CN205990491U - Cheese grabbing device - Google Patents

Cheese grabbing device Download PDF

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Publication number
CN205990491U
CN205990491U CN201620921215.1U CN201620921215U CN205990491U CN 205990491 U CN205990491 U CN 205990491U CN 201620921215 U CN201620921215 U CN 201620921215U CN 205990491 U CN205990491 U CN 205990491U
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CN
China
Prior art keywords
cheese
column
grabbing device
yarn
driving means
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Active
Application number
CN201620921215.1U
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Chinese (zh)
Inventor
张永福
田柱安
问晓锋
林志锋
李冰
刘细强
岑均豪
洪巍
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Sheng Yuancheng Automation Technology Co Ltd
Guangdong Esquel Textiles Co Ltd
Original Assignee
Guangzhou Sheng Yuancheng Automation Technology Co Ltd
Guangdong Esquel Textiles Co Ltd
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Application filed by Guangzhou Sheng Yuancheng Automation Technology Co Ltd, Guangdong Esquel Textiles Co Ltd filed Critical Guangzhou Sheng Yuancheng Automation Technology Co Ltd
Priority to CN201620921215.1U priority Critical patent/CN205990491U/en
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Abstract

This utility model is related to a kind of cheese grabbing device, this cheese grabbing device is multi-spindle machining handss, this cheese grabbing device includes the cheese gripping head being located on afterbody mechanical arm, this cheese gripping head includes many root posts and column driving means, and piece this column of this column driving means and wherein at least is connected to drive corresponding column to be strutted with the cooperation of other columns or to close up.The afterbody mechanical arm of this cheese grabbing device is provided with cheese gripping head, this cheese gripping head includes many root posts and column driving means, when needing to capture cheese, in multi-spindle machining hand-motion cheese gripping head insertion cheese, column motion is driven so that many root post cooperations is strutted by column driving means, such that it is able to take out cheese;When needing to shift cheese, drive column motion that many root posts can be made to close up by column driving means, such that it is able to easily cheese be transferred on miscellaneous part.

Description

Cheese grabbing device
Technical field
This utility model is related to field of textile machinery, especially relates to a kind of cheese grabbing device.
Background technology
In field of textiles, warping is the preparatory process weaved cotton cloth, and filling yarn is one of warping production process important step. Traditional warping dress yarn generally relies on and is accomplished manually.During people's frock yarn, employee is needed frequently to bend over to operate, high labor intensive, and Dress yarn efficiency is low, is unfavorable for automated production.
Utility model content
Based on this it is necessary to providing a kind of time saving and energy saving and being conducive to improving the cheese grabbing device of dress yarn efficiency.
A kind of cheese grabbing device, described cheese grabbing device is multi-spindle machining handss, described cheese grabbing device Including the cheese gripping head being located on afterbody mechanical arm, described cheese gripping head includes many root posts and column drives Dynamic device, piece described column of described column driving means and wherein at least is connected to drive corresponding column to be coordinated with other columns Strut or close up.
Wherein in an embodiment, described multi-spindle machining handss are six axis robot.
Wherein in an embodiment, cheese gripping head has two root posts, described column driving means and two institutes State column to connect respectively, to drive two described columns to strut or to close up.
Wherein in an embodiment, described column driving means are cylinder.
Wherein in an embodiment, described cheese grabbing device also includes being located on described afterbody mechanical arm Vacuum cup.
Wherein in an embodiment, described cheese grabbing device also includes vacuum extractor, described vacuum extractor It is connected with described vacuum cup with to described vacuum cup evacuation.
Wherein in an embodiment, described cheese gripping head and described vacuum cup are fixedly mounted on base, institute State base to be removably mounted on described afterbody mechanical arm.
The afterbody mechanical arm of above-mentioned cheese grabbing device is provided with cheese gripping head, this cheese gripping head Including many root posts and column driving means, when needing to capture cheese, multi-spindle machining hand-motion cheese gripping head is inserted In cheese, column motion is driven so that many root post cooperations is strutted by column driving means, such that it is able to take out cheese;When When needing to shift cheese, drive column motion that many root posts can be made to close up by column driving means, such that it is able to easily Cheese is transferred on miscellaneous part, manually need not take yarn, time saving and energy saving, and machine automatic running, be conducive to production efficiency Raising.
Brief description
Fig. 1 is the structural representation of the warping system of an embodiment;
Fig. 2 is the structural representation of the Cun Sha mechanism of Tu1Zhong Cun yarn mechanism;
Fig. 3 is the structural representation of other embodiment Zhong Cun yarn mechanism;
Fig. 4 is the structural representation of grasping mechanism in Fig. 1;
Fig. 5 is the structural representation of transfer mechanism and Material moving device in Fig. 1;
Fig. 6 is the structural representation of feed mechanism in Fig. 1.
Specific embodiment
For the ease of understanding this utility model, below with reference to relevant drawings, this utility model is more fully retouched State.Preferred embodiment of the present utility model is given in accompanying drawing.But, this utility model can come real in many different forms Existing however it is not limited to embodiment described herein.On the contrary, providing the purpose of these embodiments to be to make to public affairs of the present utility model The understanding opening content is more thoroughly comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element Or can also there is element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to To another element or may be simultaneously present centering elements.
Unless otherwise defined, all of technology used herein and scientific terminology are led with belonging to technology of the present utility model The implication that the technical staff in domain is generally understood that is identical.In term used in the description of the present utility model it is simply herein The purpose of description specific embodiment is it is not intended that in limiting this utility model.Term as used herein "and/or" includes The arbitrary and all of combination of one or more related Listed Items.
As shown in Fig. 1, Fig. 6, the warping system of an embodiment includes warping dress yarn system 10, creel 20 and warping machine 30. Warping fills yarn system 10 and is used for automatically filling cheese to the yarn axle 22 of creel 20.The head of warping machine 30 is located at the one of creel 20 End, for carrying out warping process to the cheese on creel 20.
In the present embodiment, creel 20 has close in end between multiple rows of and adjacent creel 20, and be in the shape of the letter V setting.Often Two row's creel 20 constitutes one group, and is provided with the head of warping machine 30 in end close to each other.Further, in the present embodiment, Creel 20 has multigroup, and creel region in Factory Building for multigroup creel 20 sets gradually, and accordingly, the head of warping machine 30 also has many Individual, correspond to each group creel 20 respectively and arrange.
In the present embodiment, warping dress yarn system 10 also have multigroup.Every group of warping dress yarn system 10 corresponds to two groups of creels 20, And can move to supply cheese respectively between two groups of creels 20.Preferably, warping dress yarn system 10 and warping machine 30 Mechanism be respectively provided at the two ends of every group of creel 20, that is, warping fill yarn system 10 be located at two creels 20 away from one end.
Below incorporated by reference to Fig. 1, Fig. 2, Fig. 4, Fig. 5 and Fig. 6, the warping dress yarn system 10 of the present embodiment includes Cun Sha mechanism 100th, transfer mechanism 200, grasping mechanism 300, Material moving device 400, feed mechanism 500 and controlling organization 600.
Cun Sha mechanism 100 is used for placing cheese 91.In the present embodiment, Cun Sha mechanism 100 includes depositing creel 110, rolling Cylinder 120 and drum drive (not shown).Cylinder 120 has multiple.Multiple cylinders 120 are disposed side by side on to be deposited on creel 110.Rolling Cylinder driving means are electrically connected with controlling organization 600, by controlling organization 600 control action.Drum drive is used for driving rolling Cylinder 120 rotates to deliver to the buttress plate yarn 90 on cylinder 120 near grasping mechanism 300.
Buttress plate yarn 90 piled up neatly by multilamellar cheese 91 folded constitute, and the cheese 91 between adjacent layer by cheese dividing plate 92 every Open.The staggered situation about depositing upwards of large and small head of yarn is there may be in every layer of cheese 91.Permissible in each Cun Sha mechanism 100 Place many piles plate yarn 90.
In the present embodiment, Cun Sha mechanism 100 also includes position correction apparatus.Position correction apparatus and controlling organization 600 It is electrically connected with.Position correction apparatus are used for detecting the position of the cheese 91 on buttress plate yarn 90 upper strata currently to be captured, and according to The position of the remaining cheese in upper strata 91 adjusts the position of buttress plate yarn 90 currently to be captured by drum drive.
As shown in figure 3, in other embodiments, Cun Sha mechanism 800 can also adopt conveyor type structure, such as includes depositing yarn Frame 810, conveyer belt 820 and conveyor drive arrangement.Wherein, conveyer belt 820 is located at and deposits on creel 810.Conveyor drive arrangement It is electrically connected with controlling organization 600 and can be controlled for driving conveyer belt 820 to move by controlling organization 600.On conveyer belt 820 It is provided with multiple cheese spindle positions 830.The cheese being placed in cheese spindle position 830 is placed with specific direction, preferably with big Head downwardly direction is placed.Multiple cheese spindle positions 830 are in preferably multiple rows of many column distributions.Further, in this embodiment, deposit yarn Mechanism 800 also includes stepping induction installation.Stepping induction installation is electrically connected with controlling organization 600.Stepping induction installation is used for Whether there is cheese 91, when stepping induction installation senses the most front-seat no bobbin in automatic sensing cheese spindle position 830 the most front-seat During yarn 91, controlling organization 600 controls conveyor drive arrangement to drive conveyer belt 820 stepping one row's spindle position.
Transfer mechanism 200 is arranged near Cun Sha mechanism 100, for temporarily depositing cheese 91.Transfer mechanism 200 is provided with For placing cheese 91 first inserts yarn bar 210.Grasping mechanism 300 is arranged near Cun Sha mechanism 100 and transfer mechanism 200. Grasping mechanism 300 is used for capturing cheese 91 from Cun Sha mechanism 100, and the cheese 91 of crawl is inserted the first slotting yarn bar 210.
In the present embodiment, transfer mechanism 200 include the first transfer rack 220, the first transfer rack device of rotation driving, second Transfer rack 230, the second transfer rack device of rotation driving and the second transfer rack mobile drive deivce.First transfer rack rotates and drives dress Put, the second transfer rack device of rotation driving and the second transfer rack mobile drive deivce are electrically connected with controlling organization 600 respectively, and Can be by controlling organization 600 control action.
First transfer rack 220 is provided with multiple first and inserts yarn bar 210.Grasping mechanism 300 is by cheese 91 according to first party Insert on yarn bar 210 to first being inserted on the first transfer rack 220.Specifically, in the present embodiment, the first transfer rack 220 is length The cuboid column structure of bar shaped, its three sides are provided with first and insert yarn bar 210, and first inserts yarn bar 210 in the first transfer Arranged in rows on the corresponding side of frame 220, such as each side is provided with the string being vertically distributed first and inserts yarn bar 210. First transfer rack device of rotation driving is used for driving the first transfer rack 220 to rotate, and such as rotates 90 ° every time, to install in one side After cheese 91, rotate and switch to next side continuation dress yarn.It is understood that in other embodiments, the first transfer rack 220 Shape is also not necessarily limited to cuboid column structure, and can also set on two sides of the first transfer rack 220 or more side Put first insert yarn bar 210, and by first transfer rack device of rotation driving drive the first transfer rack 220 rotate corresponding angle with Switch between different sides.
Each two the second transfer rack 230 constitutes a set of.Each second transfer rack 230 is provided with multiple first and inserts yarn bar 210. Cheese 91 is inserted on yarn bar 210 by grasping mechanism 300 according to second direction is inserted on the second transfer rack 230 first.Specifically, In the present embodiment, the elongated cuboid column structure of the second transfer rack 230, two relative side is provided with first and inserts Yarn bar 210, and the first slotting yarn bar 210 is arranged in rows in the respective side of the second transfer rack 230.Set of two the second transfers On frame 230 first inserts the quantity of yarn bar 210 and set location corresponds to.It is understood that in other embodiments, the second transfer rack 230 are also not necessarily limited to cuboid column structure, and can also set on the side of three of the second transfer rack 230 or more than three Put first and insert yarn bar 210.
Second transfer rack device of rotation driving is used for driving the second transfer rack 230 to rotate, and such as rotates 180 ° every time.In second Pivoted frame mobile drive deivce is used for adjusting the distance between two second transfer racks 230 in often covering.Second transfer rack rotates and drives Dynamic device can turn to the side filling cheese 91 on one of them second transfer rack 230 towards another the second transfer Frame 230, then under the mating reaction of the second transfer rack mobile drive deivce, make two the second transfer racks 230 close, will wherein Cheese 91 on one the second transfer rack 230 is shifted and is plugged to another the second transfer rack 230 with first direction.Described Second direction contrary with described first direction.
In the present embodiment, controlling organization 600 controls grasping mechanism 300 by bobbin head-down greatly in Cun Sha mechanism 100 Yarn 91 captures and is inserted on the first transfer rack 220, inwardly makes the major part of cheese 91, and little head-down cheese 91 is grabbed Take and be inserted on wherein one second transfer rack 230, now cheese 91 major part on this second transfer rack 230 is outside.When Two transfer rack device of rotation driving and the second transfer rack mobile drive deivce action cooperation, by the cylinder on this second transfer rack 230 After sub- yarn 91 is transferred on set of another second transfer rack 230, it is inside that the cheese 91 after transfer is also changed into major part.
During the present embodiment transfer mechanism 200 can be not limited to use in warping dress yarn as cheese transfer mechanism, can join Close following grasping mechanisms 300 constitute cheeses arrange to device used in other need cheese 91 is arranged to occasion.This cylinder Sub- yarn is arranged and can automatically cheese 91 be arranged to need not manually operate, efficiency high to device.
It is understood that in other embodiments, when cheese is placed in Cun Sha mechanism in a certain direction, such as using such as During conveyor type structure shown in Fig. 3, this transfer mechanism 200 can also comprise only above-mentioned first transfer rack 220 and the first transfer Frame device of rotation driving.
In the present embodiment, grasping mechanism 300 is six axis robot.Grasping mechanism 300 has multiple gripping heads, multiple grabs Head is taken to be made up of different fixtures or suction tool, to capture cheese 91 and cheese dividing plate 92 respectively.As in the present embodiment, use In crawl cheese 91 gripping head by many (as two or more than two) column 310 structures that can extend in cheese 91 Become, and be correspondingly provided with the column driving means such as cylinder, to drive column 310 to move, so that column 310 is strutted or close up, needing During crawl cheese 91, column 310 struts, and when shifting cheese 91, column 310 closes up;And for example in the present embodiment, for The gripping head of crawl cheese dividing plate 92 is made up of multiple suckers 320, and sucker 320 is connected with vacuum equipment, is inhaled by evacuation Take cheese dividing plate 92.In the present embodiment, for capture the gripping head of cheese 91 with for capturing cheese dividing plate 92 Gripping head is installed on a base 330, and this base 330 installs the afterbody of the grasping mechanism 300 of six axis robot structure On mechanical arm, can be by mechanical arm routing motions at different levels to desired position.
Grasping mechanism 300, when the cheese 91 on plate yarn 90 is piled up neatly in crawl, after one layer of cheese 91 crawl finishes, captures Mechanism 300 automatic conversion gripping head, to capture cheese dividing plate 92, and is stored in the dividing plate deposit position specified.
Grasping mechanism 300 is provided with device for visual identification.This device for visual identification is electrically connected with controlling organization 600.Should Device for visual identification can position to the cheese in Cun Sha mechanism 100, to control crawl position by controlling organization 600 Put, and the initial position of crawl according to recognition result, can be set.
The grasping mechanism 300 of the present embodiment can be widely used in as cheese grabbing device various needs machine automatization to grab Take the occasion of cheese, and other gripping heads can also be coordinated, to capture required material, such as sucker 320 can be coordinated to pass through Evacuation draws the various sheet materials such as cheese dividing plate.
Further, in the present embodiment, warping system 10 also includes protection mechanism.Protection mechanism and controlling organization 600 electricity Property connect.Protection mechanism is used for detection has in predeterminable range whether there is operative employee or obstacle with grasping mechanism 300, if detection To when having operative employee or obstacle, controlling organization 600 controls grasping mechanism 300 stopping action, to prevent in grasping mechanism 300 In operation area, operative employee is caused to accidentally injure evil or because obstacle damages grasping mechanism 300.Protection mechanism can adopt grating etc. Device is realized.
Material moving device 400 includes moving material seat 410, moves material guide rail 420, moves material driving means and move material positioner 440.Move Material driving means are electrically connected with controlling organization 600 and can be by controlling organization 600 control actions.Move material seat 410 and be located at shifting material On guide rail 420 and can by move material driving means drive move material guide rail 420 on move.Move the material preferred hydraulic pressure of positioner 440 Alignment system, in the position moving positioning shifting material seat 410 on material guide rail 420.Cun Sha mechanism 100, transfer mechanism 200 and crawl Mechanism 300 is located on shifting material seat 410, and can be moved between the feeding area of different creels 20 by moving material driving means driving Dynamic, to meet the fitted tube demand that a set of Cun Sha mechanism 100, transfer mechanism 200 and grasping mechanism 300 supply multiple stage warping machine 30.
Feed mechanism 500 includes feeding guide 510, cradle 520, second inserts yarn bar 530 and feeding driving device.Feeding Frame 520 is located on feeding guide 510.Second inserts yarn bar 530 is located on cradle 520.Feeding driving device is used for driving feeding Frame 520 moves along feeding guide 510.Feeding driving device can drive cradle 520 mobile to transfer mechanism 200 and make the Two insert yarn bar 530 is inserted in the first cheese 91 inserting on yarn bar 210 to take off cheese 91 on transfer mechanism 200. Feeding driving device can also drive cradle 520 to move to creel 20 and make the cheese being inserted on the second slotting yarn bar 530 It is transferred on yarn axle 22 yarn bar 530 with inserting cheese 91 from second on the yarn axle 22 of 91 insertion creels 20.
The first of the present embodiment inserts yarn bar 210, second and inserts yarn bar 530 and grasping mechanism 300 for capturing cheese 91 Gripping head is constituted by many root posts, and is correspondingly provided with column driving means, such as can be made up of two root posts, and column and gas The column driving means such as cylinder connect, and when shifting cheese 91, column driving means can control many root posts to strut or merge, As when piling up neatly crawl cheese 91 on plate yarn 90, the gripping head of grasping mechanism 300 is inserted in the bobbin of cheese 91, stands accordingly Post driving means drive column to strut, and prop up fixed bobbin yarn 91 from the bobbin of cheese 91, in grasping mechanism 300 by bobbin When yarn 91 insertion first is inserted on yarn bar 210, column driving means drive the first column inserting yarn bar 210 to strut, and capture accordingly Column on head merges, and cheese 91 can be transferred to first from gripping head and insert yarn bar 210, insert from first and turn yarn bar 210 Move to second to insert on yarn bar 530 in the same manner.Preferably, yarn bar 210 is inserted (as the first transfer rack 220 for first in respective side And/or first in the second transfer rack 230 respective side inserts yarn bar 210) and the second slotting yarn bar 530, the linkage of column driving means Control on this side first to insert yarn bar 210 and/or second and insert yarn bar 530 action.
In the present embodiment, feeding guide 510 includes the first feeding guide 512 and vertical with the first feeding guide 512 connects The second feeding guide 514 connecing.Feeding driving device includes the first feeding driving device and the second feeding driving device.Cradle 520 are located on the second feeding guide 514.First feeding driving device is used for driving the second feeding guide 514 to lead in the first feeding Move on rail 512.Second feeding driving device is used for driving cradle 520 to move on the second feeding guide 514.First feeding Guide rail 512 is matched with the second feeding guide 514 composition two-dimensional movement plane, can be by mobile for cradle 520 to arbitrarily required Position.
In the present embodiment, feed mechanism 510 also includes yarn shaft position detection means.Yarn shaft position detection means and control Mechanism 600 is electrically connected with.Yarn axle 22 on the creel 20 of the yarn to be installed that controlling organization 600 detects according to yarn shaft position detection means The position of position adjustment cradle 520, corresponding with the position of yarn axle 22 corresponding on the creel 20 with yarn to be installed.
Controlling organization 600 and each driving means, position correction apparatus (or stepping induction installation), grasping mechanism 300, vision Identifying device, protection mechanism and yarn shaft position detection means etc. are electrically connected with, and to receive corresponding detection signal, and control corresponding Mechanism action.Controlling organization 600 can be realized using computer or programmable logic controller (PLC) (PLC) etc., has interpersonal interaction Inputting display interface, in order to operative employee monitoring and operate.
Specifically, in the present embodiment, when having deposited cheese 91 in Cun Sha mechanism 100, controlling organization 600 can control Cheese 91 is delivered to grasping mechanism 300 nearby so that grasping mechanism 300 captures by Cun Sha mechanism 100 action, and grasping mechanism 300 will The cheese 91 of crawl is inserted into the first of transfer mechanism 200 and inserts on yarn bar 210, and controlling organization 600 controls transfer mechanism 200 to move Make, make cheese 91 to be removed on transfer mechanism 200 be inserted in first with major part inward direction and insert on yarn bar 210, then control Mechanism 600 processed controls feed mechanism 500 action, makes the first cheese 91 inserted on yarn bar 210 be transferred on cradle 520 the Two insert on yarn bar 530, and cheese 91 inserts major part on yarn bar 530 second, and outwards, then controlling organization 600 is according to the yarn of yarn to be installed The position of the yarn axle 22 on frame 20, controls feed mechanism 500 action, cheese 91 is delivered to the position of yarn to be installed, and by cylinder Sub- yarn 91 is transferred on yarn axle 22.During dress yarn, controlling organization 600 can also be according to different 20 grades of warping machines 30 of creel Dress yarn demand, controls Material moving device 400 action, by mobile to Cun Sha mechanism 100, transfer mechanism 200 and grasping mechanism 300 to institute The position needing.
The warping system that above-mentioned warping fills yarn system 10 and fills yarn system 10 containing this warping can fill automatically on creel 20 Cheese 91, whole dress yarn process substantially can by machine independent operating, have saving manpower, reduce employee work intensity, The beneficial effect of improve production efficiency.
Each technical characteristic of embodiment described above can arbitrarily be combined, for making description succinct, not to above-mentioned reality The all possible combination of each technical characteristic applied in example is all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, all it is considered to be the scope of this specification record.
Embodiment described above only have expressed several embodiments of the present utility model, and its description is more concrete and detailed, But therefore can not be interpreted as the restriction to utility model patent scope.It should be pointed out that the common skill for this area For art personnel, without departing from the concept of the premise utility, some deformation can also be made and improve, these broadly fall into Protection domain of the present utility model.Therefore, the protection domain of this utility model patent should be defined by claims.

Claims (7)

1. a kind of cheese grabbing device it is characterised in that described cheese grabbing device be multi-spindle machining handss, described cheese Grabbing device includes the cheese gripping head being located on afterbody mechanical arm, and described cheese gripping head includes many root posts And column driving means, described column driving means and the described column of wherein at least one connect with drive corresponding column and other Column cooperation struts or closes up.
2. cheese grabbing device as claimed in claim 1 is it is characterised in that described multi-spindle machining handss are six axis robot.
3. cheese grabbing device as claimed in claim 1 is it is characterised in that cheese gripping head has two root posts, institute State column driving means to be connected respectively with two described columns, to drive two described columns to strut or to close up.
4. cheese grabbing device as claimed in claim 1 is it is characterised in that described column driving means are cylinder.
5. the cheese grabbing device as any one of Claims 1 to 4 is it is characterised in that the crawl of described cheese fills Put the vacuum cup also including being located on described afterbody mechanical arm.
6. cheese grabbing device as claimed in claim 5 is it is characterised in that also include vacuum extractor, described evacuation Device is connected with described vacuum cup with to described vacuum cup evacuation.
7. cheese grabbing device as claimed in claim 5 is it is characterised in that described cheese gripping head is inhaled with described vacuum Disk is fixedly mounted on base, and described base is removably mounted on described afterbody mechanical arm.
CN201620921215.1U 2016-08-22 2016-08-22 Cheese grabbing device Active CN205990491U (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN107932472A (en) * 2017-12-03 2018-04-20 黑龙江聚拢华玺智能科技有限公司 One kind fortune yarn intelligence machine handgrip
CN108147221A (en) * 2018-01-05 2018-06-12 南通盛乐开纺织有限公司 cheese automatic conveying system
CN110182526A (en) * 2019-07-04 2019-08-30 安吉八塔机器人有限公司 A kind of Stacking Robots
CN110356927A (en) * 2019-06-21 2019-10-22 青岛科捷机器人有限公司 A kind of grasping mechanism suitable for cylinder tube
CN110498297A (en) * 2018-05-23 2019-11-26 广州赫伽力智能科技有限公司 A kind of outer diameter crawl band u-turn yarn grabbing fixture
CN110528135A (en) * 2019-09-25 2019-12-03 山东日发纺织机械有限公司 A kind of cylinder yarn more changing device and a kind of textile department production line
CN110689491A (en) * 2019-08-27 2020-01-14 浙江理工大学 Method for correcting side image of cheese under machine vision
CN112080833A (en) * 2019-06-12 2020-12-15 卡尔迈耶研发有限公司 Sectional warping machine and method for operating a sectional warping machine
CN112919256A (en) * 2021-01-22 2021-06-08 武汉裕大华纺织有限公司 Photoelectric detection device of cylinder grabbing machine
CN113858253A (en) * 2021-10-22 2021-12-31 东普雷(佛山)汽车部件有限公司 3D vision automatic identification snatchs feeding system

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN107932472A (en) * 2017-12-03 2018-04-20 黑龙江聚拢华玺智能科技有限公司 One kind fortune yarn intelligence machine handgrip
CN108147221A (en) * 2018-01-05 2018-06-12 南通盛乐开纺织有限公司 cheese automatic conveying system
CN110498297A (en) * 2018-05-23 2019-11-26 广州赫伽力智能科技有限公司 A kind of outer diameter crawl band u-turn yarn grabbing fixture
CN112080833A (en) * 2019-06-12 2020-12-15 卡尔迈耶研发有限公司 Sectional warping machine and method for operating a sectional warping machine
CN112080833B (en) * 2019-06-12 2022-04-05 卡尔迈耶斯托尔研发有限公司 Sectional warping machine and method for operating a sectional warping machine
CN110356927A (en) * 2019-06-21 2019-10-22 青岛科捷机器人有限公司 A kind of grasping mechanism suitable for cylinder tube
CN110182526A (en) * 2019-07-04 2019-08-30 安吉八塔机器人有限公司 A kind of Stacking Robots
CN110689491B (en) * 2019-08-27 2022-03-29 浙江理工大学 Method for correcting side image of cheese under machine vision
CN110689491A (en) * 2019-08-27 2020-01-14 浙江理工大学 Method for correcting side image of cheese under machine vision
CN110528135A (en) * 2019-09-25 2019-12-03 山东日发纺织机械有限公司 A kind of cylinder yarn more changing device and a kind of textile department production line
CN110528135B (en) * 2019-09-25 2024-04-19 山东日发纺织机械有限公司 Yarn bobbin replacing device and textile system production line
CN112919256A (en) * 2021-01-22 2021-06-08 武汉裕大华纺织有限公司 Photoelectric detection device of cylinder grabbing machine
CN113858253A (en) * 2021-10-22 2021-12-31 东普雷(佛山)汽车部件有限公司 3D vision automatic identification snatchs feeding system

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