EP2905366A1 - Élément de module d'entraînement et le support de marteaux de sparterie et dispositif de sparterie - Google Patents

Élément de module d'entraînement et le support de marteaux de sparterie et dispositif de sparterie Download PDF

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Publication number
EP2905366A1
EP2905366A1 EP14000432.6A EP14000432A EP2905366A1 EP 2905366 A1 EP2905366 A1 EP 2905366A1 EP 14000432 A EP14000432 A EP 14000432A EP 2905366 A1 EP2905366 A1 EP 2905366A1
Authority
EP
European Patent Office
Prior art keywords
braiding
module
holding
bobbin
elements
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
EP14000432.6A
Other languages
German (de)
English (en)
Other versions
EP2905366B1 (fr
Inventor
Andreas Gessler
Christian Metzner
Stefan Mittmann
Bettina Arold
Hermann Seefried
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.)
Airbus Defence and Space GmbH
Original Assignee
Airbus Defence and Space 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 Airbus Defence and Space GmbH filed Critical Airbus Defence and Space GmbH
Priority to EP14000432.6A priority Critical patent/EP2905366B1/fr
Priority to US14/614,695 priority patent/US10100446B2/en
Publication of EP2905366A1 publication Critical patent/EP2905366A1/fr
Application granted granted Critical
Publication of EP2905366B1 publication Critical patent/EP2905366B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
    • D04C3/00—Braiding or lacing machines
    • D04C3/02—Braiding or lacing machines with spool carriers guided by track plates or by bobbin heads exclusively
    • D04C3/06—Braiding or lacing machines with spool carriers guided by track plates or by bobbin heads exclusively with spool carriers moving always in the same direction in endless paths
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
    • D04C3/00—Braiding or lacing machines
    • D04C3/02—Braiding or lacing machines with spool carriers guided by track plates or by bobbin heads exclusively
    • D04C3/08—Braiding or lacing machines with spool carriers guided by track plates or by bobbin heads exclusively with means for superimposing threads or braids
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
    • D04C3/00—Braiding or lacing machines
    • D04C3/02—Braiding or lacing machines with spool carriers guided by track plates or by bobbin heads exclusively
    • D04C3/14—Spool carriers
    • D04C3/18—Spool carriers for vertical spools
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
    • D04C3/00—Braiding or lacing machines
    • D04C3/02—Braiding or lacing machines with spool carriers guided by track plates or by bobbin heads exclusively
    • D04C3/22—Guides or track plates
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
    • D04C3/00—Braiding or lacing machines
    • D04C3/02—Braiding or lacing machines with spool carriers guided by track plates or by bobbin heads exclusively
    • D04C3/24—Devices for controlling spool carriers to obtain patterns, e.g. devices on guides or track plates
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
    • D04C3/00—Braiding or lacing machines
    • D04C3/02—Braiding or lacing machines with spool carriers guided by track plates or by bobbin heads exclusively
    • D04C3/38—Driving-gear; Starting or stopping mechanisms
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
    • D04C3/00—Braiding or lacing machines
    • D04C3/02—Braiding or lacing machines with spool carriers guided by track plates or by bobbin heads exclusively
    • D04C3/32—Pattern input

Definitions

  • the invention relates to a modular element for driving and holding braided bobbins and a braiding device having a plurality of such modular elements.
  • Modular constructed braiding systems in which braids are guided to form a braid on predetermined paths, for example, are made DE 691 31 656 T2 known.
  • the braiding system described therein comprises a plurality of track modules and driver modules.
  • the track modules when lined up appropriately, provide pathways in a plate through recesses for the braiding bobbins with which spool elements are engaged.
  • the driver modules are disposed below the track modules and engage a downwardly projecting projection of the coil element. By rotation of the driver modules, the projections of the coil elements are respectively transferred to the next driver module and thus the coil elements forming braided bobbins moved forward, they follow the predetermined paths of the track modules predetermined trajectory.
  • the described braiding device can be adapted to different geometries to be realized in the braid to be produced by the modular structure, this is possible only in one plane.
  • the prior art braiding system has weak points where the braiding bobbins engage the track and driver modules because the parts are subject to wear and contamination from the braiding apparatus.
  • the bobbin tracks can indeed be set relatively flexible, but are still limited by the paths specified on the track modules.
  • the object of the invention is therefore to propose an improved module element for driving and holding braided bobbins and an improved braiding device, which can overcome the disadvantages mentioned.
  • a combination of such a module element with a braided bobbin and a braiding device having a plurality of such modular elements are the subject of the independent claims.
  • a modular element for driving and holding braiding bobbins on a predetermined bobbin runway has at least one base element rotatable about an axis and at least one holding element formed integrally with the base element, wherein the holding element is designed to detachably hold at least one braiding bobbin from the rotation axis.
  • the module element rotates about the axis of rotation, wherein the at least one holding element rotates with the base member about the common axis of rotation.
  • the drive is advantageously carried out via, for example, a motor arranged in the region of the axis of rotation.
  • the holding element at any desired time and thus at any desired position on the orbit of the holding element an incoming braiding bobbin hold, take up to a desired position on the orbit of the holding member about the common axis of rotation and release there again.
  • the drive of the entrained braided bobbin takes place by the rotation of the base member, which entrains the integrally formed holding element in the orbit.
  • the braided bobbin can thus be flexible on the orbit of the holding element of a Recording position to be brought to a dispensing position, without being limited by predetermined paths.
  • the rotatable base member to a wheel, wherein the holding element is arranged for receiving a braided bobbin on an outer circumference of the wheel.
  • the retaining element is additionally advantageously designed, for example, with a notch, a region is available for holding braided bobbins, which region can be brought into engagement with a corresponding region of a braiding bobbin so as to enable a preferably secure holding of the braiding bobbins.
  • the holding element comprises a holding device with a magnetic device, in particular with an electromagnet, for magnetic attraction and repulsion of braided bobbins formed.
  • a magnetic device in particular with an electromagnet, for magnetic attraction and repulsion of braided bobbins formed.
  • at least one electromagnet is arranged in the interior of the wheel, preferably in the region of the notch.
  • the electromagnet is formed by a coil, which is associated with a motor which drives the rotational movement of the base member.
  • a suction and / or blow-off mechanism may be provided as a holding device.
  • a mechanical gripper as an alternative, but with a magnetic device representing the embodiment which is advantageous with regard to wear prevention.
  • a wing extending away from the base element can also be provided as a retaining element.
  • a control element for controlling the module element is provided, in particular a control element for controlling a rotational speed of the base element and a holding force which acts on a braiding bobbin at a predetermined angle of rotation of the base element.
  • a braided bobbin may be preferably brought to a predetermined angular position of the holding member at a predetermined speed by the holding force is preferably driven so high that the braiding bobbin is held on the holding member. If the predetermined angular position is then reached, the holding force is advantageously reduced so far, for example by switching off an electromagnet, that the braiding bobbin is no longer held on the holding element and that it can preferably leave the module element at the desired position.
  • the module element has at least four holding elements, which are arranged in a particularly preferred embodiment uniformly on an outer periphery of the base member.
  • braiding bobbins can advantageously be simultaneously driven, held and transported by the module element.
  • a multiplicity of braiding bobbins can be picked up by the module element at the same time.
  • An advantageous combination of at least one module element as described above and at least one braiding bobbin has a braided bobbin having at least one magnetic region for interacting with the holding element of the module element.
  • the magnetic region may, for example, advantageously be formed by a rod projection.
  • the rod projection is designed to be complementary to the notch.
  • the magnetic region on a support plate on which the rod projection is attached which can be supported for further advantageous stabilization on a surface of the wheel.
  • the magnetic region may be formed by providing ferromagnetic materials that can be attracted by a magnet.
  • the braiding bobbin may also include a magnet, such as an electromagnet, which interacts with the magnet on the retainer of the module element, attracting the magnets to preferentially hold the braiding bobbin, and repelling to preferentially repel the braiding bob from the module element.
  • a magnet on the holding device may also be provided alternatively a magnetic region such as a ferromagnetic material, in which case advantageously the braiding bobbin a magnet, in particular an electromagnet having.
  • a braiding device for braiding fiber semifinished products has a plurality of module elements described above, the module elements being arranged relative to one another in such a way that at least one first retaining element of a first module element follows braided bobbins of a predetermined cable runway can pass on flying to a second holding element of a second module element.
  • the module elements are arranged relative to one another in such a way that the holding elements have a distance that can be overcome by a braiding bobbin to be transported further solely by the acting holding forces of the holding devices of the two module elements, for example magnetic forces. Accordingly, if the first module element lets go of the braiding beater, the holding device of the second module element is advantageously activated at the same time, so that the braiding beater passes from the first holding element of the first module element to the second holding element of the second module element.
  • a plurality of braiding bobbins can be delivered at predetermined angular positions of the individual module elements to a next module element.
  • the module elements can be freely arranged in space to each other, wherein only the boundary condition is satisfied that the distance between two mutually adjacent holding elements of different module elements can be overcome by the holding force. This allows any geometries that may be desired in a mesh to be created. Further, since the contact between braiding and module elements takes place only briefly and without much mechanical stress, the wear of the parts of the braiding is minimal.
  • the module elements are arranged in series and / or parallel to each other, so as to be able to braid flat fiber semi-finished products.
  • the module elements can also be arranged in several planes relative to one another in order to be able to braid preferably three-dimensional semi-finished fiber products with a plurality of layers.
  • module elements in a circle so as to be able to braid preferably tubular semi-finished fiber products.
  • the braiding device further comprises a waiting device for forming at least one parking position for at least one braiding bobbin.
  • a waiting device can be formed, for example, by a non-rotating module element which is arranged outside the predetermined bobbin track of the braiding bobbin to be parked.
  • braided bobbins can advantageously be led out of the braiding process, which guide the actual braiding threads in the braiding process.
  • a change between a UD braiding and a multi-tow winding in a braiding process is advantageously possible.
  • a control device for controlling the module elements is provided, wherein the control device controls the module elements such that a multi-dimensional braid, in particular with a plurality of braided layers, is formed.
  • control device preferably has a storage unit in which predetermined bobbin laps are stored to form predetermined semifinished fiber molds. Based on the predetermined bobbin tracks can then over the control device, the module elements are preferably controlled so that the braiding bobbins move on the predetermined bobbin runways, so that the predetermined semifinished fiber form is formed.
  • Fig. 1 shows a module element 10 for driving and holding braided bobbins 12, the support plates 13 have. With the support plate 13, the braided bobbins 12 are supported on the module element 10.
  • the module element 10 has a base element 14 and a plurality of holding elements 16 integrally formed with the base element 14, which are rotatable with the base element 14 about a common axis of rotation 18.
  • Each holding member 16 has at least one holding device 20, with a braided bobbin 12 can be held on the support member 16.
  • the base member 14 is formed in the present embodiment as a wheel 22, on the circumference 24, the holding elements 16 are arranged symmetrically in the form of notches 26.
  • the holding devices 20 are arranged in the interior of the wheel 22 and designed as magnetic devices 30, in the present embodiment as electromagnets 32.
  • About the electromagnets 32 braided bobbins 12 can be held on the holding device 20, attracted by the holding device 20 and repelled by this.
  • the module element 10 further has a control element 34 with which the elements of the module element 10 can be controlled.
  • a rotational speed of base element 14 and holding elements 18 about the common axis of rotation 18, and a direction of rotation 36 are controlled.
  • the control 34 also controls the magnetic devices 30.
  • a suction-blow-off mechanism 38 may be provided as a holding device 20 or a mechanical gripper 40.
  • control element 34 for example, the holding force is controlled, which acts from the holding device 20 on the braided bobbin 12 to be collected / held / to be dispensed.
  • control element 34 can also control, for example, the rotational speed of the base element 14 and / or the positioning of the braiding bobbin 12.
  • Fig. 1 shows a combination 42 of a modular element 10 with a braided bobbin 12, which is held on the module element 10 and transported along the direction of rotation 36.
  • the braiding bobbin 12 is in Fig. 2 and Fig. 3 only shown by its support plate 13.
  • the braiding bobbin 12 in the present embodiment comprises a magnetic region 44, for example a ferromagnetic block 46, which interacts with the holding device 20 of the module element 10, so that the braiding bobbin 12 can be held on the holding element 16.
  • the braiding bobbin 12 has, in addition to the support plate 13, a rod projection 47 which can be brought into engagement with the notch 26.
  • the base member 14 is mounted on a support plate 48 having a plurality of fasteners 49 to order module elements 10 in different positions to each other and to attach to each other.
  • FIG. 2 An exemplary arrangement of a plurality of combinations 42 is shown in FIG Fig. 2 shown.
  • Fig. 2 shows the further transport and the transfer of a braided bobbin 12 from one module element 10a to another module element 10b based on several braiding bobbins 12 Strichliert the position of a braided bobbin 12 is indicated at a time, which is before the implied by continuous lines situation.
  • the module element 10a has made a rotation along the direction of rotation 36, so that the holding element 16a has traveled over the angle of rotation ⁇ and has arrived at a predetermined angular position. In this predetermined angular position, a second holding element 16b of a second module element 10b approaches the magnetic region 44 of the fixed braiding bobbin 12.
  • the holding device 20a of the first holding element 16a is deactivated, wherein at the same time the second holding device 20b of the second holding element 16b is activated.
  • the braiding bobbin 12 is released from the first module element 10a and passes to the second module element 10b, where it is transported further along the direction of rotation 36.
  • Fig. 2 shows a first possible embodiment of a braiding device 50, the plurality of modular elements 10 according to Fig. 1 having.
  • Various braiding batons 12 are moved in this braiding device 50 of the modular elements 10 along predetermined loop webs 52 so that on predetermined positions of the braiding bobbins 12 emitted fibers cross over and so form a mesh, such as a semi-finished fiber product.
  • the braiding device 50 in FIG Fig. 2 has a waiting device 60 which forms a parking position 62 for the braided bobbins 12.
  • braided bobbins 12 which at a certain time during the braiding process can not or should not be used in the braiding process, can be parked in the parking position 62 in the meantime and later be added to the braiding process in the braiding process, where they can then be reused .
  • a control device 64 is provided in the braiding device 50, which controls the module elements 10 such that a multi-dimensional braid is formed during the braiding process.
  • the control device 64 has a memory unit 68, in which predetermined lap webs 52 are stored, so as to control the module elements 10 so that the desired braid can be generated by moving the predetermined bobbin webs 52 through the braiding bobbins 12.
  • the module elements 10 are arranged in a plane 69 in series with one another. Several series can be arranged parallel to each other.
  • Fig. 3 shows a braiding device 50, in which the module elements 10 are arranged in a circle 70.
  • a center of the circle 70 is usually a wicker core (not shown).
  • the movement of the braided bobbin 12 on the circle 70 forms a braid on the braided core.
  • lying braiding systems 50 can be provided in order to reduce the gravitational influence in large braiding systems 50 and to improve the accessibility to the bobbins 12.
  • a modular element 10 has an impeller 22 or impeller pair for moving the braiding bobbins 12.
  • the braided bobbins 12 adhere only to the impellers 22, there are no fixed tracks in the braiding device 50.
  • the bobbin transfer takes place from impeller 22 to impeller 22 and is actively controlled. There are significantly more than four fixed points on the impellers 22.
  • variable braiding system 50 which can be adapted to the requirements of the component to be produced, in particular with regard to productivity, installation costs and optimized textile parameters.
  • the textile cross-sectional geometry, ie size, shape, 2D, 3D, open or closed, and the textile cross-sectional parameters such as setting, angle, basis weight, etc., are not limited by the braiding device 50. Improvements during the process such as parking or feeding Braiding bobbins 12 to absorb circumferential changes are possible.
  • the braiding device 50 has a low susceptibility to contamination, since there are no guide grooves. There is no influence of gravity on the fibers to be braided. Overall, the braiding device 50 is more accessible and can be automated in the on-the-fly process. The angles between the modules 10 adjust automatically via spring forces or can be actively adjusted.
  • the impeller 22 itself may be driven, for example by providing a motor 19 on each or every x-th module 10.
  • the bobbin adhesion is carried out by electromagnets 32, which can be designed active or passive, rotate with or are arranged locally or fixed. The transfer is preferably active.
  • the impeller 22 In the active system, the impeller 22 is freely rotating and the bobbin adhesion is effected by active electromagnets 32, wherein at the transfer of the respective Electromagnet 32 adjacent impellers 22 is deactivated or activated. The propulsion takes place by means of commutating the fixed electromagnet 32.
  • the impellers 22 In a passive system, the impellers 22 are freely rotating and the bobbin adhesion is effected by permanent magnets, wherein the transfer takes place by fixed or local electromagnets 32 by the magnetic field is canceled.
  • the size of the braiding 50 is now freely selectable or adjustable depending on the component requirement, budget, etc.
  • the braiding system 50 can be easily equipped by simply inserting clapper 12 or magnetically tightening it.
  • the clapper 12 can be retracted locally.
  • the fact that there are more than four fixed points on the impellers 22, the setting is customizable.
  • the angle between the bobbins 12 automatically sets.
  • the clappers 12 can be parked or positioned on other tracks. In addition, there is good accessibility and no influence of gravity by, for example, a lying braiding system 50.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Braiding, Manufacturing Of Bobbin-Net Or Lace, And Manufacturing Of Nets By Knotting (AREA)
EP14000432.6A 2014-02-06 2014-02-06 Élément de module d'entraînement et le support de marteaux de sparterie et dispositif de sparterie Active EP2905366B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP14000432.6A EP2905366B1 (fr) 2014-02-06 2014-02-06 Élément de module d'entraînement et le support de marteaux de sparterie et dispositif de sparterie
US14/614,695 US10100446B2 (en) 2014-02-06 2015-02-05 Module element for driving and retaining braiding bobbin carriers and a braiding device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP14000432.6A EP2905366B1 (fr) 2014-02-06 2014-02-06 Élément de module d'entraînement et le support de marteaux de sparterie et dispositif de sparterie

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Publication Number Publication Date
EP2905366A1 true EP2905366A1 (fr) 2015-08-12
EP2905366B1 EP2905366B1 (fr) 2017-03-29

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DE102015119682A1 (de) 2015-11-13 2017-05-18 Airbus Operations Gmbh Flechtklöppel sowie Flechtvorrichtung
DE102016013486B3 (de) * 2016-11-11 2018-01-04 Admedes Schuessler Gmbh Flechtmaschine und Weiche für eine Flechtmaschine
DE102017000467B3 (de) * 2017-01-19 2018-03-15 Admedes Schuessler Gmbh MHG-Flechtmaschine mit magnetischen Flügelrädern
CN109487413A (zh) * 2018-11-28 2019-03-19 中国纺织科学研究院有限公司 一种三维自动编织设备
EP3502332A1 (fr) * 2017-12-22 2019-06-26 Herzog GmbH Métier à tresser destinée à la fabrication d'un produit tressé
CN110300821A (zh) * 2017-02-17 2019-10-01 莱尼电缆有限公司 用于制造编织物的编织机和方法
CN112064187A (zh) * 2020-07-31 2020-12-11 西安工程大学 一种纵横式编织机磁悬浮式驱动方法及装置

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CN107829324B (zh) * 2017-12-08 2024-06-21 徐州恒辉编织机械有限公司 一种调捻扭绳机的无级调捻装置
CN107869080B (zh) * 2017-12-08 2024-07-02 徐州恒辉编织机械有限公司 一种无级调捻扭绳机
CN109402864B (zh) * 2018-12-18 2023-06-16 浙江理工大学 一种连续回转运动编织机锭轴的电能产生装置及产生方法
CN114921905B (zh) * 2022-03-15 2023-12-29 云路复合材料(上海)有限公司 满载锭子下变轨交联编织装备及方法
CN114717742B (zh) * 2022-03-15 2023-12-29 云路复合材料(上海)有限公司 满载锭子下多层平面交联编织方法及装备
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WO2025149688A1 (fr) * 2024-01-12 2025-07-17 Talleres Ratera, S.A. Système de changement de broches dans des métiers à tresser et métier à tresser à changement de broches

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US10563329B2 (en) 2015-11-13 2020-02-18 Airbus Operations Gmbh Braiding bobbin and braiding device
EP3170931A1 (fr) 2015-11-13 2017-05-24 Airbus Operations GmbH Bobine de tressage et dispositif de tressage
DE102015119682A1 (de) 2015-11-13 2017-05-18 Airbus Operations Gmbh Flechtklöppel sowie Flechtvorrichtung
DE102016013486B3 (de) * 2016-11-11 2018-01-04 Admedes Schuessler Gmbh Flechtmaschine und Weiche für eine Flechtmaschine
US11421358B2 (en) 2016-11-11 2022-08-23 ADMEDES GmbH Braiding machine, switch for a braiding machine, and sorting apparatus
EP3321403A3 (fr) * 2016-11-11 2018-08-01 ADMEDES GmbH Métier à tresser, aiguillage pour un métier à tresser et dispositif de triage
DE102017000467B3 (de) * 2017-01-19 2018-03-15 Admedes Schuessler Gmbh MHG-Flechtmaschine mit magnetischen Flügelrädern
EP3351670A1 (fr) * 2017-01-19 2018-07-25 ADMEDES GmbH Métier à tresser pourvu de roues à aillettes magnétiques
US11661685B2 (en) 2017-01-19 2023-05-30 ADMEDES GmbH High speed braiding machine with magnetic impellers
CN110300821A (zh) * 2017-02-17 2019-10-01 莱尼电缆有限公司 用于制造编织物的编织机和方法
CN110300821B (zh) * 2017-02-17 2021-05-07 莱尼电缆有限公司 用于制造编织物的编织机和方法
EP3502332A1 (fr) * 2017-12-22 2019-06-26 Herzog GmbH Métier à tresser destinée à la fabrication d'un produit tressé
CN109487413A (zh) * 2018-11-28 2019-03-19 中国纺织科学研究院有限公司 一种三维自动编织设备
CN109487413B (zh) * 2018-11-28 2020-09-11 中国纺织科学研究院有限公司 一种三维自动编织设备
CN112064187A (zh) * 2020-07-31 2020-12-11 西安工程大学 一种纵横式编织机磁悬浮式驱动方法及装置

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US20150218739A1 (en) 2015-08-06
US20180223460A9 (en) 2018-08-09
EP2905366B1 (fr) 2017-03-29

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