when the area of one area exceeds a set threshold value, stopping the air expansion shaft at the position, then loosening the winding drum by the air expansion shaft, and simultaneously moving the manipulator to the position of the area by the sliding table and taking down the winding drum; s70: the sliding table moves the manipulator to the material table, and the manipulator replaces and clamps the new winding drum; then the sliding table moves the manipulator to the position of the region and sleeves a new winding drum on the inflatable shaft; s80: and (5) repeating the steps S50-S70, so that automatic material changing of the winding drum can be realized. The automatic material changing device can realize automatic material changing of the winding drum, and effectively improves the material changing efficiency of the winding drum.
Description
Technical Field
The invention relates to the technical field of reel transportation, in particular to an automatic reel material changing method and device.
Background
In the fields of spinning production, fabric production and the like, the product is wound on a winding drum and then provided for subsequent working procedures or clients. In the winding process, the wound winding drum needs to be removed frequently, then a new empty winding drum is replaced for next winding, the conventional related technology is usually used for replacing materials in a manual mode, and the manual disassembly and alignment are needed, so that the material replacement efficiency of the winding drum is low, deviation or skew easily occurs in the winding process of the winding drum, and the winding effect of a product on the winding drum is affected.
Accordingly, there is a need for a method and apparatus that can improve spool changing efficiency and installation accuracy.
Disclosure of Invention
The invention provides an automatic reel material changing method which can effectively solve the problems in the background technology. The invention also provides an automatic reel material changing device which can achieve the same technical effect.
The invention provides an automatic material changing method for a winding drum, which comprises the following steps:
s10: installing a plurality of installation frames distributed along a straight line, and installing an industrial camera to enable the industrial camera to shoot all the installation frames;
s20: a calibration plate is arranged on each mounting frame, and an industrial camera is used for shooting to calibrate the industrial camera;
s30: dismantling the calibration plates, and installing inflatable shafts which are driven to rotate by a motor on a plurality of installation frames; a sliding table is arranged beside the mounting frame, so that the sliding table linearly slides along the distribution direction of the mounting frame, a manipulator is arranged on the sliding table, and a material table for placing a winding drum is arranged on one side surface of one end of the movement track of the sliding table;
s40: when the device is started initially, winding drums are sleeved on all the inflatable shafts, and the inflatable shafts are inflated to fix the winding drums; then starting each motor to drive the air expansion shaft and the winding drum to rotate;
s50: setting a time interval T milliseconds; shooting an image by an industrial camera every T milliseconds, and identifying the area size of each area with the same color as the yarn in the image;
s60: when the area of one area exceeds a set threshold value, stopping the rotation of the corresponding air expansion shaft and the winding drum at the area, then releasing the fixation of the winding drum by exhausting air of the air expansion shaft, and simultaneously moving the manipulator to the area by the sliding table and taking down the winding drum from the air expansion shaft;
s70: the sliding table moves the manipulator to the material table, the manipulator places the winding drum on the material table, and then clamps a new winding drum; then the sliding table moves the manipulator to the position of the region and sleeves a new winding drum on the inflatable shaft, then the inflatable shaft inflates and fixes the winding drum, and the motor drives the inflatable shaft and the winding drum to rotate again;
s80: and (5) repeating the steps S50-S70, so that automatic material changing of the winding drum can be realized.
Further, industrial cameras are used to capture black and white patterns.
Further, in step S30, an end of the sliding table, which is close to the material table, is aligned with the origin of the industrial camera coordinate system.
Further, in step S30, after the manipulator is installed, the sliding table is manually controlled to enable the manipulator to reach each inflatable shaft, and the horizontal distance and the vertical distance between the manipulator and the end part of the motion track of the sliding table, which is close to one end of the material table, are recorded each time the manipulator reaches the corresponding inflatable shaft position, so as to form an actual distance library;
in the steps S60-S70, the sliding table controls the moving distance of the manipulator according to the distance data recorded in the actual distance library.
Further, in step S30, a background plate is mounted on the mounting frame, and a coating layer having a color different from that of the yarn is provided on the background plate.
The invention also provides an automatic reel material changing device, which is used for realizing the automatic reel material changing method, and comprises the following steps:
the mounting frames are distributed along a straight line; a plurality of inflatable shafts are arranged on each mounting frame, and each inflatable shaft is driven to rotate by a motor;
an industrial camera for photographing all of the mounting frames;
the sliding table linearly slides along the distribution direction of the mounting frame;
the manipulator is fixedly arranged on the sliding table and used for taking and placing the winding drum;
the material platform is arranged on one side face of one end of the sliding table motion track and used for placing the winding drum.
Further, the device also comprises a plurality of vibration reduction blocks and guide rails; the vibration reduction blocks are distributed along the direction of the movement track of the sliding table, and the inside of each vibration reduction block is a cavity; the guide rail is attached to the tops of all the vibration reduction blocks, and the sliding table slides on the guide rail.
Further, the material table is rotatably arranged, a plurality of material levels distributed along the rotation direction are arranged on the material table, and a positioning shaft is arranged on each material level.
Further, the manipulator is provided with an air expansion shaft, and the manipulator clamps the winding drum through the air expansion shaft.
Further, a guide structure is arranged at one end of the air expansion shaft, which faces the winding drum.
By the technical scheme of the invention, the following technical effects can be realized:
according to the invention, the working image of the winding drum is obtained in real time through the industrial camera, whether the winding drum needs to be replaced or not is judged by calculating the size of a specific color area representing the quantity of yarns on each winding drum in the image, and then the operation of replacing the winding drum is carried out through the combination and positioning of the mechanical arm, so that the automatic material replacing function of the winding drum is realized. Before the inflatable shaft and the manipulator are installed, the industrial camera is calibrated for one time, so that the interference of other parts and the influence on the calibration precision of the industrial camera are avoided, and the detection precision of the industrial camera is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a schematic structural view of an automatic reel changer according to the present invention;
FIG. 2 is a top view of the automatic reel changer of the present invention;
FIG. 3 is a schematic view of the structure of the damper block and rail of the present invention;
FIG. 4 is a schematic view of a material stage according to the present invention;
reference numerals: 1. a mounting frame; 2. an industrial camera; 3. an air expansion shaft; 4. a sliding table; 5. a manipulator; 6. a material platform; 6a, positioning shafts; 7. a vibration damping block; 8. and a guide rail.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
In the description of the present invention, it should be noted that the directions or positional relationships indicated as being "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are directions or positional relationships based on the drawings are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, or may be internal communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The invention relates to an automatic material changing method for a winding drum, which comprises the following steps:
s10: installing a plurality of installation frames 1 distributed along a straight line, and installing an industrial camera 2, so that the industrial camera 2 shoots all installation frames 1;
s20: a calibration plate is arranged on each mounting frame 1, a whole row of calibration points are arranged on the calibration plate, the industrial camera 2 is used for shooting, the deformation of the image shot by the industrial camera 2 at the position, the actual distance quantity corresponding to each pixel in the image and the like can be determined through the image condition of the calibration points in each calibration plate shot by the industrial camera 2, so that the industrial camera 2 is calibrated, and the corresponding parameter data can be accurately calculated through the pixels in the image;
s30: after the industrial camera 2 is calibrated, a calibration plate can be removed, a plurality of mounting frames 1 are provided with inflatable shafts 3 which are driven by a motor to rotate, and the number of the inflatable shafts 3 can be set according to the field requirement; then a sliding table 4 is arranged beside the mounting frame 1, so that the sliding table 4 linearly slides along the distribution direction of the mounting frame 1, a manipulator 5 is arranged on the sliding table 4, and a material table 6 for placing a winding drum is arranged on one side surface of one end of the movement track of the sliding table 4;
s40: when the device is started initially, all the inflatable shafts 3 are sleeved with reels, and the inflatable shafts 3 are inflated to fix the reels; then starting each motor to drive the air expansion shaft 3 and the winding drum to rotate;
s50: setting a time interval T milliseconds; the industrial camera 2 shoots images every T milliseconds, the area size of each area with the same color as the yarn in the images is identified, and the installation position of the industrial camera 2 is considered, so that the shot images are the end surfaces of the reels, and the areas with the same color as the yarn are the parts of the end surfaces of the corresponding reels on the images, so that the quantity of the yarn on the reels can be reflected by calculating the area sizes of the areas;
s60: when the area of one area exceeds a set threshold value, stopping the rotation of the corresponding air expansion shaft 3 and the winding drum at the area, then exhausting air from the air expansion shaft 3 to loosen the fixation of the winding drum, and simultaneously, moving the manipulator 5 to the area by the sliding table 4 and taking off the winding drum from the air expansion shaft 3;
s70: the sliding table 4 moves the manipulator 5 to the position of the material table 6, the manipulator 5 places the winding drum on the material table 6, and then clamps a new winding drum; then the sliding table 4 moves the manipulator 5 to the position of the region and sleeves a new winding drum on the inflatable shaft 3, then the inflatable shaft 3 inflates and fixes the winding drum, and the motor drives the inflatable shaft 3 and the winding drum to rotate again;
s80: and (5) repeating the steps S50-S70, so that automatic material changing of the winding drum can be realized.
Specifically, before the inflatable shaft 3 and the manipulator 5 are installed, the industrial camera 2 is calibrated once, so that the interference of other components and the influence on the calibration precision of the industrial camera 2 are avoided, and the detection precision of the industrial camera 2 is ensured. Meanwhile, the method can reduce the dimension to be detected of the industrial camera 2 and improve the calculation control efficiency by fixing the interval between the sliding table 4 and the mounting frame 1. The method can be applied to two conditions of winding and unwinding of the winding drum: when the yarn winding device is used for winding, firstly, an empty winding drum is placed on an air expansion shaft 3, then, the motor drives the empty winding drum to rotate for winding, in step S60, whether the area of an area is larger than a set value is mainly judged, if so, the quantity of yarns wound on the winding drum is enough, and a new empty winding drum can be replaced for winding; when the device is used for unreeling, the winding drum with yarns is firstly placed on the inflatable shaft 3, then the motor drives the winding drum to rotate for unreeling, in the step S60, whether the area of the area is smaller than a set value is mainly judged, if the area is smaller than the set value, the fact that the quantity of the yarns wound on the winding drum is insufficient is indicated, and the winding drum with more yarns needs to be replaced for unreeling.
In order to facilitate the subsequent processing of the image, the industrial camera 2 is preferably used for shooting a black-and-white pattern, or the industrial camera 2 which can only shoot a color picture is used for carrying out black-and-white processing on the image shot by the industrial camera 2, so that the pixel points in the black-and-white image after processing only keep gray value information of 0-225, and the gray value is used for distinguishing the yarn from the background, thereby effectively reducing the calculated amount of the method, simultaneously facilitating the further operations of filtering, sharpening and the like on the image, and further improving the accuracy of the final monitoring calculation result.
In the invention, in step S30, the end of the moving track of the sliding table 4 close to the material table 6 is aligned with the origin of the coordinate system of the industrial camera 2, the sliding table 4 is usually parked at the end close to the material table 6, therefore, the end is aligned with the origin of the coordinates of the industrial camera 2, the coordinate value of the pixel obtained from the image can be used as the control parameter of the manipulator 5 only through simple multiplication, for example, the coordinate of the center point of the region where the area exceeding the threshold is detected is (x 0, y 0), namely, the horizontal distance of the point corresponding to the moving track end of the sliding table 4 is x0·a, and the vertical distance of the point corresponding to the moving track end of the sliding table 4 is y0·a (A is the actual length corresponding to one pixel), thereby realizing the rapid control of the manipulator 5. The end part of the moving track of the sliding table 4, which is close to one end of the material table 6, is preferably provided with a position sensor, so that the sliding table 4 can be ensured to accurately stop at the position corresponding to the end part.
In order to eliminate a certain error in the position where the manipulator 5 stops at each time in the same point due to a certain difference in the movement data of the manipulator 5 detected by the camera, it is preferable that in step S30, after the manipulator 5 is installed, the manipulator 4 is manually controlled to make the manipulator 5 reach each of the inflatable shafts 3, and the horizontal distance and the vertical distance of the movement track of the manipulator 5 from the slide 4 near the end of one end of the material table 6 each time the manipulator 5 reaches the corresponding inflatable shaft 3 are recorded, so as to form an actual distance library, and in step S40, the manipulator 5 is used to manually record corresponding position data of the reel sleeve on the inflatable shaft 3, and the actual distance library can be used for numbering management, for example, numbering of a plurality of inflatable shafts 3 is performed by 1 and 2 … … n, and then the horizontal and vertical distances (a 1, b 1), (a 2, b 2) … … (an, bn) of the manipulator 5 reaching the corresponding inflatable shaft 3 are recorded; in steps S60 to S70, the sliding table 4 controls the moving distance of the manipulator 5 according to the distance data recorded in the actual distance library, and if the calculated horizontal and vertical distances of the manipulator 5 are (a 2', b 2') which are closest to (a 2, b 2) in the actual distance library, it is indicated that the spool needs to be replaced by the number 2 inflatable shaft 3, and the horizontal and vertical distances of the movement of the manipulator 5 are the same as a2 and b2 at this time, so as to ensure that the stopping position is the same every time the manipulator 5 reaches the number 2 inflatable shaft 3.
In order to make the yarn clearer in the image of the yarn captured by the industrial camera 2, it is preferable to install a background plate on the mounting frame 1 in step S30, and to provide a coating layer with a color different from that of the yarn on the background plate, for example, if the yarn is white, the coating layer is black, so that the yarn is clearer under the setting of the coating layer.
The invention also relates to an automatic reel material changing device, which is used for realizing the automatic reel material changing method, as shown in figures 1-4, and comprises the following steps:
a plurality of mounting frames 1 distributed along a straight line; a plurality of inflatable shafts 3 are arranged on each mounting frame 1, and each inflatable shaft 3 is driven to rotate by a motor;
an industrial camera 2 for photographing all the mounting frames 1;
a sliding table 4 which slides linearly along the distribution direction of the mounting frame 1;
the manipulator 5 is fixedly arranged on the sliding table 4 and used for taking and placing the winding drum;
and the material table 6 is arranged on one side surface of one end of the movement track of the sliding table 4 and used for placing the winding drum.
Preferably, a plurality of damping blocks 7 and guide rails 8 are also arranged in the device; the vibration reduction blocks 7 are distributed along the direction of the movement track of the sliding table 4, and the inside of each vibration reduction block 7 is a cavity; the guide rail 8 is attached to the tops of all the vibration reduction blocks 7, the sliding table 4 slides on the guide rail 8, vibration generated when the sliding table 4 slides can be transmitted to the vibration reduction blocks 7 and absorbed through cavities inside the vibration reduction blocks 7, the vibration is prevented from being transmitted to the clamping positions of the mechanical arm 5 on the winding drum, and the stability of the mechanical arm 5 on the winding drum is guaranteed.
Preferably rotate the material platform 6 and set up, and be provided with a plurality of material levels of distributing along direction of rotation on material platform 6, set up locating shaft 6a on every material level, the reel cover is fixed on locating shaft 6a, changes the material level through rotating material platform 6, just can conveniently realize new old reel's change, and manipulator 5 only need keep when the tip aim at one of them material level can to make the holistic control of this device simpler.
Preferably, the air expansion shaft 3 is arranged on the mechanical arm 5, the mechanical arm 5 clamps the winding drum through the air expansion shaft 3, when clamping, the mechanical arm 5 stretches the air expansion shaft 3 into the winding drum, then charges to clamp the winding drum, and when the winding drum is put down, the clamping connection to the winding drum can be loosened through exhaust, and the control mode is simpler. For the inflatable shaft 3 on the manipulator 5 and the inflatable shaft 3 on the mounting frame 1, one end of the inflatable shaft facing the winding drum is provided with a guide structure such as a round chamfer, an oblique chamfer and the like, so that the inflatable shaft is convenient to be sleeved with the winding drum.
The foregoing has outlined and described the basic principles, 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, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. An automatic reel material changing method is characterized by comprising the following steps:
s10: installing a plurality of installation frames distributed along a straight line, and installing an industrial camera to enable the industrial camera to shoot all the installation frames;
s20: a calibration plate is arranged on each mounting frame, and an industrial camera is used for shooting to calibrate the industrial camera;
s30: dismantling the calibration plates, and installing inflatable shafts which are driven to rotate by a motor on a plurality of installation frames; a sliding table is arranged beside the mounting frame, so that the sliding table linearly slides along the distribution direction of the mounting frame, a manipulator is arranged on the sliding table, and a material table for placing a winding drum is arranged on one side surface of one end of the movement track of the sliding table;
s40: when the device is started initially, winding drums are sleeved on all the inflatable shafts, and the inflatable shafts are inflated to fix the winding drums; then starting each motor to drive the air expansion shaft and the winding drum to rotate;
s50: setting a time interval T milliseconds; shooting an image by an industrial camera every T milliseconds, and identifying the area size of each area with the same color as the yarn in the image;
s60: when the area of one area exceeds a set threshold value, stopping the rotation of the corresponding air expansion shaft and the winding drum at the area, then releasing the fixation of the winding drum by exhausting air of the air expansion shaft, and simultaneously moving the manipulator to the area by the sliding table and taking down the winding drum from the air expansion shaft;
s70: the sliding table moves the manipulator to the material table, the manipulator places the winding drum on the material table, and then clamps a new winding drum; then the sliding table moves the manipulator to the position of the region and sleeves a new winding drum on the inflatable shaft, then the inflatable shaft inflates and fixes the winding drum, and the motor drives the inflatable shaft and the winding drum to rotate again;
s80: and (5) repeating the steps S50-S70, so that automatic material changing of the winding drum can be realized.
2. The roll auto-changing method according to claim 1, wherein an industrial camera is used to take black and white patterns.
3. The automatic reel changing method according to claim 1, wherein in step S30, an end of the slide moving trajectory near the table is aligned with an origin of an industrial camera coordinate system.
4. A method for automatically reloading a spool according to claim 3, wherein,
in step S30, after the manipulator is installed, the sliding table is manually controlled to enable the manipulator to reach each pneumatic shaft, and the horizontal distance and the vertical distance between the manipulator and the end part of the motion track of the sliding table, which is close to the material table, are recorded each time the manipulator reaches the corresponding pneumatic shaft position, so that an actual distance library is formed;
in the steps S60-S70, the sliding table controls the moving distance of the manipulator according to the distance data recorded in the actual distance library.
5. The automatic reel changing method according to claim 1, wherein in step S30, a background plate is mounted on the mounting frame, and a coating layer having a color different from that of the yarn is provided on the background plate.
6. An automatic reel material changing device, which is used for realizing the automatic reel material changing method according to any one of claims 1-5, and comprises the following steps:
the mounting frames are distributed along a straight line; a plurality of inflatable shafts are arranged on each mounting frame, and each inflatable shaft is driven to rotate by a motor;
an industrial camera for photographing all of the mounting frames;
the sliding table linearly slides along the distribution direction of the mounting frame;
the manipulator is fixedly arranged on the sliding table and used for taking and placing the winding drum;
the material platform is arranged on one side face of one end of the sliding table motion track and used for placing the winding drum.
7. The automatic spool changing device of claim 6, further comprising a plurality of damper blocks and guide rails; the vibration reduction blocks are distributed along the direction of the movement track of the sliding table, and the inside of each vibration reduction block is a cavity; the guide rail is attached to the tops of all the vibration reduction blocks, and the sliding table slides on the guide rail.
8. The automatic reel changer according to claim 6, wherein the material table is rotatably provided, and a plurality of material levels distributed in a rotation direction are provided on the material table, each of the material levels being provided with a positioning shaft.
9. The automatic spool changing device of claim 6, wherein the robot arm is provided with an inflatable shaft through which the robot arm grips the spool.
10. The automatic spool changing device of claim 9, wherein the inflatable shaft is provided with a guide structure toward one end of the spool.
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| CN202310211189.8A CN116040411B (en) | 2023-03-07 | 2023-03-07 | Automatic reel material changing method and device |
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| CN202310211189.8A CN116040411B (en) | 2023-03-07 | 2023-03-07 | Automatic reel material changing method and device |
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| CN205240851U (en) * | 2015-12-23 | 2016-05-18 | 汕头市远东轻化装备有限公司 | Reel change device |
| CN106283292A (en) * | 2016-09-24 | 2017-01-04 | 烟台拓伟智能科技股份有限公司 | Spindle automatic-exchanging system |
| CN107177912A (en) * | 2017-04-10 | 2017-09-19 | 中国地质大学（武汉） | A kind of automatic doffer control system with vision |
| CN210103167U (en) * | 2019-06-11 | 2020-02-21 | 永安市宝华林实业发展有限公司 | Chemical fiber silk production is with trading package device |
| CN112224868A (en) * | 2020-10-17 | 2021-01-15 | 东莞科卓机器人有限公司 | FPC (Flexible printed Circuit) light bar feeding method based on CCD (Charge coupled device) |
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