CN107055189B - A kind of winding mechanism operating control device and control method - Google Patents
A kind of winding mechanism operating control device and control method Download PDFInfo
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- CN107055189B CN107055189B CN201710332073.4A CN201710332073A CN107055189B CN 107055189 B CN107055189 B CN 107055189B CN 201710332073 A CN201710332073 A CN 201710332073A CN 107055189 B CN107055189 B CN 107055189B
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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
- B65H43/00—Use of control, checking, or safety devices, e.g. automatic devices comprising an element for sensing a variable
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/19—Specific article or web
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention is suitable for winding mechanism control technology field, provides a kind of winding mechanism operating control device and control method, and winding mechanism operating control device includes the motor unit of each drive winding mechanism operation, further includes：Sensor module, the operation information for acquiring winding band；The speed detector of sensor module is connected in, for carrying out velocity measuring according to the operation information of sensor module output；The direction detector of sensor module is connected in, for carrying out angle detecting according to the operation information of sensor module output；It is separately connected the state analyzer of direction detector and speed detector, the traffic direction information that the speed of service information and direction detector for being detected according to speed detector detect judges the operating status of winding mechanism；Main control unit carries out feedback control for receiving and according to the operating status that state analyzer exports to the action of motor unit.The present invention improves stability and reliability of the winding with operation.
Description
Technical field
The invention belongs to winding mechanism control technology field more particularly to a kind of winding mechanism operating control device and controls
Method.
Background technology
Winding mechanism has the function of that medium is carried and stored, and is widely used in various equipment.For example, will can in rolls wrap
The supplied materials of dress is wound on the finished product axis in equipment.
However, existing winding mechanism operating control device, can not monitor winding mechanism and control winding object in real time
Operating status.The reason is that the running state monitoring of existing winding mechanism is substantially the Hall letter by detection motor
Number carry out, such method is suitable for the epidemic situation comparison of motor, but can not accurately detect the wrapping machine that motor is driven
The real-time running state of structure and winding band.
For example, when prior art detection synchronous belt etc. does not have slackness winding band, it is capable of detecting when at this time by motor
The operating status of synchronous belt, but if winding band be have certain loose zone or winding band be broken in the case of, then
The real-time status of winding band then can not be accurately detected by motor, at this point, being likely to cause to wind tape speed and direction
It mismatches, so as to cause the medium run-off the straight carried or stored, the situations such as tears or block.
Invention content
The embodiment of the present invention is designed to provide a kind of winding mechanism operating control device, it is intended to solve existing winding
Mechanism operating control device, the problem of winding mechanism can not be monitored in real time and control the operating status of winding object.
The embodiment of the present invention is achieved in that a kind of winding mechanism operating control device, including each drive wrapping machine
The motor unit of structure operation, the winding mechanism operating control device further include：
Sensor module, the operation information for acquiring winding band；
Be connected in the speed detector of the sensor module, the operation information for exporting according to the sensor module into
The velocity measuring of the row winding band；
Be connected in the direction detector of the sensor module, the operation information for exporting according to the sensor module into
The angle detecting of the row winding band；
It is separately connected the state analyzer of the direction detector and the speed detector, for being examined according to the speed
The speed of service information that device detects and the traffic direction information that the direction detector detects are surveyed, judges winding mechanism
Operating status；
It is separately connected the main control unit of the state analyzer and the motor unit, for receiving and according to the state
The operating status of analyzer output carries out feedback control to the action of the motor unit.
Another embodiment of the present invention is to provide a kind of control method based on above-mentioned winding mechanism operating control device,
Including：
The operation information of the sensor module acquisition winding band；
The speed detector carries out velocity measuring according to the operation information that the sensor module acquires, to the state
The speed of service information of analyzer output winding band；
The direction detector carries out angle detecting according to the operation information that the sensor module acquires, to the state
The traffic direction information of analyzer output winding band；
The speed of service information and the angle detecting that the state analyzer is detected according to the speed detector
The traffic direction information that device detects obtains current winding band operation information, by current winding band operation information with issue
Winding band operation information compared, report comparison result to the main control unit；
The comparison result that the main control unit is reported according to the state analyzer, to each motor unit issue direction and
The adjust instruction of speed, to ensure each winding mechanism according to adjust instruction orderly function.
In the present invention, it solves existing winding mechanism operating control device, winding mechanism can not be monitored in real time and controls
The problem of operating status of system winding object.It has the beneficial effect that：
1. can effectively detect the operating status of winding band and be accurately controlled to it, winding is improved with operation
Stability；
2. avoiding situation about occurring because winding the dielectric loss and medium state exception that are brought with operation exception, raising twines
Around band reliability of operation.
Description of the drawings
Fig. 1 is the structure diagram of winding mechanism operating control device provided in an embodiment of the present invention；
Fig. 2 is the structure chart of winding mechanism provided in an embodiment of the present invention；
Fig. 3 is the preferable sample figure of rotation axis provided in an embodiment of the present invention and rib；
Fig. 4 rotates clockwise obtained low and high level for rotation axis provided in an embodiment of the present invention persistently to scheme；
Fig. 5 rotates counterclockwise obtained low and high level for rotation axis provided in an embodiment of the present invention persistently to scheme；
Fig. 6 is the implementing procedure figure of control method provided in an embodiment of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It should be appreciated that ought use in this specification and in the appended claims, the instruction of term " comprising " is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, element, component and/or its presence or addition gathered.
It is also understood that the term used in this description of the invention is merely for the sake of the mesh for describing specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singulative, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combinations and all possible combinations of one or more of associated item listed, and includes these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
Embodiment one
Fig. 1 is the structure diagram of winding mechanism operating control device provided in an embodiment of the present invention, and details are as follows：
A kind of winding mechanism operating control device, including each motor unit for driving winding mechanism operation further include：
Sensor module, the operation information for acquiring winding band；
Be connected in the speed detector of the sensor module, the operation information for exporting according to the sensor module into
Row velocity measuring；
Be connected in the direction detector of the sensor module, the operation information for exporting according to the sensor module into
Line direction detects；
It is separately connected the state analyzer of the direction detector and the speed detector, for being examined according to the speed
The speed of service information that device detects and the traffic direction information that the direction detector detects are surveyed, judges winding mechanism
Operating status；
It is separately connected the main control unit of the state analyzer and the motor unit, for receiving and according to the state
The operating status of analyzer output carries out feedback control to the action of the motor unit.
Motor unit drives the winding band operation in winding mechanism, a motor unit to correspond to a winding band, pass through one
A motor unit drives a winding band.
Preferably, speed detector, direction detector, state analyzer use programmable logic device.
Preferably, with reference to figure 2, Fig. 2 is the structure chart of winding mechanism provided in an embodiment of the present invention, and details are as follows：
The sensor module is made of infrared emission sensor 21 and rib 22, and the infrared emission sensor is fixed
In the slewing area of the rib, the rib is located in the rotation axis for driving winding belt wheel 23 to rotate, and winding band is wound in
It winds on belt wheel 23, and is run under the drive of winding belt wheel.
Wherein, in sensor module, infrared emission sensor has of low cost, the reliable feature of efficiency.
Further, the infrared emission sensor 21, in 22 rotation process of the rib, if the light sent out is by institute
It states rib 22 to block, then generates the first level, if the light sent out is not blocked by the rib 22, then generate second electrical level；
First level and the second electrical level are opposite level.
For example, first level is high level, the second electrical level is bottom level, alternatively, first level is low
Level, the second electrical level are high level.
There are through-holes for the rib 22；The infrared emission sensor 21, in 22 rotation process of the rib, if hair
The light gone out is in described through-hole the right and left, then generates the first level respectively, if the light sent out is in the through-hole, then produces
Raw second electrical level；First level and the second electrical level are opposite level.
Wherein, if the light that infrared emission sensor 21 is sent out is in the right and left of through-hole on the rib 2222, table
Show that the light sent out cannot pass through the through-hole of rib 22, the light sent out is blocked by rib 22, the first level is generated, if infrared emission
The light that sensor 21 is sent out is in through-hole, indicates through-hole of the luminous energy sent out by rib 22, the light sent out is not by rib 22
It blocks, generates second electrical level.
The shape of through-hole includes but unlimited round, quadrangle.
Wherein, the process that rib 22 rotates is as follows：
Rib 22 is located in the rotation axis for driving winding belt wheel rotation, and rotation axis can be clockwise after motor drive
Or rotate counterclockwise, when rotation axis is rotated clockwise or counterclockwise, rib 22 can follow rotation axis to carry out up time
Needle rotates counterclockwise.
Further, according in rotation axis rotation process, infrared emission sensor generates adjacent the direction detector
The duration of two the first level generates the first level duration ratio；If adjacent first level duration ratio
For preset durations ratio M, then judge that it is clockwise to wind the traffic direction of band, if adjacent first level duration ratio
Value is preset durations ratio N, then judges that the traffic direction for winding band is counterclockwise, the M and the N are different preset
Duration ratio, two neighboring first level are the first level that through-hole the right and left generates.
Wherein, it obtains the first level and the period occurred to second electrical level has occurred, obtain the duration of the first level,
It obtains next first level and the period occurred to next second electrical level has occurred, obtain continuing for next first level
Time compares the duration of the first level with the duration of next first level, generates the first level duration
Ratio.
For purposes of illustration only, using the first level as high level, second electrical level is low level, is exemplified below：
Fig. 3 is the preferable sample figure of rotation axis rotation provided in an embodiment of the present invention, and details are as follows：
The outer weekly interval of rotation axis is uniformly provided with three identical ribs, and three ribs of through-hole are offered on rib with rotation axis
Rotation and periodic rotary.
In figure 3, the through-hole of rib 22 is 31, and rotation datum line is 33.
1) rotation axis 32 rotates clockwise：
By time t1, it is 33 that rib 22, which reaches rotation datum line,；
After rib 22 reaches rotation datum line 33, the light that infrared emission sensor 21 is sent out cannot pass through the logical of rib 22
Hole is blocked by rib 22, the duration that infrared emission sensor 21 generates high level is T2；
Rib 22 is rotated further, and through-hole 31 reaches rotation datum line 33, and the luminous energy that infrared emission sensor 21 is sent out passes through
Through-hole 31, expression are not blocked by rib 22, and infrared emission sensor 21 generates the low level duration as t3；
Rib 22 is rotated further, and through-hole 31 is by rotation datum line 33, and the light that infrared emission sensor 21 is sent out is by rib
22 block, and the duration that infrared emission sensor 21 generates is T4.
Fig. 4 rotates clockwise obtained low and high level for rotation axis provided in an embodiment of the present invention persistently to scheme, can by Fig. 4
To find out, adjacent high level lasting time is that the ratio of T2 and T4, T2 and T4 are M1, and M1 is less than 1；It should be noted that phase
What is be spaced between adjacent high level is that infrared emission sensor rotation passes through the low level generated when through-hole, rather than is spaced two phases
The low level that gap between adjacent rib generates.
2) rotation axis 32 rotates counterclockwise：
By time c1, it is 33 that rib 22, which reaches rotation datum line,；
After rib 22 reaches rotation datum line 33, the light that infrared emission sensor 21 is sent out cannot pass through the logical of rib 22
Hole is blocked by rib 22, infrared emission sensor 21 generates high level, duration C2；
Rib 22 is rotated further, and through-hole 31 reaches rotation datum line 33, and the luminous energy that infrared emission sensor 21 is sent out passes through
Through-hole 31, expression are not blocked by rib 22, and low level, duration c3 are generated；Rib 22 is rotated further, and through-hole 31 is by rotation
Datum line 33, the light that infrared emission sensor 21 is sent out are blocked by rib 22, generate high level, duration C4.
Fig. 5 rotates counterclockwise obtained low and high level for rotation axis provided in an embodiment of the present invention persistently to scheme, can by Fig. 5
To find out, adjacent high level lasting time is that the ratio of C2 and C4, C2 and C4 are N1, and N1 is more than 1；Equally, it needs to illustrate
It is that be spaced between adjacent high level is that infrared emission sensor rotation passes through the low level generated when through-hole, rather than is spaced
The low level that gap between two adjacent ribs generates.
Therefore, using programmable logic device according to the duration ratio M1 or N1 and preset value M and N of adjacent high level
Comparison result judges to rotate rotational axis direction, can effectively judge the traffic direction for winding band, and have both real-time, pass through
Report the traffic direction of winding band to state analyzer, when can improve the real-time of detection and save the execution of executing agency
Between.
Wherein, through-hole cannot be at the middle part of rib, and otherwise T2 is equal with T4, that is, M1 and N1 are equal, can not judge rotation side
To.Therefore, through-hole is located at any position in addition in the middle part of rib.
Further, the motor unit includes but not limited to motor.
Further, the frequency of speed detector statistics 22 trigger sensor component of the rib output rising edge, according to
The frequency of rising edge judges the speed of service of current winding band.
The number of rising edge in a period of time is counted using programmable logic simultaneously respectively to judge the operation of winding mechanism
Speed, and by the speed of service information reporting of each winding band to state analyzer.It can determine out and work as by counting in real time
The speed of service of preceding winding band, and provide real-time message to state analyzer.
Further, the state analyzer receives the main control unit and runs letter according to the winding band that application scenarios issue
Current winding is compared with operation information with the winding band operation information issued, reports comparison result to the master by breath
Control unit.
Wherein, the main control unit reads the application scenarios of configuration, and winding is issued to state analyzer according to application scenarios
Band operation information.
It winds and is made of the traffic direction information of the speed of service information of winding band and winding band with operation information.
Wherein, the main control unit is established different by the winding of associated application scene and setting band operation information
Application scenarios and different windings are with the correspondence between operation information, according to different application scenarios, to issue different
Winding band operation information.
Further, the comparison result that the main control unit is reported according to the state analyzer, to each motor unit
The adjust instruction for issuing direction and speed, to ensure each winding mechanism according to adjust instruction orderly function.
The main control unit receives the comparison result that the state analyzer reports；
Differ with the winding tape running speed information issued if comparison result is current winding tape running speed information
It causes, to the adjust instruction of each motor unit downloading speed, to ensure that each winding mechanism is orderly according to the adjust instruction of speed
Operation；
Differ with the winding band traffic direction information issued with traffic direction information if comparison result is current winding
It causes, the adjust instruction in direction is issued to each motor unit, to ensure that each winding mechanism is orderly transported by the adjust instruction in direction
Row.It should be appreciated that in embodiments of the present invention, the main control unit can be central processing unit (Central
Processing Unit, CPU), which can also be other general processors, digital signal processor (Digital
Signal Processor, DSP), application-specific integrated circuit (Application Specific Integrated Circuit,
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic
Device, discrete gate or transistor logic, discrete hardware components etc..General processor can be microprocessor or this at
It can also be any conventional processor etc. to manage device.
In embodiments of the present invention, due to thering is speed detector and state detector to provide real-time operation information,
When the fracture of winding band and each winding tape speed mismatch, main control unit can obtain the operation information of winding band, and root in real time
The state that each execution unit is adjusted according to actual state is adjusted, and solves winding with the damage for running the inconsistent medium brought
The problem of wound or equipment, both improves stability of the winding with operation, also improves winding band reliability of operation.
Embodiment two
Fig. 6 is the implementing procedure figure of control method provided in an embodiment of the present invention, and details are as follows：
S601, the operation information of the sensor module acquisition winding band；
S602, the speed detector carries out velocity measuring according to the operation information that the sensor module acquires, to institute
It states state analyzer and exports the speed of service information detected；
S603, the direction detector carries out angle detecting according to the operation information that the sensor module acquires, to institute
It states state analyzer and exports the traffic direction information detected；
S604, the speed of service information and the direction that the state analyzer is detected according to the speed detector
The traffic direction information that detector detects obtains current winding band operation information, by current winding band operation information with
The winding band operation information issued is compared, and reports comparison result to the main control unit；
S305, the comparison result that the main control unit is reported according to the state analyzer issue each motor unit
The adjust instruction in direction and speed, to ensure each winding mechanism according to adjust instruction orderly function.
Wherein, the control method further includes：
The number of the speed detector statistics preset time inner retaining side trigger sensor component output rising edge, according to upper
The number for rising edge, generates the speed of service of winding mechanism.
In embodiments of the present invention, main control unit can obtain the operation information of winding band in real time, and according to actual state
The state for adjusting each execution unit is adjusted, and improves stability and reliability of the winding with operation.
The present invention realizes all or part of flow in above-described embodiment method, can also be instructed by computer program
Relevant hardware is completed, and the computer program can be stored in a computer readable storage medium, the computer program
When being executed by processor, it can be achieved that the step of above-mentioned each embodiment of the method..Wherein, the computer program includes calculating
Machine program code, the computer program code can be source code form, object identification code form, executable file or it is certain in
Between form etc..The computer-readable medium may include：Any entity or dress of the computer program code can be carried
Set, recording medium, USB flash disk, mobile hard disk, magnetic disc, CD, computer storage, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software
Distribution medium etc..It should be noted that the content that the computer-readable medium includes can be according to making laws in jurisdiction
Requirement with patent practice carries out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent practice, computer
Readable medium is including being not electric carrier signal and telecommunication signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to aforementioned reality
Applying example, invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each
Technical solution recorded in embodiment is modified or equivalent replacement of some of the technical features；And these are changed
Or replace, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (9)
1. a kind of winding mechanism operating control device, including each motor unit for driving winding mechanism operation, which is characterized in that
The winding mechanism operating control device further includes：
Sensor module, the operation information for acquiring winding band；
It is connected in the speed detector of the sensor module, the operation information for being exported according to the sensor module carries out institute
State the velocity measuring of winding band；
It is connected in the direction detector of the sensor module, the operation information for being exported according to the sensor module carries out institute
State the angle detecting of winding band；
It is separately connected the state analyzer of the direction detector and the speed detector, for according to the speed detector
The traffic direction information that the speed of service information and the direction detector detected detects, judges the winding mechanism
Operating status；
It is separately connected the main control unit of the state analyzer and the motor unit, for receiving and according to the state analysis
The operating status of device output carries out feedback control to the action of the motor unit；
The sensor module is made of infrared emission sensor and rib, and the infrared emission sensor is fixed on the gear
In the slewing area on side, the rib is located in the rotation axis for driving winding belt wheel rotation.
2. winding mechanism operating control device as described in claim 1, which is characterized in that there are through-holes for the rib；It is described
Infrared emission sensor if the light sent out is in described through-hole the right and left, is then produced respectively in the rib rotation process
Raw first level then generates second electrical level if the light sent out is in the through-hole；First level and second electricity
It puts down as opposite level.
3. winding mechanism operating control device as claimed in claim 2, which is characterized in that the direction detector is according to adjacent
The duration of two the first level generates the first level duration ratio；If adjacent first level duration ratio
For preset durations ratio M, then judge that it is clockwise to wind the traffic direction of band, if adjacent first level duration ratio
Value is preset durations ratio N, then judges that the traffic direction for winding band is counterclockwise, the M and the N are different preset
Duration ratio, two neighboring first level are the first level that described through-hole the right and left generates.
4. winding mechanism operating control device as described in claim 1, which is characterized in that the motor unit includes electronic
Machine.
5. winding mechanism operating control device as described in claim 1, which is characterized in that described in the speed detector statistics
Rib trigger sensor component exports the frequency of rising edge, according to the frequency of the rising edge, judges the operation of current winding band
Speed.
6. winding mechanism operating control device as described in claim 1, which is characterized in that described in the state analyzer receives
The winding band operation information that main control unit is issued according to application scenarios, by current winding with operation information and the winding band issued
Operation information is compared, and reports comparison result to the main control unit.
7. winding mechanism operating control device as claimed in claim 6, which is characterized in that the main control unit is according to the shape
The comparison result that state analyzer reports issues each motor unit the adjust instruction of direction and speed, to ensure each winding
Mechanism is according to adjust instruction orderly function.
8. a kind of control method based on winding mechanism operating control device described in claim 1, which is characterized in that including：
The operation information of the sensor module acquisition winding band；
The speed detector carries out velocity measuring according to the operation information that the sensor module acquires, to the state analysis
Device exports the speed of service information detected；
The direction detector carries out angle detecting according to the operation information that the sensor module acquires, to the state analysis
Device exports the traffic direction information detected；
The speed of service information and direction detector inspection that the state analyzer is detected according to the speed detector
The traffic direction information measured obtains current winding band operation information, by current winding band operation information with
The winding band operation information issued is compared, and reports comparison result to the main control unit；
The comparison result that the main control unit is reported according to the state analyzer issues direction and speed to each motor unit
Adjust instruction, to ensure each winding mechanism according to adjust instruction orderly function.
9. control method as claimed in claim 8, which is characterized in that the control method further includes：
The number of the speed detector statistics preset time inner retaining side trigger sensor component output rising edge, according to rising edge
Number, generate the speed of service of winding mechanism.
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| CN201710332073.4A CN107055189B (en) | 2017-05-11 | 2017-05-11 | A kind of winding mechanism operating control device and control method |
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| CN201710332073.4A CN107055189B (en) | 2017-05-11 | 2017-05-11 | A kind of winding mechanism operating control device and control method |
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| CN107055189B true CN107055189B (en) | 2018-10-19 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH06206656A (en) * | 1993-01-08 | 1994-07-26 | Fuji Electric Co Ltd | Speed control method for winder |
| DE19526216A1 (en) * | 1995-07-18 | 1997-01-23 | Iro Ab | Method for scanning a thread and thread take-off sensor |
| JP2001075619A (en) * | 1999-09-06 | 2001-03-23 | Toshiba Corp | Mechanism control system and method for developing the same |
| JP2006272883A (en) * | 2005-03-30 | 2006-10-12 | Nissha Printing Co Ltd | Apparatus and method of transfer molding |
| CN101513966B (en) * | 2009-01-20 | 2012-01-11 | 常州工学院 | Line type winding machine |
| JP2011037572A (en) * | 2009-08-10 | 2011-02-24 | Murata Machinery Ltd | Spinning machine |
| CN201677140U (en) * | 2009-09-29 | 2010-12-22 | 深圳市沃尔核材股份有限公司 | Full-automatic laser cutting machine |
| JP6167532B2 (en) * | 2013-01-25 | 2017-07-26 | オムロン株式会社 | Control device and operation method of control device |
| CN105540339B (en) * | 2016-01-22 | 2018-07-20 | 华南理工大学 | A kind of automatic wire inlet system and method for air yarn cladding machine |
| CN105827248B (en) * | 2016-03-14 | 2019-06-11 | 深圳怡化电脑股份有限公司 | A kind of adaptive frequency coding method and device |
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