EP3967798B1 - Unité de rattache de fil dans une machine à filer à anneaux comprenant un dispositif d'enfilage de fil - Google Patents

Unité de rattache de fil dans une machine à filer à anneaux comprenant un dispositif d'enfilage de fil Download PDF

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Publication number
EP3967798B1
EP3967798B1 EP21189848.1A EP21189848A EP3967798B1 EP 3967798 B1 EP3967798 B1 EP 3967798B1 EP 21189848 A EP21189848 A EP 21189848A EP 3967798 B1 EP3967798 B1 EP 3967798B1
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Prior art keywords
yarn
spinning machine
ring spinning
arm
cop
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EP21189848.1A
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German (de)
English (en)
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EP3967798A1 (fr
Inventor
Pasupathy JEGANATHAN
Kumar ARULANANDAM THILIP
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Lakshmi Machine Works Ltd
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Lakshmi Machine Works Ltd
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    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H15/00—Piecing arrangements ; Automatic end-finding, e.g. by suction and reverse package rotation; Devices for temporarily storing yarn during piecing

Definitions

  • the present invention relates to textile spinning machines.
  • the invention relates to an automatic piecing unit for piecing broken yarn ends in textile ring spinning machines.
  • the invention deals with an improved yarn threading arrangement in a piecing unit for inserting broken yarn end into a ring traveler of textile ring spinning machine.
  • Ring spinning machines are the resultant yarn producing machines in textile spinning mill industry.
  • textile spinning mill industry is facing a long pending problem, which is frequent yarn breakage in ring spinning machines.
  • the yarn breakage is a major problem that needs regular attention of the workers.
  • the yarn breakage nowadays remains a major disadvantage in ring spinning machines which has forced huge number of workers to continuously monitor the ring spinning machines at both the sides throughout the length of the machine frame, which is normally more than 1600 spindles and more than 75 meters long.
  • the broken yarns are required to be pieced manually by the workers and the yarn spinning sequence has to be restarted then and there after yarn breakage, in order to avoid wastage of yarn.
  • the availability of manual workers is a huge demand in spinning mill industry and also there is an urgent need for automation in spinning mills. Even though limited number of workforce is available, the physical ability and health of the workers gets affected due to continuous walking along the long ring spinning frames to manually piece the broken yarn ends throughout the day, as the spinning mills are operating round the clock unless there is any maintenance or
  • the automatic piecing devices involves a robot or worker in a piecing vehicle or piecing device which has in-built drive units and sensing units which are normally required for automatic piecing arrangements.
  • Such automatic piecing devices are advanced towards the ring spinning machine for piecing operation and returned back after completing the piecing operation.
  • the existing piecing arrangements were so far not successful since the piecing unit does not have any automatic means for successfully inserting the yarn to be pieced into the ring traveler, which is the main task.
  • the balloon control ring of ring spinning machine moves vertically up and down along with the ring rail of ring spinning machine, which hinders the insertion / threading of yarn by the automatic piecing unit into the rotatable traveler of ring spinning machine.
  • a guide lever is pivoted on the lifting plate by a pivot pin, so that the unwound yarn held by pulling hook, is led to the traveler by the motion of the guide lever in accordance with the downward motion of the guide rod.
  • a pushing lever with traveler hanger is swingably mounted on the lifting plate and the traveler hanger is swingably mounted on the front end portion of the pushing lever, so that the traveler hanger is capable of swinging in upward and downward directions.
  • the forthcoming invention disclosure provides a novel and improved yarn threading arrangement in a piecing unit of textile ring spinning machine.
  • the main object of the present invention is to provide an improved automatic piecing unit for textile ring spinning machines, which inserts yarn inside the rotatable traveler even in the presence of yarn break sensor unit upon the ring rail and also without contacting / looping yarn with balloon control ring which moves vertically up and down along with ring rail of ring spinning machines.
  • a textile ring spinning machine is provided with an improved automatic piecing unit.
  • the automatic piecing unit comprises a top suction tube for holding an end of a broken yarn lifted from a cop of the ring spinning machine.
  • the top suction tube moves upstream near a drafting zone and passes the yarn into a lappet hook of the ring spinning machine.
  • the automatic piecing unit further comprises a gripper arm of a threading arrangement configured to move towards a left position of the cop, move horizontally towards right for hooking the end of the yarn held between the top suction tube and the cop, and move along with the hooked yarn backwards and then downwards to a position below a balloon control ring plane.
  • the gripper arm is provided with a hook type tip for pulling the yarn.
  • the automatic piecing unit further comprises a rocker arm of the threading arrangement configured to move forward.
  • the gripper arm is moved leftward and the rocker arm is moved in backward direction for hooking the end of the yarn held between the gripper arm and the cop.
  • the gripper arm is moved in forward direction towards the cop.
  • a tensioning arm advances towards the yarn.
  • the automatic piecing unit further comprises a blow jet configured to rotate a traveler of the ring spinning machine. The tensioning arm and the blow jet are placed in an adjacent housing.
  • the gripper arm and the rocker arm are placed in a housing, and holds the yarn tangential to the ring such that the yarn is threaded inside the rotating traveler by the blow jet.
  • the gripper arm, the rocker arm, and the tensioning arm are retracted to release the yarn from hooks and inserting the yarn inside the traveler.
  • the tensioning arm is configured to advance forward through an actuating means such that the yarn held does not make contact with the balloon control ring and guides upon the tensioning arm and reaches the traveler position without any hindrance.
  • a yarn break sensor of the ring spinning machine is pointed towards the cop at right position of the spindle and the threading arrangement is advanced at left position of cop, in which condition, the traveler is rotated anticlockwise for yarn threading.
  • the yarn break sensor of the ring spinning machine is pointed towards the cop at left position of the spindle and the threading arrangement is advanced at right position of cop, in which condition, the traveler is rotated clockwise for yarn threading.
  • the vertical movement of the housing of the tensioning arm is performed by actuating means which includes pneumatic, electric, linear, and hydraulic actuators.
  • the tensioning arm is advanced forward through actuating means, which includes pneumatic, electric, linear, and hydraulic actuators.
  • the yarn is automatically guided inside the balloon control ring by tension after threading inside the traveler and ready for subsequent piecing with delivery yarn from the drafting zone.
  • the Present invention also describes a method of piecing broken yarns using an automatic piecing unit of a ring spinning machine.
  • the method comprises lifting an end of a broken yarn from a cop and holding the end of the yarn inside a top suction tube.
  • the method further comprises moving the top suction tube upstream near a drafting zone and passing the yarn into a lappet hook of the ring spinning machine.
  • the method further comprises moving a gripper arm of a threading arrangement placed in the automatic piecing unit towards a left position of the cop.
  • the method further comprises horizontally moving the gripper arm towards right for hooking the end of the yarn held between the top suction tube and the cop.
  • the method further comprises moving the gripper arm along with the hooked yarn backwards and then moving the gripper arm along with the hooked yarn downwards to a position below a balloon control ring plane.
  • the method further comprises moving a rocker arm of the threading arrangement in a forward direction.
  • the method further comprises moving the gripper arm in a horizontal leftward direction and moving the rocker arm backward for hooking the end of the yarn held between the gripper arm and the cop.
  • the method further comprises moving the gripper arm in a forward direction towards the cop for threading the yarn.
  • the method further comprises advancing a tensioning arm in forward direction towards the yarn before threading the yarn inside a traveler.
  • the method further comprises rotating the traveler in an anticlockwise direction using a blow jet.
  • the gripper arm and the rocker arm holds the yarn tangential to the ring such that the yarn is threaded inside the rotating traveler by the blow jet.
  • the method further comprises retracting the gripper arm, the rocker arm, and the tensioning arm to release the yarn from hooks and inserting the yarn inside the traveler.
  • the tensioning arm is advanced forward such that the yarn held does not make contact with the balloon control ring and guides upon the tensioning arm and reaches the traveler position without any hindrance.
  • the traveler rotates in an anticlockwise direction for yarn threading when the yarn break sensor is placed in a right position of the cop and the threading arrangement is advanced at a left position of the cop.
  • the traveler rotates in a clockwise direction for yarn threading when the yarn break sensor is placed in a left position of the cop and the threading arrangement is advanced at a right position of the cop.
  • the rocker arm, the gripper arm, and the tensioning arm move upwards and downwards along with the ring rail in synchronization for hooking the end of the yarn.
  • the yarn is guided inside the balloon control ring by tension and becomes available for subsequent piecing with delivery fibre from the drafting zone of the ring spinning machine.
  • the yarn threading arrangement (1) of an automatic piecing unit (2) comprises a gripper arm (3) and a rocker arm (4) placed in a common housing (5). Further, a blow jet arm (6) and a tensioning arm (7) are placed in a separate housing (8) movable vertically in synchronization with a ring rail (9) of a ring spinning machine (10), in a linear movement unit adjacent to the gripper arm (3) and the rocker arm (4) housing (5) of the automatic piecing unit (2).
  • the tensioning arm (7) unit housing (8) rests on ring rail (9) of the ring spinning machine (10) through mounting means (11) and moves along up and down together with the ring rail (9) during a yarn threading operation.
  • the controlled movement of said housing (8) is performed by suitable sensors and actuators, preferably of pneumatic type.
  • the actuators can also be one of electric, hydraulic, linear, etc.
  • the broken yarn spindle Before initiating piecing, the broken yarn spindle is braked, the broken yarn end is lifted from a cop (17) and held inside the top suction tube (15).
  • the top suction tube (15) then moves upstream near the drafting zone (16) of the ring spinning machine (10) such that the yarn (12) is passed into a lappet hook (not shown) of the ring spinning machine (10).
  • the gripper arm (3) of the threading arrangement (1) placed in the automatic piecing unit (2) is moved forward to the left position of the broken yarn spindle / cop (17), whereas a yarn break sensor (18) of ring spinning machine (10) is pointed towards the cop (17) at right position of the spindle.
  • the gripper arm (3) is provided with a horizontal movement towards right, thereby hooking the yarn (12) end which is held between the top suction tube (15) and the cop (17).
  • the gripper arm (3) is provided with a hook type tip for pulling the yarn (12).
  • the gripper arm (3) along with the hooked yarn is moved backwards and subsequently moved downwards to a position below a balloon control ring (19) plane.
  • the rocker arm (4) of the threading arrangement (1) which is placed in the same housing (5) adjacent to the gripper arm (3) at left side, is moved forward. Then, the gripper arm (3) is provided with a horizontal leftward movement. Afterwards, the rocker arm (4) is provided with a backward movement, thereby hooking the yarn end held between the gripper arm (3) and the cop (17). At this stage, the rocker arm (4) and the gripper arm (3) are moving together along with the ring rail (9) up and down in synchronization.
  • the gripper arm (3) is provided with forward movement towards the cop (17) for threading the yarn (12).
  • the tensioning arm (7) according to the present invention mounted in the adjacent housing (8) in a separate module from that of a gripper unit is advanced towards the yarn (12) held between the gripper arm (3) and the cop (17). Normally, the tensioning arm (7) is in retracted position.
  • the tensioning arm (7) is advanced forward through actuating means (20), preferably pneumatic, but also includes any type of actuating means.
  • This advancing of the tensioning arm (7) is such that the yarn held does not make contact with the balloon control ring (19) and guides upon the tensioning arm (7) and reaches the traveler (13) position without any hindrance. If the tensioning arm (7) is not provided, the yarn (12) held in the gripper arm (3) loops inside the balloon control ring (19) and makes it hindrance to thread inside the traveler (13). The tensioning arm (7) movement positively guides the yarn (12) and ensures the yarn (12) is held tangential to the ring (14) for successful threading inside the traveler (13). Subsequently, the traveler (13) is rotated anticlockwise by means of a blow jet (6) placed in the housing of the tensioning arm (7) adjacently.
  • the gripper arm (3) and the rocker arm (4) holds the yarn (12) tangential to the ring (14), at left side such that the yarn is threaded inside the rotating traveler (13) due to the blow jet (6). Subsequently, all the arms, i. e. the gripper arm (3), the rocker arm (4), and the tensioning arm (7) are retracted such that yarn (12) is released from hooks in quick succession and readily inserted inside the traveler (13). The yarn (12) is automatically guided inside the balloon control ring (19) in the path by tension and ready for subsequent piecing with delivery yarn from the drafting zone (16) of the ring spinning machine (10). After piecing, the spindle brake is relieved.
  • actuating means which may be electric, pneumatic, rotary, linear, hydraulic etc.
  • the yarn break sensor (18) is placed at right position and the threading arrangement (1) is advanced at left position of the cop (17), in which condition, the traveler (13) is rotated anticlockwise for yarn threading.
  • the yarn break sensor (18) can be placed at left position and the threading arrangement (1) can be advanced at right position of the cop (17), in which condition, the traveler (13) is rotated clockwise for yarn threading.
  • the tensioning arm (7) unit housing (8) mounting in automatic piecing unit (2) is shown.
  • the tensioning arm (7) and the blow jet arm (6) are mounted in said housing (8).
  • the housing (8) is vertically guided in the linear motion guideway (21) mounted in the automatic piecing unit frame (22) through the actuating means (23) mounted to the frame (22), preferably pneumatic type.
  • the actuating means (23) can also include electric, hydraulic, etc.
  • the tensioning arm (7) unit housing (8) moves in synchronization with the ring rail (9) through the mounting means (11) and suitable sensors, stoppers and actuators.
  • the synchronization with the ring rail (9) can be contact / non-contact type.
  • the above described yarn threading arrangement for the automatic piecing unit (2) holds the yarn (12) well in advance in front of the balloon control ring (19) so that the gripper arm (3) and the rocker arm (4) threads the yarn (12) inside the traveler (13) even in the presence of the yarn break sensor (18) upon the ring rail (9) and also without contacting / looping with the balloon control ring (19) which moves vertically up and down along with the ring rail (9) of ring spinning machines.
  • the automatic piecing operation is very effective and advantageous according to the present invention.
  • the gripper arm, rocker arm, tensioning arm movements can be done in any sequences and any directions for yarn threading operation inside the traveler as long as it falls under the scope of the claims.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)

Claims (11)

  1. Une unité de rattache automatique de fil (2) dans une machine à filer à anneaux (10),
    et cette unité de rattache automatique de fil (2) se compose des éléments suivants :
    un tube supérieur d'aspiration (15) adapté pour recevoir une extrémité d'un fil cassé (12) soulevé au-dessus d'une canette (17) de la machine à filer à anneaux (10), et ce tube supérieur d'aspiration (15) est configuré pour se déplacer en amont et se rapprocher d'une zone d'étirage (16) de la machine à filer à anneaux (10) et est configuré pour faire pénétrer le fil (12) dans un mousqueton à éclisse de la machine à filer à anneaux (10)
    un bras de saisie (3) d'un dispositif d'enfilage (1), équipé d'une pointe du type à crochet adapté pour étirer le fil (12), et ce bras de saisie (3) est configuré pour :
    se déplacer à gauche de la canette (17),
    se déplacer horizontalement vers la droite pour saisir l'extrémité du fil (12) maintenu entre le tube supérieur d'aspiration (15) et la canette (17), et
    se déplacer avec le fil crocheté (12) vers l'arrière puis vers le bas jusqu'à une position qui se situe au-dessous du plan occupé par l'anneau de commande à ballon (19)
    un culbuteur (4) du dispositif d'enfilage (1) configuré pour se déplacer vers l'avant, et le bras de saisie (3) se déplace vers la gauche et le culbuteur (4) se déplace vers l'arrière pour accrocher l'extrémité du fil (12) maintenu entre le bras de saisie (3) et la canette (17), et ce bras de saisie (3) se déplace vers l'avant, en direction de la canette (17)
    et lorsque le bras de saisie (3) se déplace vers l'avant, en direction de la canette (17), un bras de tension (7) est configuré pour aller de l'avant, par le biais d'un dispositif de commande (20), de telle sorte que le fil (12) maintenu n'entre pas en contact avec l'anneau de commande à ballon (19), et est guidé à l'aide du bras de tension (7) et atteint la position du curseur (13) sans aucun obstacle et
    un jet d'air (6) configuré pour faire tourner un curseur (13) de la machine à filer à anneaux (10), et le bras de saisie (3) et le culbuteur (4) maintiennent le fil (12) à la tangente de l'anneau (14) de telle sorte que le fil (12) vient s'enfiler dans le curseur rotatif (13) grâce à ce jet d'air (6),
    et le bras de saisie (3), le culbuteur (4) et le bras de tension (7) s'escamotent pour libérer le fil (12) au niveau des crochets et pour introduire le fil (12) dans le curseur (13)
    et le bras de tension (7) et le jet d'air (6) sont placés dans un logement adjacent (8)
    et le déplacement vertical du logement (8) du bras de tension (7) est réalisé par un dispositif de commande (23) qui se compose d'actionneurs pneumatiques, électriques, linéaires ou hydrauliques.
  2. L'unité de rattache automatique de fil (2) de la machine à filer à anneaux (10) que décrit la revendication 1, si ce n'est qu'un capteur de cassure de fil (18) de la machine à filer à anneaux (10) pointe vers la canette (17) de la machine à filer à anneaux (10), à droite de la broche de la machine à filer à anneaux (10) et le dispositif d'enfilage (l) avance à la position gauche de la canette (17) de la machine à filer à anneaux (10), et dans cette condition, le curseur (13) de la machine à filer à anneaux (10) tourne dans le sens antihoraire pour assurer l'enfilage du fil à l'aide du jet d'air (6).
  3. L'unité de rattache automatique de fil (2) de la machine à filer à anneaux (10) que décrit la revendication1, si ce n'est qu'un capteur de cassure de fil (18) de la machine à filer à anneaux (10) pointe vers la canette (17) de la machine à filer à anneaux (10), à gauche de la broche de la machine à filer à anneaux (10) et le dispositif d'enfilage (l) avance à droite de la canette (17) de la machine à filer à anneaux (10), et dans cette condition, le curseur (13) de la machine à filer à anneaux (10) tourne dans le sens horaire pour assurer l'enfilage du fil à l'aide du jet d'air (6).
  4. L'unité de rattache automatique de fil (2) de la machine à filer à anneaux (10) que décrit la revendication l, si ce n'est que le bras de saisie (3) et le culbuteur (4) du dispositif d'enfilage (l) sont implantés dans un logement (5).
  5. L'unité de rattache automatique de fil (2) de la machine à filer à anneaux (10) que décrit la revendication l, si ce n'est que le bras de tension (7) se dirige vers l'avant par le biais dudit dispositif de commande (20) qui se compose d'actionneurs pneumatiques, électriques, linéaires ou hydrauliques.
  6. L'unité de rattache automatique de fil (2) de la machine à filer à anneaux (10) que décrit la revendication l, si ce n'est que le fil est automatiquement guidé par la tension à l'intérieur de l'anneau de commande à ballon (19) de la machine à filer à anneaux (10), après enfilage à l'intérieur du curseur (13) de la machine à filer à anneaux (10), et est prêt à des rattaches ultérieures avec un fil d'alimentation en provenance de la zone d'étirage (16) de la machine à filer à anneaux (10).
  7. Un procédé de rattache de fils cassés en faisant appel à une unité de rattache automatique (2) d'une machine à filer à anneaux (10), et ce procédé se compose des éléments suivants :
    levage d'une extrémité d'un fil cassé (12) au niveau d'une canette (17) de la machine à filer à anneaux (l0) et maintien de l'extrémité du fil (12) à l'intérieur d'un tube supérieur d'aspiration (15)
    déplacement du tube supérieur d'aspiration (15) en amont, à proximité d'une zone d'étirage (16) de la machine à filer à anneaux (10) et passage de ce fil (12) dans un mousqueton à éclisse de la machine à filer à anneaux (10)
    déplacement d'un bras de saisie (3) d'un dispositif d'enfilage (l) implanté dans l'unité de rattache automatique (2) vers une position à gauche de la canette (17)
    déplacement horizontal du bras de saisie (3) vers la droite pour saisir l'extrémité du fil (12) maintenu entre le tube supérieur d'aspiration (15) et la canette (17)
    déplacement du bras de saisie (3) avec le fil saisi, vers l'arrière, puis déplacement du bras de saisie (3) avec le fil saisi (12) vers le bas, à une position qui se situe au-dessous du plan d'un anneau de commande à ballon (19)
    déplacement d'un culbuteur (4) du dispositif d'enfilage (l) vers l'avant
    déplacement du bras de saisie (3) dans un sens horizontal et vers la gauche et déplacement du culbuteur (4) vers l'arrière pour accrocher l'extrémité du fil (12) maintenu entre le bras de saisie (3) et la canette (17)
    déplacement du bras de saisie (3) vers l'avant et en direction de la canette (17) pour enfiler le fil (12)
    avance du bras de tension (7) vers l'avant de telle sorte que le fil (12) maintenu n'entre pas en contact avec l'anneau de commande à ballon (19) et est guidé à l'aide du bras de tension (7) avant d'enfiler le fil (12) à l'intérieur d'un curseur (13) et de le guider le long du bras de tension (7) et atteint la position du curseur (13) sans aucun obstacle
    rotation du curseur (13) dans le sens antihoraire à l'aide d'un jet d'air (6) et le bras de saisie (3) et le culbuteur (4) maintiennent le fil (12) à la tangente de l'anneau (14) de telle sorte que le fil (12) vent s'enfiler dans le curseur rotatif (13) grâce à ce jet d'air (6) et
    escamotage du bras de saisie (3), du culbuteur (4) et du bras de tension (7) pour libérer le fil (12) au niveau des crochets et introduction du fil (12) dans le curseur (13)
  8. Le procédé que décrit la revendication 7, si ce n'est que le curseur (13) de la machine à filer à anneaux (10) tourne dans le sens antihoraire pour enfiler le fil lorsque le capteur de cassure de fil (18) de la machine à filer à anneaux (10) est placé à droite de la navette (17) de la machine à filer à anneaux (10) et le dispositif d'enfilage (l) avance à gauche de la navette (17) de la machine à filer à anneaux (10).
  9. Le procédé que décrit la revendication 7, si ce n'est que le curseur (13) de la machine à filer à anneaux (10) tourne dans le sens horaire pour enfiler le fil lorsque le capteur de cassure de fil (18) de la machine à filer à anneaux (10) est placé à gauche de la canette (17) de la machine à filer à anneaux (10) et le dispositif d'enfilage (l) avance à droite de la navette (17) de la machine à filer à anneaux.
  10. Le procédé que décrit la revendication 7, si ce n'est que le culbuteur (4), le bras de saisie (3) et le bras de tension (7) se déplacent vers le haut et vers le bas le long du rail coulissant (9) de la machine à filer à anneaux (10), de manière synchronisée pour accrocher l'extrémité du fil (12).
  11. Le procédé que décrit la revendication 7, si ce n'est que le fil (12) est guidé à l'intérieur de l'anneau de commande à ballon (19) de la machine à filer à anneaux (10) par le biais d'une tension et devient disponible pour des rattaches ultérieures avec la fourniture d'une fibre en provenance de la zone d'étirage (16) de la machine à filer à anneaux (10).
EP21189848.1A 2020-09-10 2021-08-05 Unité de rattache de fil dans une machine à filer à anneaux comprenant un dispositif d'enfilage de fil Active EP3967798B1 (fr)

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EP3967798B1 true EP3967798B1 (fr) 2023-11-01

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CN114934329B (zh) * 2022-06-21 2023-09-05 张家港扬子纺纱有限公司 一种倍捻机机械手掌、控制方法及计算机存储介质

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JPH03199436A (ja) * 1989-12-28 1991-08-30 Toyota Central Res & Dev Lab Inc 自動糸通し装置及び自動糸継装置
CH711650A1 (de) * 2015-10-16 2017-04-28 Rieter Ag Maschf Verfahren zum Betreiben einer Ringspinnmaschine nach einem Fadenbruch.
JP2017172096A (ja) * 2016-03-21 2017-09-28 プレミア・エボルビクス・プライベイト・リミテッドＰｒｅｍｉｅｒ Ｅｖｏｌｖｉｃｓ Ｐｖｔ． Ｌｔｄ． 糸切れとスピンドル欠陥の自動検出方法とそれらを回復するためのロボット
CZ201834A3 (cs) * 2018-01-24 2019-07-31 Rieter Cz S.R.O. Způsob navlečení konce příze do běžce na prstenci s korunkou na spřádacím místě prstencového spřádacího stroje a zařízení k jeho provádění
EP3567142B1 (fr) * 2018-05-10 2022-04-20 Lakshmi Machine Works Ltd. Agencement d'insertion de fil pour une machine à filer à anneaux
CN108842239B (zh) * 2018-08-27 2023-08-29 国机智能技术研究院有限公司 一种使用环锭细纱机自动接头机器人进行接头的方法

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