CN207050904U - A kind of rope winch and the trailer system comprising the winch - Google Patents
A kind of rope winch and the trailer system comprising the winch Download PDFInfo
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- CN207050904U CN207050904U CN201720780727.5U CN201720780727U CN207050904U CN 207050904 U CN207050904 U CN 207050904U CN 201720780727 U CN201720780727 U CN 201720780727U CN 207050904 U CN207050904 U CN 207050904U
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- bearing
- rope
- support pedestal
- steel wire
- winch
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Abstract
It the utility model is related to a kind of rope winch and the trailer system including the winch, the rope winch includes frame and the reel being articulated in frame, wirerope-winding is on reel, in frame the first bearing and the second bearing have been positioned apart from along the rope outlet direction of steel wire rope, wherein, first bearing is connected with support pedestal by the first hinge, and force cell is provided between the first bearing and support pedestal, for measuring the first bearing and supporting the interaction force between pedestal；Connector is provided between second bearing and support pedestal, the second bearing is connected with connector by the second hinge, and support pedestal is connected with connector by tri-joint mechanism.Rope winch provided by the utility model need not increase extra device for measuring force, you can measure the pulling force of steel wire rope so that the overall structure of rope winch is considerably compact, while also reduces the complexity and manufacturing cost of winch.
Description
Technical field
It the utility model is related to hoisting equipment field, especially a kind of rope winch and the traction system comprising the winch
System.
Background technology
Winch is widely used on the large scale equipment of the industries such as ocean engineering, electric power, mine, cement, steel, is twisted for monitoring
The working condition of car is, it is necessary to which the pulling force of the steel wire rope to being connected on winch measures.Existing steel wire rope device for measuring force is all
It is to have an independent device outside winch, then steel wire rope is by the device, and then measures the pulling force on steel wire rope.
Such as Chinese patent literature CN 101723273U disclose a kind of pipe-laying winch steel wire rope measuring, the measurement
The structure of device is：It is included in the internal cavities of housing and is installed with mandrel, the internal side wall of housing is provided with length biography
Sensor and tachogenerator, pulley is set with mandrel, a side end face of pulley is provided with gear ring and spoke, and spoke passes with length
Sensor is corresponding to be installed, and gear ring is engaged with the measure speed gearses on tachogenerator, and pulling force sensor is provided with the axle center hole of mandrel,
Linear transducer, tachogenerator and pulling force sensor are connected with laying winch control device, and laying winch control device is
Dual redundant system.The measurement apparatus that the document provides is using the mechanical structure type with electronic combination, i.e. " pulley+sensor " shape
Formula, the steel wire rope of laying winch discharge is oriented to according to the direction of setting, effectively solve laying winch pulling force, rope capacity and
The measurement accuracy of speed parameter and response time, and the data for obtaining Winch control system are more direct, precision is higher, carry
High accuracy, the security of winch operation.
And for example the B of Chinese patent literature CN 104276469 disclose a kind of tension detecting apparatus of elevator wire rope, this
Force checking device includes adjusting means, pressure sensor, and the one end of adjusting means is arranged on pressure sensor, adjusting means
With through hole is respectively arranged with pressure sensor, so as to fag end combination can be each passed through it is logical in adjusting means and pressure sensor
Hole, pressure sensor can perceive the pressure suffered by the other end of adjusting means, and adjusting means can be along the center of through hole thereon
Line direction adjusts its height.The tension detecting apparatus for the elevator wire rope that the document provides can be used for direct measurement steel wire rope institute
The pulling force received, precision are high；Also there is microprocessor simultaneously, the pressure data that can be obtained with in-situ processing pressure sensor, and lead to
The data after wireless launcher handles microprocessor analysis are crossed to emit；Wireless data receiving device is used for receiving wirelessly
The data that emitter is sent, Wireless data receiving device can be located at outside elevator, so that detection is more convenient；Adjusting means
The precompression to pressure sensor can be adjusted, so as to which when being measured to more steel wire ropes, the end of every steel wire rope is all
The tension detecting apparatus of elevator wire rope is provided with, the pressure sensing on the tension detecting apparatus of every elevator wire rope can be made
Precompression suffered by device is consistent, to improve the accuracy to pull force calculation suffered by every steel wire rope.
But, it is necessary to have pulling force of a set of special dynameter for measuring steel wire rope, increase in above-mentioned technical proposal
The complexity and manufacturing cost of system；And dynameter needs to take certain space in itself, to avoid itself and other
Equipment causes to interfere, and can increase the design and manufacture difficulty of other equipment.
To sum up, the purpose of this utility model is to provide a kind of rope winch with force measuring function and comprising the winch
Trailer system, it is not necessary to the pulling force of steel wire rope can be measured by extraly increasing dynameter, reduce winch complexity and
Manufacturing cost.
Utility model content
The purpose of this utility model is to provide a kind of rope winch, including frame and the reel that is articulated in frame,
Wirerope-winding has been positioned apart from the first bearing and the second bearing, steel in frame on reel along the rope outlet direction of steel wire rope
Cord winch is arranged on support pedestal by the first bearing and the second bearing, wherein, the first bearing and support pedestal pass through the
One hinge is connected, the rotating shaft of the first hinge and the shaft parallel of reel, and dynamometry is provided between the first bearing and support pedestal
Sensor, for measuring the first bearing and supporting the interaction force between pedestal；Set between second bearing and support pedestal
There is connector, the second bearing is connected with connector by the second hinge, and support pedestal is connected with connector by tri-joint mechanism, the
Rotating shaft, the rotating shaft of tri-joint mechanism and the shaft parallel of reel of two hinges, by the rotating shaft of the second hinge and the rotating shaft of tri-joint mechanism
Identified plane is vertical with the rope outlet direction of steel wire rope.
Further, the first axis hole is provided with the first bearing, support pedestal is set in the position corresponding with the first axis hole
The second axis hole is equipped with, force cell is column type sensor, and the load measurement column of column type sensor is also cross the first axis hole and second
Axis hole, the first bearing is hinged on support pedestal, and senses the first bearing and support the interaction force between pedestal.
Preferably, force cell is press type sensor.
Further, the quantity of the first bearing is multiple to be positioned apart from along the rotor shaft direction of reel.
Preferably, the quantity of the second bearing is positioned apart from along the rotor shaft direction of reel to be multiple, each second bearing with
Independent connector is respectively arranged between support pedestal.
Further, the first bearing and the second bearing are arranged at the bottom of frame.
Preferably, projection of first hinge in the plane of vertical steel wire rope rope outlet direction is located at the second hinge and the 3rd hinge
Between the projection of point on this plane.
Further, on the rope outlet direction of steel wire rope, the first bearing is located at the front of the second bearing.
In addition, the utility model additionally provides a kind of trailer system, including above-mentioned rope winch.
Rope winch provided by the utility model and the trailer system comprising the winch, are set in the frame of the winch
First bearing and the second bearing, the first bearing are hinged with support pedestal, are cut with scissors between the second bearing and support pedestal by connector
Connect so that steel wire rope can only be delivered to the pulling force of rope winch by the first bearing on support pedestal.Further by
Force cell is set between first bearing and support pedestal so that the power that the force cell measures is equal to steel wire rope
Pulling force, the device without extra a set of measuring steel wire rope tension so that the overall structure of rope winch is considerably tight
Gather, while also reduce the complexity and manufacturing cost of winch.
Brief description of the drawings
Fig. 1 is the structure chart for the rope winch that the utility model first embodiment provides；
Fig. 2 is Fig. 1 dextrad view (omitting reel and steel wire rope)；
Fig. 3 is the schematic diagram for the force cell that the utility model first embodiment provides；
Fig. 4 is Fig. 1 left-hand view (omitting reel and steel wire rope)；
Fig. 5 is the structure chart for the trailer system that the utility model second embodiment provides.
Embodiment
Embodiment of the present utility model is illustrated by particular specific embodiment below, those skilled in the art can be by this theory
Content disclosed in bright book understands other advantages and effect of the present utility model easily.Although description of the present utility model will tie
Close preferred embodiment to introduce together, but this feature for not representing this utility model is only limitted to the embodiment.On the contrary, knot
It is to be possible to extend based on claim of the present utility model to cover to close the purpose that embodiment makees utility model introduction
The other selections or transformation gone out.Depth of the present utility model is understood in order to provide, will be included in describing below many specific
Details.The utility model can also be implemented without using these details.In addition, in order to avoid chaotic or fuzzy of the present utility model heavy
Point, some details will be omitted in the de-scription.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be joined directly together, can also be indirectly connected by intermediary, can be the connection of two element internals.For
For one of ordinary skill in the art, concrete meaning of the above-mentioned term in the utility model can be understood with concrete condition.
" on ", " under ", "left", "right", " top ", " bottom " in addition, used in the following description, should not be construed as pair
Limitation of the present utility model.
【First embodiment】
As shown in figure 1, the utility model first embodiment provides a kind of rope winch 100, including frame 1, frame 1
For the miscellaneous part of supporting steel-cable winch 100, such as reel 2, motor, decelerator etc., wherein reel 2 is articulated in frame 1
On, rope winch 100 is installed on support pedestal 200 by frame 1, and support pedestal 200 can have bearing function to be any
Structure, such as ground, ship deck or other base constructions being fabricated, support pedestal 200 can be fixed, can revolve
It is turning or floating.
In the present embodiment, the first bearing 11 and the second bearing 12, specifically, rope winch 100 are provided with frame 1
It is arranged on by the first bearing 11 and the second bearing 12 on support pedestal 200.According to the purpose of this utility model, rope winch
100 parts being connected with support pedestal 200 can only include the first bearing 11 and the second bearing 12, and be not allow for other and support
The structure that pedestal 200 is attached.
Steel wire rope 3 is wound with the reel 2 of rope winch 100, steel wire rope 3 has a rope outlet direction, in Fig. 1
A to.The rope outlet direction of first bearing 11 and the second bearing 12 along steel wire rope 3 is spaced a distance so that steel wire rope 3 is to steel wire
The pulling force of rope winch 100 is assigned on the first bearing 11 and the second bearing 12 by different proportion.
Connected between first bearing 11 and support pedestal 200 by the first hinge 4, i.e. the first bearing 11 and support pedestal
It is hinged relationship, the rotating shaft of the first hinge 4 and the shaft parallel of reel 2 between 200, when the pulling force effect of steel wire rope 3 is in steel wire
When restricting on winch 100, frame 1 can produce the rotation of certain angle at the first hinge 4 around support pedestal 200, but can not occur
The displacement of relative support pedestal 200.
As depicted in figs. 1 and 2, connector 7 is provided between the second bearing 12 and support pedestal 200, connector 7 has one
Fixed length so that two hinges, i.e. the second hinge 5 and tri-joint mechanism 6, the second bearing 12 and connector 7 can be arranged thereon
Connected by the second hinge 5, support and connected between pedestal 200 and connector 7 by tri-joint mechanism 6, the axis of the second hinge 5,
Diameter parallel of the axis of tri-joint mechanism 6 all with reel 2, determined by the rotating shaft of the second hinge 5 and the rotating shaft of tri-joint mechanism 6
Plane is vertical with the rope outlet direction of steel wire rope 3.The line of second hinge 5 and tri-joint mechanism 6 is spaced one along the B shown in Fig. 1
Segment distance, in the utility model, B is to the simultaneously vertical direction of the rotor shaft direction for the rope outlet direction with steel wire rope 3, reel 2.It is logical
Cross and the connector 7 with certain length is set between the second bearing 12 and support pedestal 200, when steel wire rope 3 twists to steel wire rope
After car 100 produces pulling force, frame 1 can produce a certain amount of going out along steel wire rope 3 by relative support pedestal 200 at the second hinge 5
Restrict direction displacement, that is to say, that the second bearing 12 and support pedestal 200 between will not produce along A to active force, steel wire rope
The pulling force of 3 pairs of rope winches 100 will not be delivered to support pedestal 200 by the second bearing 12, then steel wire rope 3 is to steel wire rope
The pulling force of winch 100 can only be delivered to support pedestal 200 by the first bearing 11.
Further, force cell 8 is set between the first bearing 11 and support pedestal 200, for measuring first
Interaction force between seat 11 and support pedestal 200, because steel wire rope 3 can only be by the to the pulling force of rope winch 100
One bearing 11 transmits to support pedestal 200, then the interaction force that force cell 8 measures is the pulling force on steel wire rope 3.
To sum up, the utility model dexterously will by designing the first bearing 11 and the second bearing 12 of different structure form
The pulling force of steel wire rope 3 is equal to the first bearing 11 and supports the interaction force between pedestal 200, only need to the first bearing 11 with
Support the junction of pedestal 200 that force cell 8 is set, you can to obtain the pulling force on steel wire rope 3.The utility model is without increase
The device of extra a set of measuring steel wire rope tension so that the overall structure of rope winch 100 is considerably compact, while also drops
The low complexity and manufacturing cost of winch.
Further, the first bearing 11 includes otic placode 11a, and the first axis hole is provided with otic placode 11a, and support pedestal 200 exists
The opening position corresponding with the first bearing 11 is provided with otic placode 21a, relative with the first axis hole (not having 11b in figure) on otic placode 21a
The opening position answered is provided with the second axis hole.As shown in Figures 2 and 3, force cell 8 is column type sensor, column type sensor bag
A load measurement column 8a for being used to perceive external force is included, by load measurement column 8a also cross the first axis hole and the second axis hole, so, the survey
Power post 8a is acted on of both having, one is the hinge as the first hinge 4, the first bearing 11 and support pedestal 200 are hinged
Get up；The second is the interaction force between the first bearing 11 of measurement and support pedestal 200, so that winch structure is more simple
It is single compact.
Preferably, force cell 8 is press type sensor, because in the presence of steel wire rope 3, the first bearing 11 is with supporting
It is only possible to produce mutual squeezing action between pedestal 200, using press type sensor measurement result can be made more accurate.
Further, the quantity of the first bearing 11 is multiple, in the utility model, as shown in Fig. 2 the number of the first bearing 11
Measure as two, set multiple first bearings 11 that rope winch 100 can be more stably mounted on support pedestal 200.
Independent force cell 8 is both provided between each first bearing 11 and support pedestal 200, and the pulling force on steel wire rope 3 is each
The active force sum that individual force cell 8 measures.Similarly, the quantity of the second bearing 12 is alternatively multiple, as shown in Figure 4,
The quantity of second bearing 12 is two, and the quantity of correspondingly connected part 7 is also two, by only between each second bearing 12
Vertical connector 7 and support pedestal 200 are be hinged, further increase the installation steadiness of rope winch 100.
Preferably, rotor shaft direction compartment of terrain distribution of each first bearing 11 along reel 2, i.e., each first bearing 11 and branch
Overlapped between the rotating shaft for each first hinge 4 that support group seat 200 is attached；Similarly, each second bearing 12 also edge
The rotor shaft direction compartment of terrain distribution of reel 2, i.e., each second hinge that each second bearing 12 is attached with each connector 7
Overlapped between 5 rotating shaft；Between the rotating shaft for each tri-joint mechanism 6 that support pedestal 200 and each connector 7 are attached
Also overlap.
Further, as shown in figure 1, the first bearing 11 and the second bearing 12 are located at the bottom of frame 1 so that the first hinge
4th, the second hinge 5, tri-joint mechanism 6, upwards without too big spacing distance, make the transmission of power more clear and definite along B, while also side
Just the installation of rope winch 100.Further, projection of first hinge 4 in the plane of the vertical rope outlet direction of steel wire rope 3
Between the projection of the second hinge 5 and tri-joint mechanism 6 on this plane, i.e., along the B shown in Fig. 1 to, the first hinge 4 positioned at the
Between two hinges 5 and the second hinge 6.
Preferably, on the rope outlet direction of steel wire rope 3, the first bearing 11 is located at the front of the second bearing 12, it is preferable that the
One bearing 11 is located at the front position of rope winch 100, and the second bearing 12 is located at the back-end location of rope winch 100.This
The setting of sample, it is further ensured that steel wire rope 3 is only transmitted to the pulling force of rope winch 100 by the first bearing 11, so as to profit
The pulling force of the steel wire rope 3 measured with scheme of the present utility model is more accurate.
First embodiment of the present utility model sets the first bearing and the second bearing, the first bearing and branch support group in frame
Seat is be hinged, is hinged between the second bearing and support pedestal by connector so that steel wire rope can only to the pulling force of rope winch
It is delivered to by the first bearing on support pedestal.Further by setting force-measuring sensing between the first bearing and support pedestal
Device so that the power that the force cell measures is equal to the pulling force of steel wire rope, without extra a set of measuring steel wire rope
The device of pulling force so that the overall structure of rope winch is considerably compact, while also reduces the complexity and system of winch
Cause this.
【Second embodiment】
As shown in figure 5, second embodiment of the present utility model provides a kind of trailer system, including rope winch 100,
By traction thing 300, rope winch 100 includes frame 1, reel 2, and reel 2 is articulated in frame 1.Specifically, twined on reel 2
Be wound with steel wire rope 3, when reel 2 rotates, can folding and unfolding steel wire rope 3, moved so as to draw by traction thing 300.
Specifically, rope winch 100 be the utility model first embodiment provide rope winch 100, as Fig. 1~
Shown in Fig. 4, the first bearing 11 and the second bearing 12 are provided with frame 1, specifically, rope winch 100 passes through the first bearing
11 and second bearing 12 be arranged on support pedestal 200 on.Steel wire rope 3, steel wire are wound with the reel 2 of rope winch 100
Rope 3 has a rope outlet direction, as the A in Fig. 1 to.Between the rope outlet direction of first bearing 11 and the second bearing 12 along steel wire rope 3
Every a segment distance so that steel wire rope 3 is assigned to the first bearing 11 and second to the pulling force of rope winch 100 by different proportion
On seat 12.
Connected between first bearing 11 and support pedestal 200 by the first hinge 4, rotating shaft and the reel 2 of the first hinge 4
Shaft parallel；Connector 7 is provided between second bearing 12 and support pedestal 200, connector 7 has certain length, and second
Bearing 12 is connected with connector 7 by the second hinge 5, is supported and is connected between pedestal 200 and connector 7 by tri-joint mechanism 6, the
Diameter parallel of the axis, the axis of tri-joint mechanism 6 of two hinges 5 all with reel 2, rotating shaft and tri-joint mechanism 6 by the second hinge 5
Rotating shaft determined by plane it is vertical with the rope outlet direction of steel wire rope 3.The line of second hinge 5 and tri-joint mechanism 6 institute along Fig. 1
The B shown is to and being spaced a distance, in the utility model, B is to the rotor shaft direction for the rope outlet direction with steel wire rope 3, reel 2
Simultaneously vertical direction.Second bearing 12 and support pedestal 200 between will not produce along A to active force, steel wire rope 3 is to steel wire
The pulling force of rope winch 100 will not be delivered to support pedestal 200 by the second bearing 12, then steel wire rope 3 is to rope winch 100
Pulling force can only be delivered to by the first bearing 11 support pedestal 200.
Further, force cell 8 is set between the first bearing 11 and support pedestal 200, for measuring first
Interaction force between seat 11 and support pedestal 200, because steel wire rope 3 can only be by the to the pulling force of rope winch 100
One bearing 11 transmits to support pedestal 200, then the interaction force that force cell 8 measures is the pulling force on steel wire rope 3.
To sum up, the trailer system in the present embodiment is by designing the first bearing 11 and the second bearing of different structure form
12, the pulling force of steel wire rope 3 is dexterously equal to the first bearing 11 and supports the interaction force between pedestal 200, only need to be
The junction of first bearing 11 and support pedestal 200 sets force cell 8, you can obtains the pulling force on steel wire rope 3.This practicality
The device of the new a set of measuring steel wire rope tension extra without increase so that the overall structure of rope winch 100 is considerably
It is compact, while the complexity and manufacturing cost of winch are also reduced, so as to reduce the complexity of whole trailer system and system
Cause this.
In summary, the utility model provides a kind of rope winch and the trailer system comprising the winch, without increase
Extra device for measuring force, you can measure the pulling force on steel wire rope.Above-described embodiment only illustrative principle of the present utility model
And its effect, not for limitation the utility model.Any person skilled in the art all can be without prejudice to of the present utility model
Under spirit and scope, modifications and changes are carried out to above-described embodiment.Therefore, those of ordinary skill in the art such as
All equivalent modifications completed under without departing from the spirit disclosed in the utility model and technological thought or change, should be by this
The claim of utility model is covered.
Claims (9)
1. a kind of rope winch, including frame and the reel being articulated in the frame, the wirerope-winding is in the volume
On cylinder, it is characterised in that be positioned apart from the first bearing and second along the rope outlet direction of the steel wire rope in the frame
Seat, the rope winch are arranged on support pedestal by first bearing and second bearing, wherein,
First bearing is connected with the support pedestal by the first hinge, rotating shaft and the reel of first hinge
Shaft parallel, force cell is provided between first bearing and the support pedestal, for measuring described first
Interaction force between seat and the support pedestal；
Connector is provided between second bearing and the support pedestal, and second bearing and the connector pass through the
Two hinges are connected, and the support pedestal is connected with the connector by tri-joint mechanism, the rotating shaft of second hinge, described the
The rotating shaft of tri-joint mechanism and the shaft parallel of the reel, it is true by the rotating shaft of second hinge and the rotating shaft institute of the tri-joint mechanism
Fixed plane is vertical with the rope outlet direction of the steel wire rope.
2. rope winch according to claim 1, it is characterised in that the first axis hole is provided with first bearing,
The support pedestal is provided with the second axis hole in the position corresponding with first axis hole, and the force cell passes for pillar
Sensor, the load measurement column of the column type sensor is also cross first axis hole and second axis hole, by described first
Seat is hinged on the support pedestal, and senses the interaction force between first bearing and the support pedestal.
3. rope winch according to claim 2, it is characterised in that the force cell is press type sensor.
4. rope winch according to claim 1, it is characterised in that the quantity of first bearing is multiple, along institute
The rotor shaft direction for stating reel is positioned apart from.
5. rope winch according to claim 1, it is characterised in that the quantity of second bearing is multiple, along institute
The rotor shaft direction for stating reel is positioned apart from, and is respectively arranged between each second bearing and the support pedestal independent
The connector.
6. rope winch according to claim 1, it is characterised in that first bearing and second bearing are set
In the bottom of the frame.
7. rope winch according to claim 6, it is characterised in that first hinge goes out in the vertical steel wire rope
The projection restricted in the plane in direction is between the projection of second hinge and the tri-joint mechanism on this plane.
8. rope winch according to claim 1, it is characterised in that described on the rope outlet direction of the steel wire rope
First bearing is located at the front of second bearing.
9. a kind of trailer system, it is characterised in that including the rope winch as described in claim 1 to 8 is any.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720780727.5U CN207050904U (en) | 2017-06-30 | 2017-06-30 | A kind of rope winch and the trailer system comprising the winch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720780727.5U CN207050904U (en) | 2017-06-30 | 2017-06-30 | A kind of rope winch and the trailer system comprising the winch |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207050904U true CN207050904U (en) | 2018-02-27 |
Family
ID=61494603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720780727.5U Active CN207050904U (en) | 2017-06-30 | 2017-06-30 | A kind of rope winch and the trailer system comprising the winch |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207050904U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216491A (en) * | 2018-03-07 | 2018-06-29 | 南通力威机械有限公司 | A kind of novel paving cable ship trailer system |
| CN109238540A (en) * | 2018-09-20 | 2019-01-18 | 哈尔滨工业大学 | A kind of integrated device for measuring force of fixed pulley |
-
2017
- 2017-06-30 CN CN201720780727.5U patent/CN207050904U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216491A (en) * | 2018-03-07 | 2018-06-29 | 南通力威机械有限公司 | A kind of novel paving cable ship trailer system |
| CN108216491B (en) * | 2018-03-07 | 2023-08-08 | 南通力威机械有限公司 | Cable laying ship traction system |
| CN109238540A (en) * | 2018-09-20 | 2019-01-18 | 哈尔滨工业大学 | A kind of integrated device for measuring force of fixed pulley |
| CN109238540B (en) * | 2018-09-20 | 2020-12-11 | 哈尔滨工业大学 | Integrated measuring force device of fixed pulley |
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