EP0410021A1 - Procédé et dispositif pour remplacer automatiquement les adaptateurs pour bobines garnis de bobines vides avec les adaptateurs pour bobines garnis de bobines pleines dans le poste de traitement de fil d'une machine textile - Google Patents

Procédé et dispositif pour remplacer automatiquement les adaptateurs pour bobines garnis de bobines vides avec les adaptateurs pour bobines garnis de bobines pleines dans le poste de traitement de fil d'une machine textile Download PDF

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Publication number
EP0410021A1
EP0410021A1 EP89113551A EP89113551A EP0410021A1 EP 0410021 A1 EP0410021 A1 EP 0410021A1 EP 89113551 A EP89113551 A EP 89113551A EP 89113551 A EP89113551 A EP 89113551A EP 0410021 A1 EP0410021 A1 EP 0410021A1
Authority
EP
European Patent Office
Prior art keywords
adapter
bobbin
gripper
coil
maintenance machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP89113551A
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German (de)
English (en)
Other versions
EP0410021B1 (fr
Inventor
Siegfried Dipl.-Ing. Inger
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.)
Palitex Project Co GmbH
Original Assignee
Palitex Project Co GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Palitex Project Co GmbH filed Critical Palitex Project Co GmbH
Priority to EP89113551A priority Critical patent/EP0410021B1/fr
Priority to DE58909478T priority patent/DE58909478D1/de
Priority to US07/549,762 priority patent/US5119621A/en
Priority to DD342969A priority patent/DD300111A5/de
Priority to JP2193186A priority patent/JPH0364534A/ja
Priority to CS903686A priority patent/CS368690A2/cs
Publication of EP0410021A1 publication Critical patent/EP0410021A1/fr
Application granted granted Critical
Publication of EP0410021B1 publication Critical patent/EP0410021B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
    • D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
    • D01H9/08—Doffing arrangements independent of spinning or twisting machines
    • D01H9/10—Doffing carriages ; Loading carriages with cores
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
    • B65H54/22—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores
    • B65H54/26—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores having one or more servicing units moving along a plurality of fixed winding units
    • 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
    • B65H67/02—Arrangements for removing spent cores or receptacles and replacing by supply packages at paying-out stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments

Definitions

  • the invention relates to an operating method and to a device for the maintenance of thread processing stations, in particular twisting stations of double-wire twisting machines, with the aim being to remove from the individual twisting station or twisting spindle attached to the bobbin adapter, expired sleeves and by fully wound on the bobbin adapter Replace supply spools.
  • This maintenance and handling is to be carried out largely automatically, in order to be able to bridge the relatively large horizontal and vertical distances between the individual twisting point and a feed device designed as a hanging conveyor device for coil adapters equipped with fully wound supply bobbins without significant expenditure of time and effort.
  • care should essentially be taken to ensure that the individual work steps during the tube and spool exchange are carried out in parallel as far as possible, i.e. be carried out in time.
  • FIG. 1 shows a detail of a double-wire twisting machine A, an automatic maintenance machine B which can be moved along the double-wire twisting machine on lower and upper rails 1 and 2, and a hanging conveyor device C.
  • the overhead conveyor device C comprises a top rail 3, in which a conveyor chain or a conveyor belt is guided, to which or on which bobbin hanging holders 4 for bobbin adapters or bobbin transport adapters 5, which hang down at regular intervals, are fastened.
  • the bobbin hanging holder 4 and the bobbin adapter 5 are designed in a known manner so that when a bobbin adapter 5 is started up, the bobbin adapter is gripped and held by the bobbin hanging holder, while the bobbin adapter 5 is released by the bobbin hanging holder 4 during the subsequent raising and lowering thereof.
  • FIG. 1 shows in the area of the top rail 3 on the left side six bobbin adapters 5 each equipped with two fully wound cross-wound bobbins or feed bobbins 6, which are to be transferred to the individual twisting points of the double-wire twisting machine 1 by means of the maintenance machine B, and two on the right with empty sleeves 6 ′ equipped bobbin adapters 5, which have been individually removed from the twisting points of the double-wire twisting machine A by the maintenance machine B and transferred to a bobbin hanging holder 4.
  • the supply spools can also be specialist spools.
  • the double-wire twisting machine A comprises several working or twisting stations with the usual known elements such as (not shown) spindle in the lower area, balloon limiter 7, bobbin pot 8, thread inlet 9, balloon thread guide 10, deflection elements 11 for controlling the thread opening tension, advance line 12, traversing thread guide 13 and the cross-wound spool or take-up spool 15 driven by a friction roller 14.
  • a friction roller 14 In the middle of the machine, in the upper area between the two parallel machine sides, there is a conveyor belt 16 for the removal of fully wound cross-wound bobbins 15. Above each cross-wound spool or driven by a friction roller 14 The package 15 contains a sleeve magazine 17 for empty take-up tubes 18th
  • An upper, only partially wound cross-wound bobbin or feed bobbin 6 of a feed bobbin pair inserted into the twisting point by means of a bobbin adapter 5 is shown inside the protective pot 8.
  • the threads are drawn up from the supply spools and passed through the thread inlet 9 into the lower spindle area to a thread storage disk, from which the two combined threads run to form a thread balloon to the balloon thread guide 10 and then after passing through the deflection rollers 11 and the lead 12 on the be wound by the friction roller 14 driven package 15.
  • the maintenance machine B patrols in front of the double-wire twisting machine A or the individual twisting points Equipped bobbin adapter 5 (template unit) and for manipulating or securing the thread ends of the empty or almost unwound bobbin tubes 6 '.
  • These are mainly two holding mandrels 100, which can be pivoted about a vertical axis and can be moved up and down in the vertical direction, for supply and discharge units as well as gripper and suction devices 22 and 23.
  • the maintenance machine B has a cabinet-shaped housing 101, the front wall of which has a guide rail 102 for the mandrel 100 pivotable cross arm 103 is provided.
  • the bobbin adapter 5 which is also a transport adapter in the manner described above, consists of a cylinder section 5.1 which has a supporting flange 5.2 at its lower end and Area of its upper end preferably has an annular groove 5.3.
  • the gripper 22 of the maintenance machine B which has the two gripper arms 22.1 and 22.2 and can be pivoted in the horizontal direction (arrow f1) and can be moved up and down, is used to remove the drain unit from the double-wire twisting spindle.
  • the gripper ends of the two gripper arms 22.1 and 22.2 can be used in the Spindle pot 8 inserted bobbin adapter 5 on its outer circumference, but preferably in the area of its annular groove 5.3, tightly enclosing, which at the same time the end of the not yet fully expired lower bobbin tube 6 'coming into the hollow core of the bobbin adapter is automatically clamped and secured.
  • removing the bobbin adapter 5 from the bobbin 8 by raising the gripper 22 it must be ensured that the thread end without any obstruction from the hollow axis of the spindle by automatic opening of a thread brake arranged in a known manner inside the spindle hollow axis of the double-wire twisting spindle can be pulled.
  • a two-part coil adapter is assumed.
  • the lower section of the adapter represents a means of transport for the fully wound bobbins or the expired tubes. In this form, it is also part of the bobbin transport system that is superior to the double-wire twisting machine.
  • an adapter lower part 5 On the double wire twisting spindle, i.e. within the coil pot, such an adapter lower part 5 also serves to center the coils on the hub of the coil pot.
  • adapter lower part 5 is a hollow part having a head part or adapter upper part 5 ', which is used in a known manner to create different thread drainage conditions on a double wire twisting spindle.
  • the adapter upper part 5 ' can, for example, be a threading head forming Avivier device of a known type for wetting the thread running through with a finishing agent.
  • FIG. 2 shows a section of the double wire twisting machine in cross section, namely the machine frame 27, a compressed air line 28 with a connection 29 leading to a double wire twisting spindle, which leads to a compressed air nozzle 30 for the pneumatic threading, and a spindle whorl 31 with belt pressure roller 32 for pressing a tangential drive belt 33 against the spindle whorl 31.
  • a foot lever 34 assigned to each individual spindle serves to actuate a spindle brake, not shown, and this foot lever 34 also serves to actuate the pressure Air nozzle 30 to build up a suction air flow in the spindle hollow axis for the purpose of threading through the spindle in a known manner.
  • FIG. 2 also shows partial areas of the maintenance machine B patrolling in front of the double-wire twisting machine along the rails 1 and 2, of which sections of the maintenance and handling elements relevant to the invention and / or the further description are shown, such as the gripper 22 and the suction device 23, and an actuating lever 35, by depressing it in the direction of arrow f6, the foot lever 34 can be actuated at the given moment to stop the individual spindles.
  • 2 shows just above the foot lever 34 two rollers 36 of the maintenance machine B, which are guided along a guide surface 1.1 of the lower rail 1.
  • the suction device 23 like the gripper 22, can be pivoted in the direction of the arrow f1 and can be moved up and down in the direction of the arrow f5 in the vertical direction.
  • Fig. 3 shows the gripper 22 as it grips with its two gripper arms 22.1 and 22.2 of the adapter lower part 5 and at the same time that to which still has a residual winding Sleeve 6 'leading thread end clamps.
  • the adapter upper part 5 ' is held by an attached to the suction device 23, upper gripper 37, which has two gripper arms 37.1, 37.2 pivotable in the horizontal direction. While the two looper arms 22.1 and 22.2 of the lower looper 22 are able to come to rest over their entire inner circumference against the outer circumference of the adapter lower part 5 or the annular groove 5.3, so that a thread end is independent of its circumferential position relative to the adapter.
  • the gripper arms 37.1, 37.2 of the upper gripper 37 are provided with inwardly directed projections or lugs 38, which engage in punctiform fashion when the gripper arms are closed in an annular groove 5.1 'of the adapter upper part or thread inlet head 5' without one Clamp the outside of the adapter upper part 5 'along the thread.
  • air lines not belonging to the present invention are integrated, through which compressed air can be supplied either for the pneumatic actuation of the gripper arms or cutting devices, not shown, or in which a suction air flow is built up can be used to suck off cut thread ends.
  • the suction device 23 is pivoted laterally together with the upper gripper 37. Then the adapter lower part 5 can be lifted out of the coil pot 8 together with the two sleeves 6 'by means of the gripper 22. The gripper 22 is then pivoted into the maintenance machine B so far that the adapter lower part 5 with the two sleeves 6 'can be plugged onto one of the two mandrels 100, which has been brought into a corresponding pivot position.
  • FIG. 2 shows, in addition to the lower thread gripper 22 and the suction device 23, partly in the lower and partly in the upper lifting positions, the swiveling and lifting device 99 according to the invention for the exchange of bobbin or transport adapters equipped with empty bobbin tubes for bobbin adapters equipped with full supply bobbins.
  • FIG. 4 shows a state in which a bobbin and transport adapter 5 equipped with fully wound supply bobbins 6 is lowered into a spindle or a spindle-bobbin.
  • This adapter 5, which is equipped with full supply coils 6, has previously been removed from the holding mandrel 100 located inside the maintenance machine B.
  • Fig. 5 outside of the maintenance machine B a with the two empty or almost empty coil sleeves 6 'equipped coil and transport adapter 5 is shown. This is located outside the maintenance machine B.
  • Spool adapter is moved in the direction of arrow f7 upwards into the area of the overhead conveyor C in order to transfer the drain unit, consisting of the spool adapter 5 and the two empty spool sleeves 6 ', to an empty spool holder 4 for removal.
  • two cross-wound bobbins 6 are accommodated on a bobbin or transport adapter 5.
  • This package of cross-wound bobbins is presented in a double-wire twisting spindle, it is known that the specialist process takes place when the threads run on the twisting spindle.
  • the bobbin or transport adapter could, however, also be equipped with a specialist bobbin.
  • specialist bobbins instead, since the handling does not differ between single-wound cross-wound bobbins and specialist cross-wound bobbins.
  • the two swivel arms 103 By pivoting the two swivel arms 103 according to the arrows f7, the swivel arms move into the position shown in FIG.
  • the swiveling and lifting conveyor device 99 contains, in the region of its swiveling part, a rotating head 104 which is rotatably mounted about a vertical axis and which has a drive disk 104.1 and a hub part 104.2.
  • the rotary head 104 which is provided with an axial, continuous opening, can be set in rotation by means of an electric motor 105.
  • This electric motor 105 drives a control disk 106, which always causes a movement of the rotary head 104 by 90 ° or 180 ° via a lever mechanism 107 and a toothed belt 109 driven horizontally from the lever end, which is placed around the drive disk 104.1 and a drive pinion 108 .
  • FIG. 5 corresponds to the position according to FIG. 1 and thus the driving state of the automatic maintenance machine B, the two swivel arms 103 mounted on the rotary head and thus also the sleeve holding mandrels 100 lying in one plane parallel to the direction of travel of the automatic maintenance machine .
  • the rotary head 104 has, in the area of its hub part 104.2, the diametrically opposite guide rail sections 104.3, which serve to position and guide the swivel arms 103.
  • each swivel arm 103 is provided in the area of a vertical leg 103.1 with inwardly directed pairs of rollers 110, which are held on the one hand by the guide rail sections 104.3 and on the other hand can be rolled along these guide rail sections 104.3 in the vertical direction.
  • the lifting conveyor part of the swiveling and lifting conveyor device 99 is designed in the manner of a vertical elevator and comprises, in addition to a drive device, a vertical rail 111 which is stationary within the maintenance machine B and whose profile corresponds to the profile of the Corresponds to guide rail sections 104.3.
  • a towing vehicle 112 can be moved up and down in the vertical direction by means of pairs of rollers 113 guided along the vertical rail 111.
  • This towing vehicle 112 is fastened to a traction conveyor belt 114 which has a run parallel to the vertical rail 111, such that the towing vehicle 112 can be moved along the vertical rail 111 by moving the traction conveyor belt 114 up and down.
  • the tension conveyor belt 114 is a toothed belt which is guided over toothed pinions 119.
  • a lifting cylinder 115 is used to drive the pulling conveyor belt 114, which receives in its interior a lifting piston, not shown, to which a plate 116, which is led out laterally from the lifting cylinder 115, is attached.
  • Deflecting rollers 117 configured as toothed pinions are fastened to this plate at a vertical distance above one another, via which the end sections of the tension conveyor belt 114 are looped around, while the ends of the tension conveyor belt are fastened to brackets 118.
  • the traction conveyor belt 114 wraps around the deflection rollers 117 in the manner of a pulley block in such a way that a lifting movement a of the plate 116 corresponds to the double lifting movement 2a of the towing vehicle 112 fastened to the traction conveyor belt 114.
  • the towing vehicle 112 is provided with an undercut 112.1 which is open towards the side and into which, when the towing vehicle 112 is at an appropriate height, an undercut which faces outwards Claw 120 is laterally insertable at the upper end of the vertical leg 103.1 of the swivel arm 103.
  • the coupling members on the towing vehicle 112 and on the swivel arms 103 also differently, as long as it is ensured that when one of the two guide rail sections 104.3 of the rotary head 104 is aligned with the vertical rail 114, a coupling connection between the towing vehicle 113 and the respective swivel arm 103 can be created, so that when the towing vehicle 113 moves upwards, the corresponding swivel arm 103 is pulled upward from its guide rail section 104.3 and transferred into the region of the vertical rail 111.
  • the coupling members between the towing vehicle 112 and the individual swivel arms 103 are shown in the disengaged position in FIG. 5 and in FIG. 6 for the one swivel arm 103 in the latched-in position in which the claw 120 engages in the undercut 112.1 of the towing vehicle 112.
  • the claw 120 and the undercut 112.1 are designed such that when the towing vehicle 112 is lowered, the claw 120 can move laterally into the undercut 112.1 when the rotary head 114 rotates.
  • this swivel arm 103 can be moved upwards by the towing vehicle 112 during its upward movement be taken to to convey a drain unit plugged onto the holding mandrel of this swivel arm 103 and to transfer it to the overhead conveyor.
  • the movement sequences of the individual maintenance and handling elements of the maintenance machine B are as follows:
  • the two swivel arms 103 are fixed to the rotary head 104 at this time, so that the two swivel arms 103 interchange their positions with one another by a subsequent rotary movement of the rotary head by 180 °.
  • the run-off unit 5,6 ', 6' carrying swivel arm 103 is latched into the towing vehicle 112, so that this swivel arm 105 can be moved upwards for the purpose of transferring the run-off unit to the overhead conveyor, while at the same time the sub-unit 5,6,6 of that located inside the machine Swivel arm 103 can be lifted off and inserted into the bobbin case.
  • the adapter upper part 5 ' is placed on the adapter lower part 5 by means of the upper gripper 37.
  • the device according to the invention also comprises a pneumatic or hydraulic damping unit 121 in the area of the lifting cylinder 115 in order to resiliently absorb the upward and downward movements of the piston or the plate 116 of the lifting cylinder 115 in the area of its end points.
  • the lifting cylinder 115 works against the force of the damping unit 121, so that the lifting movements are braked, thereby enabling the towing vehicle and the swivel arm 103 clipped therein to be moved into the end positions.
  • This process applies to the unhooking of a fully wound supply unit 6 comprising the subunit from the overhead conveyor as well as for the hanging of a discharge unit in the overhead conveyor as well as for the pivoting arms 103 in the end position on the rotary head 104.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
EP89113551A 1989-07-24 1989-07-24 Procédé et dispositif pour remplacer automatiquement les adaptateurs pour bobines garnis de bobines vides avec les adaptateurs pour bobines garnis de bobines pleines dans le poste de traitement de fil d'une machine textile Expired - Lifetime EP0410021B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP89113551A EP0410021B1 (fr) 1989-07-24 1989-07-24 Procédé et dispositif pour remplacer automatiquement les adaptateurs pour bobines garnis de bobines vides avec les adaptateurs pour bobines garnis de bobines pleines dans le poste de traitement de fil d'une machine textile
DE58909478T DE58909478D1 (de) 1989-07-24 1989-07-24 Betriebsverfahren und Vorrichtung zum automatisierten Auswechseln von mit leeren Hülsen bestückten Spulenadaptern gegen mit vollen Vorlagespulen bestückte Spulenadapter im Bereich einer Fadenbearbeitungsstelle einer Textilmaschine.
US07/549,762 US5119621A (en) 1989-07-24 1990-07-09 Maintenance device for exchanging yarn supply packages at spindle assembly stations of a yarn processing machine
DD342969A DD300111A5 (de) 1989-07-24 1990-07-20 Betriebsverfahren und Vorrichtung zum automatisierten Auswechseln von mit leeren Hülsen bestückten Spulenadaptern gegen mit vollen Vorlagespulen bestückte Spulenadapter im Bereich einer Fadenbearbeitungsstelle einer Textilmaschine
JP2193186A JPH0364534A (ja) 1989-07-24 1990-07-23 繊維機械の糸処理位置の区域において空チューブを装着した糸パッケージアダプタを、満管糸パッケージアダプタを装着した糸パッケージアダプタに自動的に交換する方法と装置
CS903686A CS368690A2 (en) 1989-07-24 1990-07-24 Method and device for automatized exchange of bobbin adaptors with empty tubes for bobbin adaptors with full supply packages in region of yarn treatment on textile machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP89113551A EP0410021B1 (fr) 1989-07-24 1989-07-24 Procédé et dispositif pour remplacer automatiquement les adaptateurs pour bobines garnis de bobines vides avec les adaptateurs pour bobines garnis de bobines pleines dans le poste de traitement de fil d'une machine textile

Publications (2)

Publication Number Publication Date
EP0410021A1 true EP0410021A1 (fr) 1991-01-30
EP0410021B1 EP0410021B1 (fr) 1995-11-02

Family

ID=8201674

Family Applications (1)

Application Number Title Priority Date Filing Date
EP89113551A Expired - Lifetime EP0410021B1 (fr) 1989-07-24 1989-07-24 Procédé et dispositif pour remplacer automatiquement les adaptateurs pour bobines garnis de bobines vides avec les adaptateurs pour bobines garnis de bobines pleines dans le poste de traitement de fil d'une machine textile

Country Status (6)

Country Link
US (1) US5119621A (fr)
EP (1) EP0410021B1 (fr)
JP (1) JPH0364534A (fr)
CS (1) CS368690A2 (fr)
DD (1) DD300111A5 (fr)
DE (1) DE58909478D1 (fr)

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CN102424307A (zh) * 2011-08-16 2012-04-25 中国联合工程公司 一种半自动衔接纺丝机的散取集放丝饼装置
CN110329849A (zh) * 2019-08-12 2019-10-15 常州市九源机械电子有限公司 新型线盘自动装卸系统

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IT1249471B (it) * 1990-11-17 1995-02-23 Murata Machinery Ltd Sistema di collegamento di una roccatrice ad un torcitoio a doppia torsione.
DE4136545B4 (de) * 1991-11-06 2004-05-19 Maschinenfabrik Niehoff Gmbh & Co Kg Spulenwechselvorrichtung
DE4445809C2 (de) * 1994-12-21 1998-01-15 Zinser Textilmaschinen Gmbh Vorrichtung zum Umsetzen von Spulen und/oder von Hülsen
DE19750859A1 (de) * 1997-11-17 1999-06-02 Schlafhorst & Co W Hülsenmagazin für eine Kreuzspulen herstellende Textilmaschine
CN102583046B (zh) * 2012-03-14 2014-08-06 机械科学研究总院先进制造技术研究中心 自动化抓纱机及自动化抓纱方法
JP6356730B2 (ja) * 2016-06-06 2018-07-11 矢崎総業株式会社 ツイスト線製造装置、及びツイスト線製造方法
CZ2019390A3 (cs) 2019-06-19 2020-12-30 Rieter Cz S.R.O. Obslužný robot prstencového spřádacího stroje, prstencový spřádací stroj a způsob činnosti obslužného robota
CN111748881A (zh) * 2020-06-30 2020-10-09 宜昌经纬纺机有限公司 智能化上纱系统及控制方法
CN112976589B (zh) * 2021-02-23 2023-03-21 赣州欧翔电子有限公司 超声波焊接装置及其超声波焊接方法

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DE2811128A1 (de) * 1977-06-03 1978-12-14 Teijin Ltd Automatische spulenwechselvorrichtung
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CN102424307A (zh) * 2011-08-16 2012-04-25 中国联合工程公司 一种半自动衔接纺丝机的散取集放丝饼装置
CN110329849A (zh) * 2019-08-12 2019-10-15 常州市九源机械电子有限公司 新型线盘自动装卸系统

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DE58909478D1 (de) 1995-12-07
EP0410021B1 (fr) 1995-11-02
CS368690A2 (en) 1991-12-17
JPH0364534A (ja) 1991-03-19
US5119621A (en) 1992-06-09

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