CN111646295B - Multi-variety cop processing device for bobbin yarn conveying line of bobbin winder and conveying line - Google Patents
Multi-variety cop processing device for bobbin yarn conveying line of bobbin winder and conveying line Download PDFInfo
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- CN111646295B CN111646295B CN201910161235.1A CN201910161235A CN111646295B CN 111646295 B CN111646295 B CN 111646295B CN 201910161235 A CN201910161235 A CN 201910161235A CN 111646295 B CN111646295 B CN 111646295B
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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
- 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
- B65H54/10—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers for making packages of specified shapes or on specified types of bobbins, tubes, cores, or formers
- B65H54/20—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers for making packages of specified shapes or on specified types of bobbins, tubes, cores, or formers forming multiple 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
- 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
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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
- B65H63/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package
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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
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
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- Engineering & Computer Science (AREA)
- Quality & Reliability (AREA)
- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
Abstract
The invention discloses a multi-variety cop processing device and a conveying line for a bobbin yarn conveying line of a bobbin winder, which can simultaneously process a plurality of varieties of cop yarns, so that each variety of cop yarns enters a conveying area of a corresponding variety area, the same variety of cop yarns are fed into a corresponding yarn bank, and one bobbin winder can simultaneously process a plurality of varieties of cop yarns. The multi-variety cop processing device comprises a base body and a first processing unit connected to the base body; the first processing unit comprises a first identification device and a first lane changing device; the first identification device is used for identifying the cop varieties on the first conveying channel; the first lane changing device is used for changing the cop identified by the first identification device to a second conveying channel of a corresponding variety.
Description
Technical Field
The invention belongs to the field of cop processing, and particularly relates to a multi-variety cop processing device for a bobbin yarn conveying line of a bobbin winder and a conveying line.
Background
The existing bobbin winder is a yarn storage type bobbin winder. One winder has tens of yarn magazines. When the cop is fed to the yarn bank manually, one winder generally feeds the same variety of cops. If a plurality of varieties of cop are to be fed, manual classified feeding is needed, and errors cannot be made when the feeding is continued by remembering the varieties of the cop fed by all yarn banks. This approach is very low in reliability. Aiming at the improvement equipment made by the bobbin winder, the yarn rods are conveyed to the position corresponding to each yarn bank by the conveying line and then are grabbed by the manipulator and fed into the corresponding yarn bank, but the conveying line of the equipment can not distinguish different kinds of cop, so that the bobbin winder can only process one kind of cop.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a many varieties cop processing apparatus and transfer chain for cone winder cop transfer chain can handle a plurality of varieties cop simultaneously for each variety cop gets into in the regional conveying area of corresponding variety, realizes that the same variety cop is thrown and is fed to corresponding yarn storehouse, makes a cone winder can handle a plurality of varieties's cop simultaneously.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
a multi-variety cop processing device for a tray conveying line of a bobbin winder comprises a base body and a first processing unit connected to the base body; the first processing unit comprises a first identification device and a first lane change device; the first identification device is used for identifying the cop varieties on the first conveying channel; the first lane changing device is used for changing the cop identified by the first identification device to a second conveying channel of a corresponding variety.
As a preferred example, the first recognition device includes a first processor and a first acquisition device; the signal output end of the first acquisition device is connected with the signal input end of the first processor, and the signal output end of the first processor is connected with the signal input end of the first lane changing device.
As a preferred example, the multi-variety cop processing device for the bobbin winder tray conveying line further comprises a second processing unit connected to the base body; the second processing unit comprises a second identification device and a second lane changing device; the second identification device is used for identifying whether a bobbin is arranged on the tray on the second conveying channel or not; and the second lane changing device is used for changing the tray containing the yarn tubes identified by the second identification device to the first conveying channel.
As a preferred example, the second identification device includes a second processor and a second acquisition device; and the signal output end of the second acquisition device is connected with the signal input end of the second processor, and the signal output end of the second processor is connected with the signal input end of the second lane changing device.
Preferably, the base body is in a portal frame type.
On the other hand, the embodiment of the invention also provides a tray conveying line for a bobbin winder, which comprises a first conveying channel, a second conveying channel and a multi-variety cop processing device; the multi-variety cop processing device comprises a base body and a first processing unit connected to the base body; the first processing unit comprises a first identification device and a first lane changing device, and the first identification device is used for identifying the varieties of cop on the first conveying channel; the first lane changing device is used for changing the lanes of the cop identified by the first identification device to the second conveying channels of the corresponding varieties; the conveying direction of the first conveying channel is opposite to that of the second conveying channel, and the terminal end of the first conveying channel is communicated with the starting end of the second conveying channel; the substrate is positioned above the first conveying channel and the second conveying channel.
Preferably, the multi-variety cop processing device further comprises a second processing unit connected to the base body; the second processing unit comprises a second identification device and a second lane changing device; the second identification device is used for identifying whether a bobbin is arranged on the tray on the second conveying channel or not; and the second lane changing device is used for changing the tray containing the yarn tubes identified by the second identification device to the first conveying channel.
As a preferred example, the tray conveying line is provided with n cop variety areas, and the number of the multi-variety cop processing devices is n-1; a multi-variety cop processing device is arranged between two adjacent cop variety areas; and n is an integer greater than 1.
Preferably, each of the multi-variety cop processing units is located in the corresponding variety area in the conveying direction of the second conveying path and near the output end of the corresponding variety area.
Preferably, n is 2, 3, 4 or 5.
Compared with the prior art, the multi-variety cop processing device and the conveying line for the bobbin yarn conveying line of the bobbin winder can simultaneously process a plurality of varieties of cop, so that each variety of cop enters the conveying area of the corresponding variety area, the same variety of cop is fed into the corresponding yarn bank, and one bobbin winder can simultaneously process a plurality of varieties of cop. In the multiple-type cop processing apparatus of the present embodiment, the first identifying device identifies the type of the cop on the first transporting path. The first lane changing device changes the cop identified by the first identification device to a second conveying channel of the corresponding variety.
Drawings
FIG. 1 is a schematic view showing the structure of a substrate and a first processing unit in the embodiment of the present invention;
FIG. 2 is a schematic structural view of a substrate and a second processing unit in an embodiment of the present invention;
FIG. 3 is a schematic diagram of the structure of the assembly of the conveyor line and the winder in an embodiment of the invention;
FIG. 4 is a side view of the assembly of the conveyor line and the winder in an embodiment of the invention;
FIG. 5 is a schematic diagram of a transmission line in an embodiment of the present invention;
FIG. 6 is a schematic diagram of a first configuration of a first lane-changing device in an embodiment of the present invention;
FIG. 7 is a schematic diagram of a second configuration of the first lane-changing device in an embodiment of the present invention;
fig. 8 is a third structural schematic diagram of the first lane-changing device in the embodiment of the present invention.
The figure shows that: the device comprises a base body 1, a first processing unit 2, a first recognition device 201, a first lane changing device 202, a second processing unit 3, a second recognition device 301, a second lane changing device 302, a first conveying channel 4, a second conveying channel 5, a bobbin winder 6, an air cylinder 7, a swing arm 8, an electric module 9, a push plate 10, a second push plate 11 and a sliding table air cylinder 12.
Detailed Description
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.
The winder is divided into several areas, and different kinds of cop are controlled in different areas. If a plurality of kinds of cop are conveyed on the channel, the cop can be distinguished, and different kinds of cop can be thrown into the needed yarn storehouses.
The multi-variety cop processing device provided by the embodiment of the invention is used for processing the multi-variety cop on the tray conveying line of the bobbin winder. The device can simultaneously process a plurality of varieties of cop yarns and convey each variety of cop yarn to a conveying line of a corresponding variety area. For example: the bobbin winder has 24 yarn storehouses, and two kinds of yarns are processed. Among them, 12 yarn magazines on the left side process one kind of yarn, and 12 yarn magazines on the right side process the other kind of yarn.
As shown in fig. 1, the multi-variety cop processing device for the bobbin winder tray conveying line according to the embodiment of the invention includes a base body 1, and a first processing unit 2 connected to the base body 1. The first processing unit 2 comprises first recognition means 201 and first lane-change means 202. The first identification device 201 is used for identifying the cop varieties on the first conveying path. The first lane changing device 202 is used for changing the cop identified by the first identifying device 201 to a second conveying channel of a corresponding variety. Preferably, the substrate 1 is in the form of a gantry. The substrate 1 straddles the transport path.
In the multiple-type cop processing apparatus configured as in the above-described embodiment, the first identifying device 201 identifies the type of cop on the first conveyance path 4. The first lane-changing device 202 changes the cop recognized by the first recognition device 201 to the second conveyance path 5 of the corresponding genre. For example, there are A, B two varieties of cop. A. The B cop runs in the first transport path 4. When the cop travels to the first recognition device 201, the first recognition device 201 recognizes whether the cop is an a-cop, and if so, the a-cop is changed into the second conveyance path 5 of the corresponding variety by the first lane change device 202. In the second conveyance path 5, the a cop is taken out from the tray by the robot and inserted into the yarn magazine corresponding to the a-type cop. When the first identification device 201 identifies that the cop is a cop of a type B, the first lane changing device 202 is not started, the cop B continuously moves in the first conveying channel and enters the second conveying channel, and the cop B is taken out from the tray by the manipulator and inserted into a yarn bank corresponding to the cop of the type B.
The multi-variety cop processing device of the embodiment realizes simultaneous processing of a plurality of varieties of cops, so that each variety of cops respectively enter the second conveying channel 5 of the corresponding area.
Preferably, the first identifying means 201 comprises a first processor and first acquiring means. The signal output end of the first acquisition device is connected with the signal input end of the first processor, and the signal output end of the first processor is connected with the signal input end of the first lane changing device 202. The first acquisition device may be a sensor or a camera. The first collecting device is used for collecting cop information, such as cop color, cop size and the like. The corresponding cop information of different varieties of cops is different. And analyzing and judging whether the yarns belong to the same variety or not by collecting the cop information. The first collecting device transmits the collected cop information to the first processor. The first processor analyzes and processes the cop information, judges whether the cop belongs to the corresponding variety of cops, and controls the first lane changing device 202 according to the judgment result. The first lane-changing device 202 is used for changing the lane of the cop from the first conveying channel to the second conveying channel. The configuration of the first lane-changing device 202 may vary. The following three structures are provided in this example: the swing arm mechanism of connecting the cylinder, take the slip table cylinder of push pedal, perhaps sharp module. As shown in FIG. 6, the swing arm mechanism connected with the cylinder mainly comprises a cylinder 7 and a swing arm 8, wherein a piston rod of the cylinder 7 is connected with the swing arm 8 to drive the swing arm 8 to move. The piston rod of cylinder 7 contracts, and swing arm 8 revolves the rotatory swing of axis of rotation, and the tray is promoted on another transfer passage from a transfer passage to the one end of swing arm 8.
The linear module mechanism is mainly composed of an electric module 9 and a first push plate 10, the electric module 9 is connected with the push plate 10, the moving direction of the electric module is perpendicular to the conveying channel, and when the electric module operates, the push plate pushes the tray from one conveying channel to the other conveying channel.
The sliding table cylinder mechanism with the push plate mainly comprises a second push plate 11 and a sliding table cylinder 12, the second push plate 11 is connected with a piston rod of the sliding table cylinder 12, and the piston rod pushes the second push plate 11 to move so as to push the cop to another conveying channel from one conveying channel.
Preferably, as shown in fig. 2, the multiple-type cop processing apparatus according to the embodiment of the present invention further includes a second processing unit 3 connected to the base body 1. The second processing unit 3 comprises second recognition means 301 and second lane-change means 302. The second identifying device 301 is used for identifying whether there is a bobbin on the tray located on the second conveying path 5. The second lane changing device 302 is used for changing the tray containing the yarn tubes identified by the second identifying device 301 to the first conveying channel.
When the bobbin is conveyed to the second conveying channel, the bobbin is taken out of the tray by the manipulator and inserted into an empty storage position of the yarn storage. Since the empty storage position is not required before the bobbin is conveyed to the yarn storage, but the conveying line is always movable, the bobbin cannot be grabbed by a mechanical hand even if conveyed to the second conveying channel. In this way, when there is no empty space, the tube continues to advance in the second conveying path, and when it is to be moved out of the output end of the type area, it is diverted into the first conveying path by the second handling unit 3.
In this apparatus, the second recognition device 301 recognizes whether or not there is a bobbin on the tray located on the second conveyance path 5. If there is a bobbin, the second lane change device 302 is activated. The second lane changing device 302 changes the bobbin to the first conveying channel. If there is no bobbin, it indicates that the bobbin has been gripped by the robot, and dropped into the empty magazine position, the second lane changing device 302 is no longer activated, so that the empty tray moves out of the second conveying path along with the conveying line.
Preferably, the second recognition device 301 comprises a second processor and a second acquisition device. The signal output end of the second acquisition device is connected with the signal input end of the second processor, and the signal output end of the second processor is connected with the signal input end of the second lane changing device 302.
The second acquisition device may be a sensor or a camera. The second collecting device is used for collecting the information whether the bobbin exists on the tray or not. The second acquisition device transmits the acquired information to the second processor. The second processor controls the second lane-changing device 302 according to the collected information. The second lane changing device 302 is used for changing the lane of the cop from the second conveying channel to the first conveying channel. The second lane-changing device 302 may have various configurations, and the configuration of the first lane-changing device 202 described above may be adopted. The second lane-changing device 302 and the first lane-changing device 202 function in reverse. The second lane-changing device 302 is used to change the cop from the second conveying passage to the first conveying passage.
The embodiment of the invention also provides a tray conveying line for a bobbin winder, which comprises a first conveying channel 4, a second conveying channel 5 and a multi-variety bobbin yarn processing device as shown in figures 3 and 4. The multiple-type cop processing apparatus includes a base body 1, and a first processing unit 2 connected to the base body 1. The first processing unit 2 comprises a first identification device 201 and a first lane-changing device 202, and the first identification device 201 is used for identifying the cop varieties on the first conveying channel 4. The first lane changing device 202 is used for changing the cop identified by the first identifying device 201 to the second conveying passage 5 of the corresponding variety. The conveying direction of the first conveying path 4 is opposite to the conveying direction of the second conveying path 5, and the terminal end of the first conveying path 4 is communicated with the starting end of the second conveying path 5. The substrate 1 is located above the first conveyance path 4 and the second conveyance path 5.
The tray conveying line with the structure conveys cop of a plurality of varieties. As shown in fig. 5, the conveying direction of the first conveying path 4 is opposite to the conveying direction of the second conveying path 5, and the terminal end of the first conveying path 4 and the starting end of the second conveying path 5 communicate. The second conveying channel 5 is close to the winder 6. The manipulator picks up the cop from the second conveying channel 5 and inserts it into the empty storage position. The first recognition device 201 is located on the first conveyance path 4, and the first lane-changing device 202 is connected between the first conveyance path 4 and the second conveyance path 5. The first recognition device 201 is used to recognize the type of cop on the first transport path 4. The first lane changing device 202 is used for changing the cop identified by the first identifying device 201 to the second conveying passage 5 of the corresponding variety. The first identifying means 201 and the first lane change means 202 employ the first identifying means 201 and the first lane change means 202 in the foregoing embodiments.
The last item region of the first conveyance path 4 is connected to the beginning of the second conveyance path 5. The variety area is directly connected with the first conveying channel 4 and the second conveying channel 5, and the first processing unit 2 is not required to be arranged.
Preferably, the multiple-type cop processing apparatus further includes a second processing unit 3 connected to the base body 1. The second processing unit 3 comprises second recognition means 301 and second lane-change means 302. The second identifying device 301 is used for identifying whether there is a bobbin on the tray located on the second conveying path 5. The second lane changing device 302 is configured to change the tray including the bobbin identified by the second identifying device 301 to the first conveying path 4. The operation of the second processing unit 3 is as described in the previous embodiments.
Preferably, n cop variety areas are arranged in the tray conveying line, and n-1 cop variety processing devices are arranged in the tray conveying line; a multi-variety cop processing device is arranged between two adjacent cop variety areas. n is an integer greater than 1 and less than or equal to the total number of yarn stores in the winder. Preferably, n is 2, 3, 4 or 5. A typical winder has 60 yarn stores. One section of 12 yarn storehouses is provided with 5 sections. Each section is correspondingly provided with a variety. At this time, n is equal to 5. 15 yarn storehouses are taken as one section, and 4 sections are provided. Each section is correspondingly provided with a variety. At this time, n is equal to 4. Theoretically, the device of the present embodiment can be installed between every yarn magazine. Therefore, n may be a natural number of 2 to 60. Of course, the number of yarn magazines in the winder can be greater than 60.
The multi-variety cop processing device can be flexibly arranged on a conveying line, and the size of the corresponding area of each variety is adjusted. Meanwhile, as long as the number of the various cop processing devices is less than the number of the spindles of the winding machine, any number of the various cop processing devices can be added or taken out on the conveying line. When necessary, the multiple kinds of cop processing devices are erected on the conveying line. Any point on the whole conveying line in the length direction can be erected. For example, for a 60-spindle spooling, the spooling can be arranged in the middle and divided into two areas of 30:30, or divided into two areas of 1: 59.
In the above-described embodiment, the method for controlling a plurality of types of yarns in the conveyor line includes: identifying whether a bobbin located in the first transport path 4 has a set element, and if not, continuing to move in the first transport path 4; and if so, changing the full bobbin into a second conveying channel 5. The setting element is one or any combination of the color of the bobbin, the top width of the full bobbin and the height of the full bobbin.
The multi-variety yarn control method further comprises the following steps: identifying whether the tray in the second conveying channel 5 is an empty tray or not through a second identification device, and if so, continuing to run in the second conveying channel 5; if not, the tray is rerouted into the first conveyance path 4.
The foregoing illustrates and describes the principles, general 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, which are intended to further illustrate the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, which is also intended to be covered by the appended claims. The scope of the invention is defined by the claims and their equivalents.
Claims (8)
1. A multi-variety cop processing device for a bobbin winder tray conveying line is characterized by comprising a base body (1) and a first processing unit (2) connected to the base body (1); the first processing unit (2) comprises first identification means (201) and first lane-changing means (202); the first identification device (201) is used for identifying the cop varieties on the first conveying channel; the first lane changing device (202) is used for changing the cop identified by the first identification device (201) to a second conveying channel of a corresponding variety;
the device also comprises a second processing unit (3) connected to the base body (1); the second processing unit (3) comprises second recognition means (301) and second lane-change means (302); the second identification device (301) is used for identifying whether a bobbin is on the tray on the second conveying channel (5); the second lane changing device (302) is used for changing the tray containing the yarn tubes identified by the second identification device (301) to the first conveying channel;
when the bobbin is conveyed to the second conveying channel, the bobbin is taken out of the tray by the mechanical arm and inserted into an empty magazine position of the yarn magazine; when there is no empty storage space, the tubes continue to advance in the second transport path, and when they are to be moved out of the output of the product area, they are diverted into the first transport path by the second processing unit (3).
2. The multiple cop processing apparatus for a conveyor line of trays of spoolers according to claim 1, wherein the first recognition device (201) includes a first processor and a first collection device; the signal output end of the first acquisition device is connected with the signal input end of the first processor, and the signal output end of the first processor is connected with the signal input end of the first lane changing device (202).
3. The multiple cop processing apparatus for a conveyor line of trays of spoolers according to claim 1, wherein the second identifying device (301) includes a second processor and a second collecting device; the signal output end of the second acquisition device is connected with the signal input end of the second processor, and the signal output end of the second processor is connected with the signal input end of the second lane changing device (302).
4. The multi-variety cop processing device for a conveyor line of trays of spoolers according to claim 1, wherein the base body (1) is portal-frame type.
5. The tray conveying line for the bobbin winder is characterized by comprising a first conveying channel (4), a second conveying channel (5) and a plurality of kinds of cop processing devices;
the multi-variety cop processing device comprises a base body (1) and a first processing unit (2) connected to the base body (1); the first processing unit (2) comprises a first identification device (201) and a first lane change device (202), wherein the first identification device (201) is used for identifying the cop varieties on the first conveying channel (4); the first lane changing device (202) is used for changing the cop identified by the first identification device (201) to a second conveying channel (5) of a corresponding variety;
the conveying direction of the first conveying channel (4) is opposite to that of the second conveying channel (5), and the terminal end of the first conveying channel (4) is communicated with the initial end of the second conveying channel (5); the substrate (1) is positioned above the first conveying channel (4) and the second conveying channel (5); the device also comprises a second processing unit (3) connected to the base body (1); the second processing unit (3) comprises second recognition means (301) and second lane-change means (302); the second identification device (301) is used for identifying whether a bobbin is on the tray on the second conveying channel (5); the second lane changing device (302) is used for changing the tray which is identified by the second identification device (301) and contains the yarn tubes to the first conveying channel (4);
when the bobbin is conveyed to the second conveying channel, the bobbin is taken out of the tray by the mechanical arm and inserted into an empty magazine position of the yarn magazine; when there is no empty magazine position, the tubes continue to advance in the second transport path and are diverted by the second processing unit 3 into the first transport path when they are to be moved out of the output end of the type area.
6. The pallet feed line for the winder according to claim 5, wherein n kinds of cop variety areas are provided in the pallet feed line, and the number of the multi-kind cop processing apparatuses is n-1; a multi-variety cop processing device is arranged between two adjacent cop variety areas; and n is an integer greater than 1.
7. Conveyor line for pallets for spoolers according to claim 6, characterized in that each multi-type cop handling device is located in the corresponding type area near the output end of the corresponding type area in the conveying direction of the second conveying passage (5).
8. Pallet conveyor line for spoolers according to claim 6, wherein said n is 2, 3, 4 or 5.
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| CN201910161235.1A CN111646295B (en) | 2019-03-04 | 2019-03-04 | Multi-variety cop processing device for bobbin yarn conveying line of bobbin winder and conveying line |
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| CN201910161235.1A CN111646295B (en) | 2019-03-04 | 2019-03-04 | Multi-variety cop processing device for bobbin yarn conveying line of bobbin winder and conveying line |
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| CN113148768B (en) * | 2021-02-08 | 2022-09-27 | 青岛宏大纺织机械有限责任公司 | Multi-connection type fine connection tray conveying device and method |
| DE102022106040A1 (en) * | 2022-03-16 | 2023-09-21 | Rieter Automatic Winder GmbH | Method and device for operating a winding machine |
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| JPS6052475A (en) * | 1983-09-01 | 1985-03-25 | Murata Mach Ltd | Bobbin conveyance system |
| JPH01192678A (en) * | 1988-01-25 | 1989-08-02 | Murata Mach Ltd | Color discriminating system for color bobbin sensor |
| JPH01270985A (en) * | 1988-04-22 | 1989-10-30 | Teijin Ltd | Method for judging brand of yarn take-up product |
| JPH038671A (en) * | 1989-06-02 | 1991-01-16 | Murata Mach Ltd | Bobbin carrying device |
| JPH0648657A (en) * | 1992-07-28 | 1994-02-22 | Murata Mach Ltd | Bobbin supply system |
| CN105562362A (en) * | 2015-12-30 | 2016-05-11 | 上海日耀机械有限公司 | Bobbin sorting equipment and control method thereof |
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