CN109811475A - An automatic hosiery board system - Google Patents
An automatic hosiery board system Download PDFInfo
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- CN109811475A CN109811475A CN201910098529.4A CN201910098529A CN109811475A CN 109811475 A CN109811475 A CN 109811475A CN 201910098529 A CN201910098529 A CN 201910098529A CN 109811475 A CN109811475 A CN 109811475A
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- hosiery machine
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- 238000009958 sewing Methods 0.000 claims abstract description 10
- 230000009471 action Effects 0.000 claims abstract description 5
- 239000000463 material Substances 0.000 claims description 10
- 238000000926 separation method Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 230000003252 repetitive effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- Treatment Of Fiber Materials (AREA)
- Sewing Machines And Sewing (AREA)
Abstract
本发明公开用于一种自动套袜板系统，拿袜板机器人包括机械手本体与执行器相配合。袜子缝头完成后取袜机械手从缝头机上取下袜子，并将袜子套在撑袜杆上，撑袜杆在推动气缸的作用下沿轨道向前运动，并且将袜子撑开。脱袜机械手运动至撑袜杆底部并且脱袜机械手两指内侧紧贴撑袜杆外侧，拿袜板机器人将袜板从固定座上取下，之后沿袜板方向插进撑袜杆缝隙之中，同时脱袜机械手向上移动，实现套袜板和翻袜。这套系统将人工重复操作的动作转化为机器运动，减少企业人工配备，降低劳动成本，提高生产效率。
The invention discloses an automatic hosiery board system. The hosiery board holding robot comprises a manipulator body and an actuator matched with each other. After the sock sewing is completed, the sock removal manipulator takes off the socks from the sewing machine, and puts the socks on the sock support rod. The sock support rod moves forward along the track under the action of pushing the cylinder, and spreads the socks. The stock removal manipulator moves to the bottom of the stocking rod and the inside of the two fingers of the stocking removal manipulator is close to the outside of the stocking rod. , and at the same time, the stocking removal manipulator moves upward to realize the sock set and the sock turning. This system converts repetitive manual operations into machine movements, reducing labor equipment, labor costs, and production efficiency.
Description
Technical field
The present invention relates to socks apparatus for production line technical field, especially a kind of automatic set socks plate system.
Background technique
Under 2025 background of made in China, traditional socks industry has become inexorable trend to intelligence production transition, i.e., to continue socks industry
The advantage of development.It needs to be accomplished manually multiple working procedure in traditional socks industry production process, it is time-consuming including turning over socks, set socks plate etc.
While laborious, completing efficiency is also influenced by the various subjective human factors such as worker's proficiency, it is difficult to unified production standard,
There are also with the development of society, manual labor's cost increases year by year and the increase of cost of material, the production cost of socks is therewith
Increase, but the market price is floated more slowly, in order to adapt to the transformation in epoch, traditional socks industry pushed to make the transition to intelligent socks industry,
To reduce production cost, production efficiency is improved, the profit margin of enterprise is improved, hand labor is replaced with industrial robot, is realized
The automation of socks production, high efficiency are particularly important.
Summary of the invention
A kind of automatic set socks plate system of the invention, solves the set socks process in socks production existing in the prior art
In, rely on artificial, time-consuming and laborious problem.
The technical scheme adopted by the invention is that a kind of automatic set socks plate system, including head sewing machine conveyer chain, head sewing machine pass
Send to be provided with below the end of chain and take socks manipulator, portion, hosiery machine tool subordinate is taken to be provided with air draft equipment, take socks manipulator just under
Side is provided with support socks equipment, and support socks equipment includes support socks bar group a and support socks bar group b, support socks bar group a and support socks bar group b can be mutual
Support socks movement is realized in separation, and support socks bar group a and the support bottom socks bar group b are provided with de- socks equipment, and the support socks equipment is arranged on one side
There is dress socks plate manipulator, socks manipulator, support socks equipment, de- socks equipment and dress socks plate manipulator is taken to be connected to master controller.
The features of the present invention also characterized in that:
Taking hosiery machine tool hand includes that hosiery machine tool is taken actuator and to take hosiery machine tool subordinate actuator on hand, and hosiery machine tool is taken to execute on hand
Device and taking is fixed between hosiery machine tool subordinate actuator by the connecting rod isometric with socks, and connecting rod, which is fixedly connected with, takes hosiery machine tool
The free end of luck cylinder takes the fixing end of socks manipulator cylinder to be fixedly connected on the support frame, and socks manipulator cylinder is taken to be connected to
Master controller.
Take hosiery machine tool on hand actuator and take hosiery machine tool subordinate actuator include a pair can cooperate completion clamp it is dynamic
Make arc-shaped fixed jaw, is connected between every a pair of fixed jaw by minitype cylinder, minitype cylinder is connected to master controller.
The circular arc fixed jaw for taking hosiery machine tool subordinate actuator is hollow structure, and the circular arc of hosiery machine tool subordinate actuator is taken to fix
Several wind inlets are provided on the inside of pawl, take the fixing end of hosiery machine tool subordinate actuator to be connected with wind sucting tube by air-suction duct, institute
It states wind sucting tube and is connected to master controller.
Support socks bar group a and the support lower end socks bar group b are connected with support socks rod guide column, support below socks bar group a and support socks bar group b
It is provided with two fixations to be in the shape of the letter V on the support frame the sliding slot of distribution, support socks rod guide column lower end passes through sliding slot, under sliding slot
Side's support socks rod guide column is connected with block, and block is respectively engaged with the two sides of pusher cylinder actuator drum material, and pusher cylinder is held
The end of row device drum material is connected with the free end of pusher cylinder, and the fixing end of pusher cylinder is fixed on the support frame, supports socks bar
Group a and support socks bar group b slides the merging and separation of both realizations along V-shaped sliding rail, and the pusher cylinder is connected to master controller.
De- hosiery machine includes two de- socks actuator cylindrical bars that are parallel to each other, between two de- socks actuator cylindrical bars
Distance and the diameter of support socks bar group a and support socks bar group b match, and it is horizontal that the bottom end of de- socks actuator cylindrical bar is connected with de- hosiery machine
The fixing end of the free end of cylinder, de- hosiery machine horizontal air cylinder is fixedly connected with the free end of de- hosiery machine vertical cylinder, takes off hosiery machine water
Flat cylinder is vertically arranged with de- hosiery machine vertical cylinder, and the de- hosiery machine horizontal air cylinder and de- hosiery machine vertical cylinder are connected to master control
Device processed.
The height for filling socks plate manipulator is matched with the height of support socks equipment, fills the model Han Hua HCR- of socks plate manipulator
5。
The beneficial effects of the present invention are:
The present invention is a kind of automatic set socks plate system, and the good socks of margin to seam are manually put on socks plate simultaneously by can effectively replace
Socks are turned in realization, and the movement of artificial repetitive operation is converted machine movement by this set system, reduce enterprise and are manually equipped with, reduce labour
Cost improves production efficiency, brings considerable economic benefit for enterprise.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of automatic set socks plate system of the invention；
Fig. 2 is that of the invention a kind of automatic set socks plate system takes socks and support socks schematic diagram；
Fig. 3 is a kind of course of work schematic diagram of automatic set socks plate system of the invention；
Fig. 4 is a kind of schematic diagram of automatic set socks plate system drum material of the invention；
In figure, 1. head sewing machine conveyer chains, 2. take socks manipulator, 3. support socks equipment, 4. de- socks equipment, 5. dress socks trigger tools
Hand, 6. socks plates, 7. take socks manipulator cylinder, and 8. take hosiery machine tool actuator on hand, and 9. take hosiery machine tool subordinate actuator, 10. air draughts
Hole, 11. support socks bar group a, 12. support socks bar group b, 13. sliding slots, 14. pusher cylinders, 15. pusher cylinder actuator drum materials, 16.
Support socks rod guide column, 17. de- socks actuator cylindrical bars, 18. blocks, 19. connecting rods, 20. de- hosiery machine horizontal air cylinders, 21. de- socks
Machine vertical cylinder.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The present invention provides a kind of set socks plate systems for socks production line, as shown in Figure 1, a kind of automatic set socks plate system
System, including head sewing machine conveyer chain 1, the end lower section of head sewing machine conveyer chain 1, which is provided with, takes socks manipulator 2, takes portion, hosiery machine tool subordinate
It is provided with air draft equipment, the underface of socks manipulator 2 is taken to be provided with support socks equipment 3, support socks equipment 3 includes support socks bar 1 11 and support
Socks bar group b12, support socks bar group a 11 and support socks bar group b12 can be separated from each other realization support socks movement, support socks bar group a 11 and support socks
The bottom bar group b12 is provided with de- socks equipment 4, and described 3 one side of support socks equipment is provided with dress socks plate manipulator 5, take socks manipulator 2,
Support socks equipment 3, de- socks equipment 4 and dress socks plate manipulator 5 are connected to master controller.
As shown in Fig. 2, taking socks manipulator 2 includes that hosiery machine tool is taken actuator 8 and to take hosiery machine tool subordinate actuator 9 on hand, take
Hosiery machine tool actuator 8 and takes fixed by the connecting rod 19 isometric with socks between hosiery machine tool subordinate actuator 9, connecting rod on hand
19 are fixedly connected with the free end for taking socks manipulator cylinder 7, and the fixing end of socks manipulator cylinder 7 is taken to be fixedly connected on support frame
On, take socks manipulator cylinder 7 to be connected to master controller.
Take hosiery machine tool on hand actuator 8 and take hosiery machine tool subordinate actuator 9 include a pair can cooperate completion clamp
Arc-shaped fixed jaw is acted, is connected between every a pair of fixed jaw by minitype cylinder, minitype cylinder is connected to master controller.
The circular arc fixed jaw for taking hosiery machine tool subordinate actuator 9 is hollow structure, takes the circular arc of hosiery machine tool subordinate actuator 9 solid
Determine to be provided with several wind inlets 10 on the inside of pawl, the fixing end of hosiery machine tool subordinate actuator 9 is taken to be connected with air draught by air-suction duct
Cylinder, the wind sucting tube are connected to master controller.
As shown in figure 4, support socks bar group a 11 and the support lower end socks bar group b12 are connected with support socks rod guide column 16, socks bar is supportted
Group a 11 and supportting is provided with two fixation and is in the shape of the letter V on the support frame the sliding slot of distribution below socks bar group b12, support socks rod guide column
16 lower ends pass through sliding slot, and in the lower section of sliding slot, support socks rod guide column 16 is connected with block 18, and block 18 is respectively engaged with promotion gas
The end of the two sides of cylinder actuator drum material 15, pusher cylinder actuator drum material 15 is connected with the free end of pusher cylinder 14,
The fixing end of pusher cylinder 14 is fixed on the support frame, and support socks bar group a 11 and support socks bar group b12 slides reality along V-shaped sliding slot 13
Both existing merging and separation, the pusher cylinder 14 are connected to master controller.
As shown in figure 3, de- hosiery machine 18 includes two de- socks actuator cylindrical bars 17 that are parallel to each other, two de- socks are executed
The distance between device cylindrical bar 17 and the diameter of support socks bar group a 11 and support socks bar group b12 match, and take off socks actuator cylindrical bar
17 bottom end is connected with the free end of de- hosiery machine horizontal air cylinder 20, and the fixing end of de- hosiery machine horizontal air cylinder 20 is fixedly connected with de- socks
The free end of machine vertical cylinder 21, de- hosiery machine horizontal air cylinder 20 are vertically arranged with de- hosiery machine vertical cylinder 21, the de- hosiery machine water
Flat cylinder 20 and de- hosiery machine vertical cylinder 21 are connected to master controller.
The height for filling socks plate manipulator 5 is matched with the height of support socks equipment 3, fills the model Han Hua of socks plate manipulator
HCR-5。
The course of work of the invention is as shown in Figure 3:
The socks sewed it up are sent to the surface for taking socks manipulator 2 by head sewing machine conveyer chain 1, while taking socks manipulator 2
Rise under the action of taking socks manipulator cylinder 7, until it is identical as socks product height, it then goes up actuator 8 and takes hosiery machine tool subordinate
The fixed jaw of actuator 9 opens under the action of minitype cylinder, is reclosed promptly after socks product are caught, then takes socks manipulator 2
It being gradually reduced, wind sucting tube is opened at the same time, and air-flow enters the fixed jaw for taking hosiery machine tool subordinate actuator 9 along air-suction duct,
And the through-hole stepless action on the fixed jaw by taking hosiery machine tool subordinate actuator 9, in socks product, stocking blank opens, and takes socks manipulator will
Socks product cover on support socks bar group a 11 and support socks bar group b12, and socks are turned in completion, and pusher cylinder 14 pushes pusher cylinder actuator drum
Material 15 drives support socks rod guide column along V-shaped runner movement, supports socks bar group a 11 and support socks bar group b12 and separate, and will cover upper
The socks product in face strut, and dress socks plate manipulator 5 socks plate 6 of taking away is put into the socks product of opening, and then de- hosiery machine vertical cylinder 21 drives
De- socks actuator cylindrical bar 17 moves upwards, until the bottom end height one of de- socks actuator cylindrical bar 17 and support socks bar group a 11
It causes, then takes off hosiery machine horizontal air cylinder 20 and de- socks actuator cylindrical bar 17 is driven to be close to support socks bar group a 11 and the support bottom socks bar group b12
Then edge insertion in portion takes off hosiery machine vertical cylinder 21 and continues that de- socks actuator cylindrical bar 17 is driven to move upwards, until by socks product
It is detached from from support socks bar group a 11 and support socks bar group b12, set socks plate process is completed, and all cylinders return to the next wheel case of progress in situ
The work of socks plate.
The present invention is a kind of automatic set socks plate system, and the good socks of margin to seam are manually put on socks plate simultaneously by can effectively replace
Socks are turned in realization, and the movement of artificial repetitive operation is converted machine movement by this set system, reduce enterprise and are manually equipped with, reduce labour
Cost improves production efficiency, brings considerable economic benefit for enterprise.
Claims (7)
1. a kind of automatic set socks plate system, which is characterized in that including head sewing machine conveyer chain (1), the end of head sewing machine conveyer chain (1)
Lower section, which is provided with, takes socks manipulator (2), and portion, hosiery machine tool subordinate is taken to be provided with air draft equipment, takes and sets immediately below socks manipulator (2)
It is equipped with support socks equipment (3), support socks equipment (3) includes support socks bar group a (11) and support socks bar group b (12), supports socks bar group a (11) and supports
Socks bar group b (12) can be separated from each other realization support socks movement, support socks bar group a (11) and support socks bar group b (12) bottom is provided with de- socks
Equipment (4), the support socks equipment (3) are provided with dress socks plate manipulator (5) on one side, take socks manipulator (2), support socks equipment (3), take off
Socks equipment (4) and dress socks plate manipulator (5) are connected to master controller.
2. a kind of automatic set socks plate system according to claim 1, which is characterized in that described that socks manipulator (2) is taken to wrap
It includes and hosiery machine tool is taken actuator (8) and to take hosiery machine tool subordinate actuator (9) on hand, hosiery machine tool is taken actuator (8) and to take hosiery machine on hand
Fixed by connecting rod (19) between tool subordinate actuator (9), connecting rod (19), which is fixedly connected with, takes socks manipulator cylinder (7)
Free end takes the fixing end of socks manipulator cylinder (7) to be fixedly connected on the support frame, and socks manipulator cylinder (7) is taken to be connected to always
Controller.
3. a kind of automatic set socks plate system according to claim 2, which is characterized in that described that hosiery machine tool is taken to execute on hand
Device (8) and to take hosiery machine tool subordinate actuator (9) include that a pair can cooperate and complete the arc-shaped fixed jaw of pinching action, often
It is connected between a pair of of fixed jaw by minitype cylinder, minitype cylinder is connected to master controller.
4. a kind of automatic set socks plate system according to claim 3, which is characterized in that described that hosiery machine tool subordinate is taken to execute
The circular arc fixed jaw of device (9) is hollow structure, takes and is provided with several suctions on the inside of the circular arc fixed jaw of hosiery machine tool subordinate actuator (9)
Air holes (10) takes the fixing end of hosiery machine tool subordinate actuator (9) to be connected with wind sucting tube, the wind sucting tube connection by air-suction duct
To master controller.
5. a kind of automatic set socks plate system according to claim 1, which is characterized in that the support socks bar group a (11) and
Support socks bar group b (12) lower end is connected with support socks rod guide column (16), supports and sets below socks bar group a (11) and support socks bar group b (12)
It is equipped with two fixations to be in the shape of the letter V on the support frame the sliding slot of distribution, support socks rod guide column (16) lower end passes through sliding slot, in sliding slot
Lower section support socks rod guide column (16) is connected with block (18), and block (18) is respectively engaged with pusher cylinder actuator drum material (15)
Two sides, the end of pusher cylinder actuator drum material (15) is connected with the free end of pusher cylinder (14), pusher cylinder (14)
Fixing end it is fixed on the support frame, support socks bar group a (11) and support sliding slot (13) the sliding realization of socks bar group b (12) along V-shaped
The merging and separation of the two, the pusher cylinder (14) are connected to master controller.
6. a kind of automatic set socks plate system according to claim 1, which is characterized in that the de- hosiery machine (18) includes two
The de- socks actuator cylindrical bar (17) that root is parallel to each other, the distance between two described de- socks actuator cylindrical bars (17) and support socks
Bar group a (11) and the diameter for supportting socks bar group b (12) match, and the bottom end of de- socks actuator cylindrical bar (17) is connected with de- hosiery machine water
The free end of flat cylinder (20), the fixing end of de- hosiery machine horizontal air cylinder (20) are fixedly connected with oneself of de- hosiery machine vertical cylinder (21)
By holding, de- hosiery machine horizontal air cylinder (20) are vertically arranged with de- hosiery machine vertical cylinder (21), the de- hosiery machine horizontal air cylinder (20) and
De- hosiery machine vertical cylinder (21) are connected to master controller.
7. a kind of automatic set socks plate system according to claim 1, which is characterized in that the dress socks plate manipulator (5)
Height with support socks equipment (3) height match, fill socks plate manipulator model Han Hua HCR-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910098529.4A CN109811475B (en) | 2019-01-31 | 2019-01-31 | Automatic sock sleeving plate system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910098529.4A CN109811475B (en) | 2019-01-31 | 2019-01-31 | Automatic sock sleeving plate system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109811475A true CN109811475A (en) | 2019-05-28 |
| CN109811475B CN109811475B (en) | 2021-12-17 |
Family
ID=66606233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910098529.4A Expired - Fee Related CN109811475B (en) | 2019-01-31 | 2019-01-31 | Automatic sock sleeving plate system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109811475B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110735269A (en) * | 2019-11-07 | 2020-01-31 | 余姚市浙江大学机器人研究中心 | An automatic hosiery device |
| CN110761020A (en) * | 2019-11-07 | 2020-02-07 | 余姚市浙江大学机器人研究中心 | Automatic slicing and feeding mechanism for socks |
| CN111021033A (en) * | 2019-11-25 | 2020-04-17 | 西安理工大学 | A sock turning machine |
| CN111602931A (en) * | 2020-05-28 | 2020-09-01 | 泛擎科技(深圳)有限公司 | Production method and device for quick-insertion last of shoe upper for sock shoes |
| CN112609425A (en) * | 2020-12-23 | 2021-04-06 | 浙江来丰机电有限公司 | Automatic sock turning device of sock machine |
| CN113106724A (en) * | 2021-04-25 | 2021-07-13 | 西安工程大学 | Clamping, expanding and sleeving integrated sock turning device |
| CN117845441A (en) * | 2024-01-19 | 2024-04-09 | 深圳速英科技有限公司 | Feeding system and control method of swing machine |
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| US5699942A (en) * | 1995-07-21 | 1997-12-23 | Sara Lee Corporation | Automatic sleeve invertor |
| WO1999040249A1 (en) * | 1998-02-05 | 1999-08-12 | Borås Wäfveri Kungsfors Ab | Device for turning inside out objects comprising two pouches such as pocket pillow-cases |
| CN205062532U (en) * | 2015-08-27 | 2016-03-02 | 浙江工业大学 | Automatic cover socks device of hosiery machine turns over |
| CN205839319U (en) * | 2016-04-13 | 2016-12-28 | 陈彬 | A kind of full-automatic straight sock piece-end sewing machine |
| CN107558144A (en) * | 2017-09-05 | 2018-01-09 | 福建省华科模具科技有限公司 | A kind of turn-over supports socks device |
| CN207003106U (en) * | 2017-06-01 | 2018-02-13 | 诸暨市海纳针纺科技有限公司 | The socks body fixed structure of automatic turning socks thread trimmer |
| CN210085889U (en) * | 2019-01-31 | 2020-02-18 | 西安理工大学 | A sock cover device used in the production of socks |
-
2019
- 2019-01-31 CN CN201910098529.4A patent/CN109811475B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5699942A (en) * | 1995-07-21 | 1997-12-23 | Sara Lee Corporation | Automatic sleeve invertor |
| WO1999040249A1 (en) * | 1998-02-05 | 1999-08-12 | Borås Wäfveri Kungsfors Ab | Device for turning inside out objects comprising two pouches such as pocket pillow-cases |
| CN205062532U (en) * | 2015-08-27 | 2016-03-02 | 浙江工业大学 | Automatic cover socks device of hosiery machine turns over |
| CN205839319U (en) * | 2016-04-13 | 2016-12-28 | 陈彬 | A kind of full-automatic straight sock piece-end sewing machine |
| CN207003106U (en) * | 2017-06-01 | 2018-02-13 | 诸暨市海纳针纺科技有限公司 | The socks body fixed structure of automatic turning socks thread trimmer |
| CN107558144A (en) * | 2017-09-05 | 2018-01-09 | 福建省华科模具科技有限公司 | A kind of turn-over supports socks device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110735269A (en) * | 2019-11-07 | 2020-01-31 | 余姚市浙江大学机器人研究中心 | An automatic hosiery device |
| CN110761020A (en) * | 2019-11-07 | 2020-02-07 | 余姚市浙江大学机器人研究中心 | Automatic slicing and feeding mechanism for socks |
| CN110735269B (en) * | 2019-11-07 | 2022-06-24 | 余姚市浙江大学机器人研究中心 | An automatic hosiery device |
| CN110761020B (en) * | 2019-11-07 | 2022-09-09 | 余姚市浙江大学机器人研究中心 | A kind of sock plate automatic slice feeding mechanism |
| CN111021033A (en) * | 2019-11-25 | 2020-04-17 | 西安理工大学 | A sock turning machine |
| CN111602931A (en) * | 2020-05-28 | 2020-09-01 | 泛擎科技(深圳)有限公司 | Production method and device for quick-insertion last of shoe upper for sock shoes |
| CN112609425A (en) * | 2020-12-23 | 2021-04-06 | 浙江来丰机电有限公司 | Automatic sock turning device of sock machine |
| CN113106724A (en) * | 2021-04-25 | 2021-07-13 | 西安工程大学 | Clamping, expanding and sleeving integrated sock turning device |
| CN113106724B (en) * | 2021-04-25 | 2022-08-26 | 西安工程大学 | Clamping, expanding and sleeving integrated sock turning device |
| CN117845441A (en) * | 2024-01-19 | 2024-04-09 | 深圳速英科技有限公司 | Feeding system and control method of swing machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109811475B (en) | 2021-12-17 |
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