CN108910628B - A kind of bus cable device with high-precision motion positioning function - Google Patents
A kind of bus cable device with high-precision motion positioning function Download PDFInfo
- Publication number
- CN108910628B CN108910628B CN201810797511.9A CN201810797511A CN108910628B CN 108910628 B CN108910628 B CN 108910628B CN 201810797511 A CN201810797511 A CN 201810797511A CN 108910628 B CN108910628 B CN 108910628B
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- photoelectric sensor
- limit switch
- polished rod
- guiding polished
- pulley
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Classifications
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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
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
- B65H75/4405—Traversing devices; means for orderly arranging the material on the drum
-
- 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
- B65H2701/34—Handled filamentary material electric cords or electric power cables
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- Length Measuring Devices By Optical Means (AREA)
- Mechanisms For Operating Contacts (AREA)
Abstract
A kind of bus cable device with high-precision motion positioning function is related to cableway camera chain field；Including pulley assembly, 2 limit switch assemblies, the first guiding polished rod, the second guiding polished rod, ball screw, 2 photoelectric sensing device assemblies, linear displacement transducer and magnet ring；The first guiding polished rod of rolling and the second guiding polished rod Parallel Symmetric are placed on the two sides of ball screw；Pulley assembly is realized along ball screw axially reciprocating；2 limit switch assemblies are sleeved on the axial ends of the second guiding polished rod；Axial ends of 2 photoelectric sensor assembly sets mounted in the first guiding polished rod；Linear displacement transducer is horizontally set on the lower section of the first guiding polished rod；Magnet ring is fixedly mounted on the bottom of pulley assembly；With the movement of pulley assembly, axial movement of the magnet ring along linear displacement transducer；This invention ensures that cable winding apparatus long-time safety and steady uses, to improve the safety of system, reliability and control precision.
Description
Technical field
The present invention relates to a kind of cableway camera chain field, especially a kind of row with high-precision motion positioning function
Line apparatus.
Background technique
As the system functional requirements such as cableway video camera are constantly promoted, there is higher technology to want cable winding apparatus
It asks, bus cable device safe and reliable operation is the key that the operation of the systems such as cableway video camera, once bus cable device operation irregularity, it will
There is the phenomenon that disorder cable, cable is caused mutually to overlap together, gently then shortens the service life of cable, it is heavy then influence drawing cable
The normal work of device；There is no relevant bus cable devices to realize the determination to its position during the motion, Bu Nenghe at present
The revolving speed of reason control roller, causes cable mixed and disorderly, discontinuity is emitted on roller；It can not determine cable in roller
Specific location, it cannot be guaranteed that cable winding apparatus long-time safety and steady use, safety, reliability and the control of system
Precision can not.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of the prior art, provide a kind of with high-precision motion positioning function
Bus cable device, ensure that cable winding apparatus long-time safety and steady use, to improve the safety of system, reliability
And control precision.
Above-mentioned purpose of the invention is achieved by following technical solution:
A kind of bus cable device with high-precision motion positioning function, including pulley assembly, 2 limit switch assemblies,
One guiding polished rod, the second guiding polished rod, ball screw, 2 photoelectric sensing device assemblies, linear displacement transducer and magnet ring；Wherein,
Ball screw is horizontal positioned rod-like structure；First guiding polished rod and the second guiding polished rod Parallel Symmetric are placed on ball screw
Two sides；Pulley assembly is sleeved on ball screw, is realized along ball screw axially reciprocating；2 limit switch assembly sets
Mounted in the axial ends of the second guiding polished rod；Axial ends of 2 photoelectric sensor assembly sets mounted in the first guiding polished rod；Straight line
Displacement sensor is rod-like structure；Linear displacement transducer is horizontally set on the lower section of the first guiding polished rod；Magnet ring is fixedly mounted
In the bottom of pulley assembly；And magnet ring is sleeved on the outer wall of linear displacement transducer, with the movement of pulley assembly, magnet ring is along straight line
The axial movement of displacement sensor.
In a kind of above-mentioned bus cable device with high-precision motion positioning function, the pulley assembly include pulley,
Pulley spindle, 2 limit switch touching bars, 2 photoelectric sensor barn doors, the first support plate and the second support plate；Wherein, pulley
Axle sleeve is on the bar wall of ball screw；Pulley is fixedly set in the center of pulley spindle；First support plate is fixedly mounted on
The side-walls of pulley axial direction one end；Second support plate is fixedly mounted on the side-walls of the pulley axial direction other end；First support plate is leaned on
One end of nearly second guiding polished rod is fixedly installed with 1 limit switch touching bar admittedly；First support plate is close to the first guiding polished rod
One end be fixedly installed with 1 photoelectric sensor barn door；One end fixed peace of second support plate close to the second guiding polished rod
Bar is touched equipped with 1 limit switch；Second support plate is fixedly installed with 1 photoelectric sensor close to one end of the first guiding polished rod
Barn door.
In a kind of above-mentioned bus cable device with high-precision motion positioning function, 2 limit switches touching bar is equal
Along the axially placed of the second guiding polished rod；And the direction of 2 limit switch touching bars is opposite；2 photoelectric sensor barn doors are equal
Along the axially placed of the first guiding polished rod；And the direction of 2 photoelectric sensor barn doors is opposite.
In a kind of above-mentioned bus cable device with high-precision motion positioning function, the limit switch assembly includes stroke
Adjusting bracket, limit switch fixed plate and limit switch；Wherein, stroke adjustment support is fixedly set in the outer of the second guiding polished rod
Wall；Limit switch fixed plate is horizontal positioned plate structure；Limit switch fixed plate is fixedly mounted on stroke adjustment support
Upper surface；Limit switch is fixedly mounted on the upper surface of limit switch fixed plate.
In a kind of above-mentioned bus cable device with high-precision motion positioning function, the stroke adjustment support passes through along
Two guiding polished rod axial movements, realize the coarse adjustment to the fixed position of limit switch.
It is horizontal on a kind of above-mentioned bus cable device with high-precision motion positioning function, the limit switch fixed plate
Limit switches screw thread item is set；Limit switch is realized by moving along limit switch screw thread item to the fixed position of limit switch
Thin tuning.
In a kind of above-mentioned bus cable device with high-precision motion positioning function, the photoelectric sensing device assembly includes light
Electric transducer fixed plate, photoelectric sensor bottom plate and photoelectric sensor；Wherein photoelectric sensor fixed plate horizontal set is first
It is oriented to the outer wall of polished rod；Photoelectric sensor bottom plate is fixedly mounted on the upper surface of photoelectric sensor fixed plate；Photoelectric sensor is solid
Dingan County is mounted in the upper surface of photoelectric sensor bottom plate.
In a kind of above-mentioned bus cable device with high-precision motion positioning function, the photoelectric sensor fixed plate passes through
Along the first guiding polished rod axial movement, the coarse adjustment to the fixed position of photoelectric sensor is realized.
The water on a kind of above-mentioned bus cable device with high-precision motion positioning function, the photoelectric sensor fixed plate
It is flat to be provided with photoelectric sensor screw thread item；It is moved, is realized to photoelectricity along photoelectric sensor screw thread item by photoelectric sensor bottom plate
The thin tuning of the fixed position of sensor.
In a kind of above-mentioned bus cable device with high-precision motion positioning function, the course of work of bus cable device are as follows: rolling
Pearl screw rod rotates under the driving of external motor, and band movable pulley component is moved axially along ball screw；When the photoelectricity of pulley assembly
Sensor barn door blocks photoelectric sensor formation；The speed that pulley assembly moves axially is reduced until stopping；Limit switch is real
Now limit switch touching bar in pulley assembly is axially trapped, realizes and guarantee is limited to pulley assembly；Magnet ring is with pulley blocks
Part is moved axially along linear displacement transducer；By, in the position difference measurements of linear displacement transducer, being realized to pulley to magnet ring
The high-precision motion of component positions.
The invention has the following advantages over the prior art:
(1) present invention uses double-photoelectric-sensor and limit switch triple protection measure, carries out bus cable device stroke and speed
Degree detection sets hardware limit position using photoelectric sensor, when photoelectric sensor barn door passes through photoelectric sensor for the first time
Primary deceleration is realized when position, when photoelectric sensor barn door passes through photoelectric sensor position for the second time, realizes secondary speed-reducing,
Bus cable device deceleration stops and can only counter motion；Excess of stroke emergency stop is carried out using limit switch, cuts off Rolling motor power supply.It is multistage
Deceleration limit mode can be reduced damage of the moment emergency stop to equipment, and effectively avoiding bus cable device is more than that the overshoot of stroke generation is asked
Topic, and by being once arranged, can full automatic progresss stroke detection and control, complete emergency stop action, reduction people when necessary
To monitor and intervening, accident occurs, protection staff and equipment safety, keeps cable winding apparatus safe and reliable；
(2) present invention has reciprocating stroke adjustable function: stroke adjustment support uses half split type cuff fixed form,
Its position can be easily set according to different trips range；
(3) present invention employs non-contact measurements: carrying out device travel and velocity measuring, light using photoelectric sensor
Electric sensor has many advantages, such as that quality is small, easy for installation, non-cpntact measurement, small to requirements of installation space, and non-contact survey
Amount will not jamming equipment motion state；The determination of bus cable device position is carried out using magnetostriction type linear displacement transducer,
The process is high-precision, non-contact measurement, will not wear sensing element；
(4) present invention utilizes ball screw assembly, principle, has friction loss small, and transmission efficiency is high, and precision is high, is able to bear
Certain axial load and radial load.
Detailed description of the invention
Fig. 1 is bus cable device structural schematic diagram of the present invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
It is as shown in Figure 1 bus cable device structural schematic diagram, as seen from the figure, the present invention provides a kind of fixed with high-precision motion
The bus cable device of bit function, including pulley assembly, 2 limit switch assemblies, the first guiding polished rod 4, second are oriented to polished rod 7, rolling
9,2 photoelectric sensing device assemblies of pearl screw rod, linear displacement transducer 12 and magnet ring 16；Wherein, ball screw 9 is horizontal positioned
Rod-like structure；First guiding polished rod 4 and the second guiding 7 Parallel Symmetric of polished rod are placed on the two sides of ball screw 9；Pulley assembly set
On ball screw 9, realize along 9 axially reciprocating of ball screw；2 limit switch assemblies are sleeved on the second guiding polished rod
7 axial ends；Axial ends of 2 photoelectric sensor assembly sets mounted in the first guiding polished rod 4；Linear displacement transducer 12 is
Rod-like structure；Linear displacement transducer 12 is horizontally set on the lower section of the first guiding polished rod 4；Magnet ring 16 is fixedly mounted on pulley blocks
The bottom of part；And magnet ring 16 is sleeved on the outer wall of linear displacement transducer 12, with the movement of pulley assembly, magnet ring 16 is along straight line position
The axial movement of displacement sensor 12.Magnet ring 16 is fastened on 17 one end of the second support plate by half split type cuff, and straight-line displacement passes
Sensor 12 is passed through from 16 center of magnet ring, and linear displacement transducer 12 connect fastening with support construction by installing screw thread.
Wherein, pulley assembly includes 2,2 pulley 1, pulley spindle limit switch touching 3,2 photoelectric sensor barn doors of bar
13, the first support plate 15 and the second support plate 17；Wherein, pulley spindle 2 is sleeved on the bar wall of ball screw 9；1 fixing sleeve of pulley
Mounted in the center of pulley spindle 2；First support plate 15 is fixedly mounted on the side-walls of the axial one end of pulley 1；Second support plate
17 are fixedly mounted on the side-walls of the axial other end of pulley 1；First support plate 15 is fixed close to one end of the second guiding polished rod 7
1 limit switch touching bar 3 is installed；First support plate 15 is fixedly installed with 1 photoelectricity close to one end of the first guiding polished rod 4
Sensor barn door 13；Second support plate 17 is fixedly installed with 1 limit switch touching close to one end of the second guiding polished rod 7 admittedly
Bar 3；Second support plate 17 is fixedly installed with 1 photoelectric sensor barn door 13 close to one end of the first guiding polished rod 4.
1 surface of pulley is equipped with winding displacement groove, is mounted with rolling bearing in inner hole；Pulley 1 is used by pulley spindle 2
Thread connecting mode and the first support plate 15 and the second support plate 17 fasten；First support plate 15 passes through flange and ball-screw again
Nut 9 connects.Limit switches are installed in the first support plate 15 and touch bar 3, photoelectric sensor barn door 13；Limit switch touching
Bar 3 is provided with one group of kidney slot, the relative position of adjustable itself and limit switch 8.
2 limit switch touching bars 3 are along the axially placed of the second guiding polished rod 7；And 2 limit switches touch bar 3
It is directed toward opposite；2 photoelectric sensor barn doors 13 are along the axially placed of the first guiding polished rod 4；And 2 photoelectric sensor shadings
The direction of plate 13 is opposite.
Limit switch assembly includes stroke adjustment support 5, limit switch fixed plate 6 and limit switch 8；Wherein, stroke tune
Section bracket 5 is fixedly set in the outer wall of the second guiding polished rod 7；Limit switch fixed plate 6 is horizontal positioned plate structure；Limit
Switch fixing casing 6 is fixedly mounted on the upper surface of stroke adjustment support 5；Limit switch 8 is fixedly mounted on limit switch fixed plate 6
Upper surface.Stroke adjustment support 5 is realized by moving axially along the second guiding polished rod 7 to the thick of the fixed position of limit switch 8
It adjusts.Limit switches screw thread item 21 is horizontally disposed in limit switch fixed plate 6；Limit switch 8 passes through along limit switch screw thread
Item 21 is mobile, realizes the thin tuning to the fixed position of limit switch 8.
It is provided with multiple groups kidney slot in limit switch fixed plate 6, photoelectric sensor fixed plate 11, is set at the top of every group of kidney slot
There are multiple semicircle serrated slots, outer surface indicates graduation mark；Operation is clamped and loosened using hexagonal sunk screw, it can be light
Limit switch 8, photoelectric sensor 10 are mounted on limit switch fixed plate 6, in photoelectric sensor fixed plate 11 by pine, convenient for adjusting
Limit switch 8,10 relative position of photoelectric sensor；Limit switch fixed plate 6, photoelectric sensor fixed plate 11 are using threaded connection
Mode and stroke adjustment support 5 fasten；Stroke adjustment support 5 is connect by half split type cuff with guiding polished rod, can be light
Set its position.
Photoelectric sensing device assembly includes photoelectric sensor fixed plate 11, photoelectric sensor bottom plate 19 and photoelectric sensor 10；
Wherein outer wall of 11 horizontal set of photoelectric sensor fixed plate in the first guiding polished rod 4；Photoelectric sensor bottom plate 19 is fixedly mounted
In the upper surface of photoelectric sensor fixed plate 11；Photoelectric sensor 10 is fixedly mounted on the upper surface of photoelectric sensor bottom plate 19.
Photoelectric sensor fixed plate 11 is realized by moving axially along the first guiding polished rod 4 to the thick of the fixed position of photoelectric sensor 10
It adjusts.Being horizontally disposed in photoelectric sensor fixed plate 11 has photoelectric sensor screw thread item 18；Pass through 19 edge of photoelectric sensor bottom plate
Photoelectric sensor screw thread item 18 is mobile, realizes the thin tuning to the fixed position of photoelectric sensor 10.
The course of work:
The course of work of bus cable device are as follows: ball screw 9 rotates under the driving of external motor, and band movable pulley component is along rolling
Pearl screw rod 9 moves axially；When the photoelectric sensor barn door 13 of pulley assembly blocks the formation of photoelectric sensor 10；Pulley assembly
Speed is moved axially to reduce until stopping；Limit switch 8, which is realized, touches axially trapping for bar 3 to limit switch in pulley assembly,
It realizes to limit pulley assembly and ensure；Magnet ring 16 is as pulley assembly is along the axial movement of linear displacement transducer 12；By to magnetic
Ring 16 is realized and is positioned to the high-precision motion of pulley assembly in the position difference measurements of linear displacement transducer 12.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (9)
1. a kind of bus cable device with high-precision motion positioning function, it is characterised in that: opened including pulley assembly, 2 limits
Close component, the first guiding polished rod (4), the second guiding polished rod (7), ball screw (9), 2 photoelectric sensing device assemblies, straight-line displacements
Sensor (12) and magnet ring (16)；Wherein, ball screw (9) is horizontal positioned rod-like structure；First guiding polished rod (4) and the
Two guiding polished rod (7) Parallel Symmetrics are placed on the two sides of ball screw (9)；Pulley assembly is sleeved on ball screw (9), is realized
Along ball screw (9) axially reciprocating；2 limit switch assemblies are sleeved on the axial ends of the second guiding polished rod (7)；2
Axial ends of the photoelectric sensor assembly set mounted in the first guiding polished rod (4)；Linear displacement transducer (12) is rod-like structure；Directly
Linear movement pick-up (12) is horizontally set on the lower section of the first guiding polished rod (4)；Magnet ring (16) is fixedly mounted on pulley assembly
Bottom；And magnet ring (16) is sleeved on the outer wall of linear displacement transducer (12), with the movement of pulley assembly, magnet ring (16) is along straight line
The axial movement of displacement sensor (12)；
The pulley assembly includes pulley (1), pulley spindle (2), 2 limit switch touchings bar (3), 2 photoelectric sensors screenings
Tabula rasa (13), the first support plate (15) and the second support plate (17)；Wherein, pulley spindle (2) is sleeved on the bar wall of ball screw (9)
On；Pulley (1) is fixedly set in the center of pulley spindle (2)；First support plate (15) is fixedly mounted on pulley (1) axial one
The side-walls at end；Second support plate (17) is fixedly mounted on the side-walls of the axial other end of pulley (1)；First support plate (15) is leaned on
One end of nearly second guiding polished rod (7) is fixedly installed with 1 limit switch touching bar (3) admittedly；First support plate (15) is close to the
One end of one guiding polished rod (4) is fixedly installed with 1 photoelectric sensor barn door (13)；Second support plate (17) is led close to second
It is fixedly installed with 1 limit switch touching bar (3) admittedly to one end of polished rod (7)；Second support plate (17) is close to the first guiding light
One end of bar (4) is fixedly installed with 1 photoelectric sensor barn door (13).
2. a kind of bus cable device with high-precision motion positioning function according to claim 1, it is characterised in that: described
2 limit switch touchings bar (3) are along the axially placed of the second guiding polished rod (7)；And the finger of 2 limit switch touchings bar (3)
To opposite；2 photoelectric sensor barn doors (13) are along the axially placed of the first guiding polished rod (4)；And 2 photoelectric sensors hide
The direction of tabula rasa (13) is opposite.
3. a kind of bus cable device with high-precision motion positioning function according to claim 2, it is characterised in that: described
Limit switch assembly includes stroke adjustment support (5), limit switch fixed plate (6) and limit switch (8)；Wherein, stroke adjustment
Bracket (5) is fixedly set in the outer wall of the second guiding polished rod (7)；Limit switch fixed plate (6) is horizontal positioned plate structure；
Limit switch fixed plate (6) is fixedly mounted on the upper surface of stroke adjustment support (5)；Limit switch (8) is fixedly mounted on limit
The upper surface of switch fixing casing (6).
4. a kind of bus cable device with high-precision motion positioning function according to claim 3, it is characterised in that: described
Stroke adjustment support (5) realizes the coarse adjustment to limit switch (8) fixed position by moving axially along the second guiding polished rod (7)
Section.
5. a kind of bus cable device with high-precision motion positioning function according to claim 4, it is characterised in that: described
Limit switches screw thread item (21) is horizontally disposed in limit switch fixed plate (6)；Limit switch (8) passes through along limit switch screw thread
Item (21) is mobile, realizes the thin tuning to limit switch (8) fixed position.
6. a kind of bus cable device with high-precision motion positioning function according to claim 5, it is characterised in that: described
Photoelectric sensing device assembly includes photoelectric sensor fixed plate (11), photoelectric sensor bottom plate (19) and photoelectric sensor (10)；Its
Outer wall of middle photoelectric sensor fixed plate (11) horizontal set in the first guiding polished rod (4)；Photoelectric sensor bottom plate (19) is fixed
It is mounted on the upper surface of photoelectric sensor fixed plate (11)；Photoelectric sensor (10) is fixedly mounted on photoelectric sensor bottom plate (19)
Upper surface.
7. a kind of bus cable device with high-precision motion positioning function according to claim 6, it is characterised in that: described
Photoelectric sensor fixed plate (11) is realized by moving axially along the first guiding polished rod (4) to photoelectric sensor (10) fixed bit
The coarse adjustment set.
8. a kind of bus cable device with high-precision motion positioning function according to claim 7, it is characterised in that: described
Being horizontally disposed in photoelectric sensor fixed plate (11) has photoelectric sensor screw thread item (18)；Pass through photoelectric sensor bottom plate (19) edge
Photoelectric sensor screw thread item (18) is mobile, realizes the thin tuning to photoelectric sensor (10) fixed position.
9. a kind of bus cable device with high-precision motion positioning function according to claim 8, it is characterised in that: winding displacement
The course of work of device are as follows: ball screw (9) rotates under the driving of external motor, and band movable pulley component is along ball screw (9)
Axial movement；It is blocked when the photoelectric sensor barn door (13) of pulley assembly forms photoelectric sensor (10)；Pulley assembly axis
It is reduced to movement speed until stopping；Limit switch (8), which is realized, hinders the axial of limit switch touching bar (3) in pulley assembly
Gear is realized and limits guarantee to pulley assembly；Magnet ring (16) is as pulley assembly is along linear displacement transducer (12) axial movement；It is logical
It crosses to magnet ring (16) in the position difference measurements of linear displacement transducer (12), realizes and the high-precision motion of pulley assembly is positioned.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810797511.9A CN108910628B (en) | 2018-07-19 | 2018-07-19 | A kind of bus cable device with high-precision motion positioning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810797511.9A CN108910628B (en) | 2018-07-19 | 2018-07-19 | A kind of bus cable device with high-precision motion positioning function |
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| Publication Number | Publication Date |
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| CN108910628A CN108910628A (en) | 2018-11-30 |
| CN108910628B true CN108910628B (en) | 2019-11-29 |
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| CN110441932A (en) * | 2019-07-08 | 2019-11-12 | 盐城华昱光电技术有限公司 | Automatic optical detection device for liquid crystal module |
| CN114920092B (en) * | 2022-05-17 | 2023-03-24 | 深圳市深水工程造价咨询有限公司 | A pay-off for engineering survey and drawing is measured and is used |
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| CN2212576Y (en) * | 1993-12-21 | 1995-11-15 | 重庆钢丝绳厂 | Optomagnetic apparatus for arranging wire |
| CN202107468U (en) * | 2011-05-16 | 2012-01-11 | 何照美 | Multi-layer synchronous automatic wire arranging device for steel wire rope of windlass |
| CN203212118U (en) * | 2013-04-10 | 2013-09-25 | 江苏华鑫合金有限公司 | Alloy wire arranging device |
| CN203426188U (en) * | 2013-07-30 | 2014-02-12 | 湖北三江航天江北机械工程有限公司 | Take-up spool precision winding displacement device |
| CN106946097B (en) * | 2017-03-21 | 2019-07-09 | 南京航空航天大学 | Cable pull self-regulation capstan winch and its control method |
| CN107104544B (en) * | 2017-07-05 | 2019-07-26 | 北京航空航天大学 | A high power-to-weight ratio integrated electromechanical servo actuator |
| CN207090677U (en) * | 2017-08-24 | 2018-03-13 | 浙江东尼电子股份有限公司 | A kind of enamel-covered wire automatic disk-changing winding device |
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