CN103935848A - Ultra-deep mine hoist multi-rope cooperative control system and method - Google Patents
Ultra-deep mine hoist multi-rope cooperative control system and method Download PDFInfo
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- CN103935848A CN103935848A CN201410161526.8A CN201410161526A CN103935848A CN 103935848 A CN103935848 A CN 103935848A CN 201410161526 A CN201410161526 A CN 201410161526A CN 103935848 A CN103935848 A CN 103935848A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 49
- 239000010959 steel Substances 0.000 claims abstract description 49
- 238000004146 energy storage Methods 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 abstract description 7
- 230000001360 synchronised effect Effects 0.000 abstract 1
- 230000001105 regulatory effect Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
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- Automation & Control Theory (AREA)
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Abstract
The invention provides an ultra-deep mine hoist multi-rope cooperative control system and method, and belongs to a hoist multi-rope control system and method. An output shaft of each variable frequency motor is connected with a hoist winding drum, a variable frequency motor controller is connected with the variable frequency motors, each steel wire rope is connected between the corresponding hoist winding drum and a container, a servo hydraulic cylinder is arranged on the path, between the corresponding hoist winding drum and the container, of each steel wire rope, a servo hydraulic cylinder control system is connected with the servo hydraulic cylinders, the top of each servo hydraulic cylinder is connected with a hoisting sheave through a hinge support, each steel wire rope is connected with a tension and pressure sensor, and the container is connected with a position-posture-angle sensor; the servo hydraulic cylinders are connected with proportional servo valves, and the input port of each proportional servo valve is connected with an energy accumulator, an overflow valve, a one-way valve and a stop valve at the same time; the servo hydraulic cylinder control system is provided with a wireless receiver, the position-posture-angle sensor and the tension and pressure sensor are provided with wireless emitters, the position-posture-angle sensor feeds back position and posture conditions of the container and adjusts stretching out and drawing back of the hydraulic cylinders, and the situation that the container is inclined due to the fact the steel wire ropes move in a non-synchronous mode is avoided.
Description
Technical field:
The present invention relates to a kind of gig restrict control system and method, particularly a kind of super dark mine hoist restrict cooperative control system and method more more.
Background technology:
At present, along with China develops deep resource as important development strategy, the large-scale hoisting device of super dark mine becomes the critical equipment that realizes deep resource exploitation, and traditional single rope winding hoist and multi-rope friction hoisting machine are along with the increase useful load rate of well depth, raising efficiency, safety etc. decline rapidly and can not be used for superdeep well and promote.Multi-rope winding type gig has the characteristic of first two gig concurrently, the existing application in superdeep well lifting field, but being subject to the impact of the factors such as steel rope property difference, steel rope stable state and dynamic deformation, wirerope-winding kinematic error, multi rope winding is equipped in and in operational process, certainly leads to the asynchronous container lean phenomenon causing of motion between steel rope; Due to the vibration in operational process and impact, cause the tension difference between steel rope sharply to increase in addition, cause elevator system cisco unity malfunction, even cause the grave accidents such as disconnected rope.If shut down and revise, will greatly reduce work efficiency after container run-off the straight.
Summary of the invention:
The problem existing for above-mentioned prior art, the invention provides a kind of super dark mine hoist restrict cooperative control system and method more, realizes real-time control and the adjusting of container pose angle and steel wire rope tension.
To achieve these goals, the technical solution used in the present invention is: this super dark mine hoist Collaborative Control of restricting comprises control system and control method more;
Control system includes many group Lifting Control Systems, and structure is identical; Wherein one group of Lifting Control System comprises: lifting drum, steel rope, pull pressure sensor, pose angle transducer, container, servo hydraulic cylinder, servo hydraulic cylinder control system, variable-frequency motor, variable-frequency motor controller, proportional servo valve, energy storage, by pass valve, check valve, shutoff valve, pump and motor;
The output shaft of variable-frequency motor is connected with lifting drum, and variable-frequency motor controller is connected with variable-frequency motor; Steel rope is connected between lifting drum and container, in the steel rope approach between lifting drum and container, there is servo hydraulic cylinder, servo hydraulic cylinder control system is connected with servo hydraulic cylinder, the top of servo hydraulic cylinder is connected with head sheave by hinged-support, on steel rope, be connected with pull pressure sensor, on container, be connected with pose angle transducer; Servo hydraulic cylinder is connected with proportional servo valve, and the input port of proportional servo valve is connected with energy storage, by pass valve, check valve and shutoff valve simultaneously; Described servo hydraulic cylinder control system has wireless receiver, and described pose angle transducer and pull pressure sensor have wireless launcher.
Described servo hydraulic cylinder control system comprises: AD board PCL816, servo-control unit, DA board PCL6126 and servoamplifier; The input end of AD board PCL816 is connected with pose angle transducer and pull pressure sensor, the mouth of AD board PCL816 is connected with servo-control unit by AD converter, the mouth of servo-control unit is connected with the input end of DA board PCL6126, the mouth of DA board PCL6126 is connected with the input end of servoamplifier by AD converter, and the mouth of servoamplifier is connected with servovalve.
Hinged-support one end of described servo hydraulic cylinder is fixed on ground, and the other end is connected with head sheave, elongation and the tension force of the telescopic adjustment steel rope by hydraulic actuating cylinder.
Control method:
Given speed signal and pose signal when beginning, speed signal is by variable-frequency motor controller, controls lifting drum through anti-the solution after calculating of speed, and then control steel rope, regulate cage speed, cage speed is fed back to servomotor frequency-variable controller by speed sensor, forms closed loop control; Pose signal enters servo hydraulic cylinder control system after Pose Control device is processed, the signal of formation control proportional servo valve after the anti-solution of pose of servo hydraulic control system, and then control servo hydraulic cylinder, regulate rope capacity.The pose of cage feeds back to Pose Control device through pose angle transducer and pose normal solution, and steel wire rope tension feeds back to servo hydraulic cylinder control system by pull pressure sensor through seat normal solution, forms closed loop control.
Described servo hydraulic cylinder control system receives signal and the pose signal from pull pressure sensor, controls the flexible of servo hydraulic cylinder; Variable-frequency motor controller receives the feedback signal of given speed signal and speed sensor, controls the rotating speed of variable-frequency motor.
Beneficial effect, owing to having adopted such scheme, for detection of the pull pressure sensor of steel wire rope tension size with for detection of the pose angle transducer at container inclination angle, sensor gathers pose inclination angle and the steel wire rope tension of container, and realizes and communicating by letter with aboveground controller; For regulating the servo hydraulic cylinder of rope stretch and tension force; For controlling the control system of servo hydraulic cylinder and the controller of control lifting drum variable-frequency motor.Be arranged on the angle that the pose angle transducer inspection instrument on container forms because of inclination and each plane, there are X, Y, tri-principal axis of inertia of Z in pose angle transducer, the inclination of inspection instrument in horizontal surface, therefore the X principal axis of inertia of pose angle transducer and horizontal surface form angle a, the angle of the Y principal axis of inertia and vertical surface is that the corner dimension that 0, the Z principal axis of inertia and vertical surface form is similarly a.The corner dimension information that pose angle transducer obtains feeds back to servo hydraulic cylinder control system, and control system is by calculating the length difference of every steel rope and mean length, by regulating the flexible change rope progress row container leveling of servo hydraulic cylinder.
Tension force in the process that regulates rope capacity between steel rope produces difference, pull pressure sensor is measured steel wire rope tension, tension signal is fed back to servo hydraulic cylinder control system, and servo hydraulic cylinder control system is by regulating the flexible tension force that changes steel rope of servo hydraulic cylinder.Two kinds of adjustings cooperatively interact and make container in reaching pose balance, there will not be again the phenomenon of slack rope.
The AD board PCL816 receiving vessel pose of servo hydraulic cylinder control system and steel rope pressure signal, change signal feedback to servo-control unit by AD, servo-control unit is transferred to DA board PCL6126 after signal is processed with algorithm, enter servoamplifier by AD change over signal, and then pass to servovalve, servo hydraulic cylinder is controlled.
Advantage: the position and posture by pose angle transducer feedback container regulates hydraulic cylinder extension, the asynchronous container lean phenomenon causing of avoiding moving between steel rope.Tension information by pull pressure sensor feedback wire rope regulates hydraulic cylinder extension, regulates steel wire rope tension on the one hand, makes steel wire rope tension even, has avoided on the other hand independent employing pose angle to feed back the steel wire rope looseness problem of carrying out container leveling and produce.Replace workman to carry out leveling to container, improved work efficiency and reliability.
Brief description of the drawings
Fig. 1 is control system pie graph of the present invention.
Fig. 2 is hydraulic servo control system schematic diagram.
Fig. 3 is control system functional-block diagram of the present invention.
Fig. 4 is hydraulic control system constructional drawing of the present invention.
In figure: 1, lifting drum; 2, steel rope; 3, head sheave; 4, pull pressure sensor; 5, pose angle transducer; 6, container; 7, servo hydraulic cylinder; 8, servo hydraulic cylinder control system; 9, variable-frequency motor; 10, variable-frequency motor controller; 11, proportional servo valve; 12, energy storage; 13, by pass valve; 14, check valve; 15, shutoff valve; 16, pump; 17, motor.
Detailed description of the invention
Embodiment 1: this super dark mine hoist Collaborative Control of restricting comprises control system and control method more;
Control system includes many group Lifting Control Systems, and structure is identical; Wherein one group of Lifting Control System comprises: lifting drum 1, steel rope 2, head sheave 3, pull pressure sensor 4, pose angle transducer 5, container 6, servo hydraulic cylinder 7, servo hydraulic cylinder control system 8, variable-frequency motor 9, variable-frequency motor controller 10, proportional servo valve 11, energy storage 12, by pass valve 13, check valve 14, shutoff valve 15, pump 16 and motor 17;
The output shaft of variable-frequency motor 9 is connected with lifting drum 1, and variable-frequency motor controller 10 is connected with variable-frequency motor 9; Steel rope 2 is connected between lifting drum 1 and container 6, in steel rope 2 approach between lifting drum 1 and container 6, there is servo hydraulic cylinder 7, servo hydraulic cylinder control system 8 is connected with servo hydraulic cylinder 7, the top of servo hydraulic cylinder 7 is connected with head sheave 3 by hinged-support, on steel rope 2, be connected with pull pressure sensor 4, on container 6, be connected with pose angle transducer 5; Servo hydraulic cylinder 7 is connected with proportional servo valve 11, and the input port of proportional servo valve 11 is connected with energy storage 12, by pass valve 13, check valve 14 and shutoff valve 15 simultaneously; Described servo hydraulic cylinder control system 8 has wireless receiver, and described pose angle transducer 5 and pull pressure sensor 4 have wireless launcher.
Described servo hydraulic cylinder control system comprises: AD board PCL816, servo-control unit, DA board PCL6126 and servoamplifier; The input end of AD board PCL816 is connected with pose angle transducer and pull pressure sensor, the mouth of AD board PCL816 is connected with servo-control unit by AD converter, the mouth of servo-control unit is connected with the input end of DA board PCL6126, the mouth of DA board PCL6126 is connected with the input end of servoamplifier by AD converter, the mouth of servoamplifier is connected with servovalve, and servo hydraulic cylinder is controlled.Servo-control unit can adopt BKSC-47P5GA servo-control unit.
Hinged-support one end of described servo hydraulic cylinder is fixed on ground, and the other end is connected with head sheave, elongation and the tension force of the telescopic adjustment steel rope by hydraulic actuating cylinder.
Control method:
Given speed signal and pose signal when beginning, speed signal is by variable-frequency motor controller, controls lifting drum through anti-the solution after calculating of speed, and then control steel rope, regulate cage speed, cage speed is fed back to servomotor frequency-variable controller by speed sensor, forms closed loop control; Pose signal enters servo hydraulic cylinder control system after Pose Control device is processed, the signal of formation control proportional servo valve after the anti-solution of pose of servo hydraulic control system, and then control servo hydraulic cylinder, regulate rope capacity.The pose of cage feeds back to Pose Control device through pose angle transducer and pose normal solution, and steel wire rope tension feeds back to servo hydraulic cylinder control system by pull pressure sensor through seat normal solution, forms closed loop control.
Described servo hydraulic cylinder control system receives signal and the pose signal from pull pressure sensor, controls the flexible of servo hydraulic cylinder; Variable-frequency motor controller receives the feedback signal of given speed signal and speed sensor, controls the rotating speed of variable-frequency motor.
Wireless transport module uses AGPGS10901.
Described pull pressure sensor and pose angle transducer are GPRS wireless senser.
As shown in Figure 1, the super dark mine hoist of the present invention cooperative control system of restricting is mainly made up of lifting drum 1, steel rope 2, head sheave 3, pull pressure sensor 4, pose angle transducer 5, container 6, servo hydraulic cylinder 7, servo hydraulic cylinder control system 8, variable-frequency motor 9, variable-frequency motor controller 10 more.Be connected on the steel rope 3 on container and be separately installed with pull pressure sensor 4, pose angle transducer 5 is installed on container, pose angle transducer 5 is communicated by letter with servo hydraulic cylinder control system 8 by transmission over radio with pull pressure sensor 4.The pose angle transducer 5 being arranged on container can be measured container because of the angle tilting and each plane forms, there are X, Y, tri-principal axis of inertia of Z in pose angle transducer 5, the present invention only considers the inclination of container in horizontal surface, therefore the X principal axis of inertia of pose angle transducer 5 and horizontal surface form angle a, the angle of the Y principal axis of inertia and vertical surface is that the corner dimension that 0, the Z principal axis of inertia and vertical surface form is similarly a.The corner dimension information that pose angle transducer 5 obtains feeds back to servo hydraulic cylinder control system 8, and control system 8 is by calculating the length difference of every steel rope 2 and mean length, by regulating the flexible change rope progress row container leveling of servo hydraulic cylinder 7.
In the process that regulates steel rope 2 length, can make the tension force of 2 of steel ropes produce difference, pull pressure sensor 4 is measured steel wire rope tension, tension signal is fed back to servo hydraulic cylinder control system 8, and servo hydraulic cylinder control system 8 is by regulating the flexible tension force that changes steel rope 2 of servo hydraulic cylinder 7.Two kinds of adjustings cooperatively interact and make container in reaching pose balance, there will not be again the phenomenon of slack rope.
Claims (5)
1. the super dark mine hoist cooperative control system of restricting, is characterized in that more: control system includes many group Lifting Control Systems, and structure is identical; Wherein one group of Lifting Control System comprises: lifting drum, steel rope, pull pressure sensor, pose angle transducer, container, servo hydraulic cylinder, servo hydraulic cylinder control system, variable-frequency motor, variable-frequency motor controller, proportional servo valve, energy storage, by pass valve, check valve, shutoff valve, pump and motor;
The output shaft of variable-frequency motor is connected with lifting drum, and variable-frequency motor controller is connected with variable-frequency motor; Steel rope is connected between lifting drum and container, in the steel rope approach between lifting drum and container, there is servo hydraulic cylinder, servo hydraulic cylinder control system is connected with servo hydraulic cylinder, the top of servo hydraulic cylinder is connected with head sheave by hinged-support, on steel rope, be connected with pull pressure sensor, on container, be connected with pose angle transducer; Servo hydraulic cylinder is connected with proportional servo valve, and the input port of proportional servo valve is connected with energy storage, by pass valve, check valve and shutoff valve simultaneously; Described servo hydraulic cylinder control system has wireless receiver, and described pose angle transducer and pull pressure sensor have wireless launcher.
2. the super dark mine hoist of the one according to claim 1 cooperative control system of restricting, is characterized in that: described servo hydraulic cylinder control system comprises: AD board PCL816, servo-control unit, DA board PCL6126 and servoamplifier more; The input end of AD board PCL816 is connected with pose angle transducer and pull pressure sensor, the mouth of AD board PCL816 is connected with servo-control unit by AD converter, the mouth of servo-control unit is connected with the input end of DA board PCL6126, the mouth of DA board PCL6126 is connected with the input end of servoamplifier by AD converter, and the mouth of servoamplifier is connected with servovalve.
3. the super dark mine hoist of the one according to claim 1 cooperative control system of restricting more, it is characterized in that: hinged-support one end of described servo hydraulic cylinder is fixed on ground, the other end is connected with head sheave, elongation and the tension force of the telescopic adjustment steel rope by hydraulic actuating cylinder.
4. a kind of super dark mine hoist claimed in claim 1 method of cooperative control system of restricting more, it is characterized in that: control method: given speed signal and pose signal when beginning, speed signal is by variable-frequency motor controller, through speed counter separate calculate after control lifting drum, and then control steel rope, regulate cage speed, cage speed is fed back to servomotor frequency-variable controller by speed sensor, forms closed loop control; Pose signal enters servo hydraulic cylinder control system after Pose Control device is processed, the signal of formation control proportional servo valve after the anti-solution of pose of servo hydraulic control system, and then control servo hydraulic cylinder, regulate rope capacity.The pose of cage feeds back to Pose Control device through pose angle transducer and pose normal solution, and steel wire rope tension feeds back to servo hydraulic cylinder control system by pull pressure sensor through pose normal solution, forms closed loop control.
5. a kind of super dark mine hoist according to claim 4 method of cooperative control system of restricting, is characterized in that more: described servo hydraulic cylinder control system receives signal and the pose signal from pull pressure sensor, controls the flexible of servo hydraulic cylinder; Variable-frequency motor controller receives the feedback signal of given speed signal and speed sensor, controls the rotating speed of variable-frequency motor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410161526.8A CN103935848B (en) | 2014-04-21 | 2014-04-21 | A kind of ultra-deep mine hoist many ropes cooperative control system and method |
| PCT/CN2014/082188 WO2015161570A1 (en) | 2014-04-21 | 2014-07-15 | Multi-rope cooperative control system and method for ultra-deep mine hoister |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410161526.8A CN103935848B (en) | 2014-04-21 | 2014-04-21 | A kind of ultra-deep mine hoist many ropes cooperative control system and method |
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| Publication Number | Publication Date |
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| CN103935848A true CN103935848A (en) | 2014-07-23 |
| CN103935848B CN103935848B (en) | 2015-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410161526.8A Expired - Fee Related CN103935848B (en) | 2014-04-21 | 2014-04-21 | A kind of ultra-deep mine hoist many ropes cooperative control system and method |
Country Status (2)
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| CN (1) | CN103935848B (en) |
| WO (1) | WO2015161570A1 (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104261225A (en) * | 2014-10-10 | 2015-01-07 | 中国矿业大学 | Test stand and method for ultra-deep mine hoisting systems |
| CN104340811A (en) * | 2014-10-23 | 2015-02-11 | 重庆大学 | Double-rope winding type lifter for ultra-deep well |
| CN105173975A (en) * | 2015-09-27 | 2015-12-23 | 洛阳矿山机械工程设计研究院有限责任公司 | Synchronous head sheave balance adjustment method for multi-rope winding type elevator |
| CN106829690A (en) * | 2017-01-25 | 2017-06-13 | 太原科技大学 | A kind of new gear is driven equalization of strain multi-rope winding type mine hoist |
| CN106946122A (en) * | 2017-05-15 | 2017-07-14 | 太原科技大学 | A kind of three rope winding type mining hoist steel wire rope tensions are combined bevel gear bascule |
| CN106946120A (en) * | 2017-05-02 | 2017-07-14 | 中国矿业大学 | A kind of extra deep shaft hoisting container end steel wire rope tension adjusting means and method |
| CN107032245A (en) * | 2017-05-02 | 2017-08-11 | 中国矿业大学 | A kind of head sheave automatic force regulating device and method of extra deep shaft duplex type lifting system |
| CN108516442A (en) * | 2018-05-29 | 2018-09-11 | 中国矿业大学 | A kind of more steel wire rope coal deep-well lifting systems of split type floating head sheave group |
| CN112193964A (en) * | 2020-10-10 | 2021-01-08 | 蒙特费罗(湖州)电梯部件有限公司 | Movable steel wire rope adjusting equipment for processing elevator components |
| CN112274780A (en) * | 2020-11-19 | 2021-01-29 | 王昕� | Force compensation device and method of TMS treatment equipment externally connected with cable |
| CN112875515A (en) * | 2021-01-29 | 2021-06-01 | 中国一冶集团有限公司 | System for monitoring state of steel wire rope in lifting process of hydraulic elevator |
| CN113524207A (en) * | 2021-05-25 | 2021-10-22 | 山东大学 | Force sense feedback master hand |
| CN113526376A (en) * | 2021-08-27 | 2021-10-22 | 中铁十五局集团有限公司 | Municipal steel structure bridge hoisting device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105366455B (en) * | 2015-12-15 | 2017-05-10 | 中国矿业大学 | Multi-rope cooperative control system testbed of ultradeep mine hoist |
| CN110775785B (en) * | 2019-10-11 | 2021-02-05 | 中国矿业大学 | Container vibration suppression system and method for friction type elevator |
| CN111634812B (en) * | 2020-05-22 | 2022-07-01 | 中国核工业华兴建设有限公司 | Rope tension adjusting device |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104261225A (en) * | 2014-10-10 | 2015-01-07 | 中国矿业大学 | Test stand and method for ultra-deep mine hoisting systems |
| CN104340811A (en) * | 2014-10-23 | 2015-02-11 | 重庆大学 | Double-rope winding type lifter for ultra-deep well |
| CN105173975A (en) * | 2015-09-27 | 2015-12-23 | 洛阳矿山机械工程设计研究院有限责任公司 | Synchronous head sheave balance adjustment method for multi-rope winding type elevator |
| CN106829690A (en) * | 2017-01-25 | 2017-06-13 | 太原科技大学 | A kind of new gear is driven equalization of strain multi-rope winding type mine hoist |
| CN107032245B (en) * | 2017-05-02 | 2018-09-21 | 中国矿业大学 | A kind of head sheave automatic force regulating device and method of extra deep shaft duplex type lifting system |
| CN106946120A (en) * | 2017-05-02 | 2017-07-14 | 中国矿业大学 | A kind of extra deep shaft hoisting container end steel wire rope tension adjusting means and method |
| CN107032245A (en) * | 2017-05-02 | 2017-08-11 | 中国矿业大学 | A kind of head sheave automatic force regulating device and method of extra deep shaft duplex type lifting system |
| CN106946120B (en) * | 2017-05-02 | 2019-02-19 | 中国矿业大学 | A kind of extra deep shaft hoisting container end steel wire rope tension regulating device and method |
| CN106946122A (en) * | 2017-05-15 | 2017-07-14 | 太原科技大学 | A kind of three rope winding type mining hoist steel wire rope tensions are combined bevel gear bascule |
| CN106946122B (en) * | 2017-05-15 | 2018-10-02 | 太原科技大学 | A kind of three compound bevel gear balancing devices of rope winding type mining hoist steel wire rope tension |
| CN108516442A (en) * | 2018-05-29 | 2018-09-11 | 中国矿业大学 | A kind of more steel wire rope coal deep-well lifting systems of split type floating head sheave group |
| CN112193964A (en) * | 2020-10-10 | 2021-01-08 | 蒙特费罗(湖州)电梯部件有限公司 | Movable steel wire rope adjusting equipment for processing elevator components |
| CN112274780A (en) * | 2020-11-19 | 2021-01-29 | 王昕� | Force compensation device and method of TMS treatment equipment externally connected with cable |
| CN112875515A (en) * | 2021-01-29 | 2021-06-01 | 中国一冶集团有限公司 | System for monitoring state of steel wire rope in lifting process of hydraulic elevator |
| CN113524207A (en) * | 2021-05-25 | 2021-10-22 | 山东大学 | Force sense feedback master hand |
| CN113524207B (en) * | 2021-05-25 | 2024-03-19 | 山东大学 | Force sense feedback master hand |
| CN113526376A (en) * | 2021-08-27 | 2021-10-22 | 中铁十五局集团有限公司 | Municipal steel structure bridge hoisting device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103935848B (en) | 2015-07-29 |
| WO2015161570A1 (en) | 2015-10-29 |
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