CN108639937A - A kind of recoiling device for flexible cable anti-interference positioning - Google Patents
A kind of recoiling device for flexible cable anti-interference positioning Download PDFInfo
- Publication number
- CN108639937A CN108639937A CN201810487454.4A CN201810487454A CN108639937A CN 108639937 A CN108639937 A CN 108639937A CN 201810487454 A CN201810487454 A CN 201810487454A CN 108639937 A CN108639937 A CN 108639937A
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- CN
- China
- Prior art keywords
- steady rest
- jet pipe
- radome fairing
- solenoid valve
- flexible cable
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/34—Crane hooks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of recoiling devices for flexible cable anti-interference positioning to pass through the monitoring real-time judge flexible cable state of industrial camera using crane as workbench；The air-flow of each jet pipe is adjusted by controlling the break-make of solenoid valve, adjusts the size and Orientation of recoil thrust, to adjust steady rest pose, realizes flexible cable anti-interference positioning.Industrial camera is located at below the cantilever end of crane, and radome fairing, which fastens, to be mounted on outside steady rest, and radome fairing is located at industrial camera within sweep of the eye；By monitoring the vision recognition mark of radome fairing upper surface, the position and posture of real-time judgment hoist cable end, to determine the action response of recoiling device.Air source is fixed on the column top of crane, and power source is provided for recoiling device.Recoiling device for flexible cable anti-interference positioning is simple in structure, stable and reliable in work, can be effectively reduced each to head-on windage, enhancing interference rejection ability；It can be applied to indoor and outdoor warehouse, operation in various working environments is hung in port and pier, boat-carrying sea.
Description
Technical field
The present invention relates to anti-sway and flexible cable field of locating technology is lifted, specifically, being related to a kind of for flexible cable anti-interference
The recoiling device of positioning.
Background technology
Existing hoisting and hanging industry, due to crane self structure, flexible hoist cable inevitably by
The influence of inertia and external interference factor generates offset deviation so as to cause load and lift heavy is swung, influencing production efficiency
While will also result in some potential safety problems, ultimately cause serious economic loss.
In document " the efficient anti-swing control research of derrick crane " (machinery and electronics, 06 phase in 2016,11-15 pages) text
In, it realizes that the real-time swing information of hanging object is fed back by sensor, it is straight to propose that a kind of cooperation frequency conversion trolley carries out pivot angle deviation
Connect the anti-swing control method that tracking is eliminated.This method is simple to mechanical design requirements, caused by the factors such as wind-force, acceleration and deceleration
Shimmy have a certain effect, but control method is complicated, especially to establish accurate crane mathematical model could realize it is good
Weakening effect, and anti-sway low-response, the time that final load orientation needs are longer.
It is disclosed in Chinese patent CN 205442418U " a kind of crane connection structure ", including trolley frame and rigidity are prevented
Rocker is provided with the connecting rod machine for connecting trolley frame lower end and the anti-rocker upper end of rigidity in trolley frame lower end with the anti-rocker upper end of rigidity
Structure.Replace lifting flexible cable using the anti-rocker of rigidity, unfavorable impact offset by the swing of two oscillating bearings of connecting rod two end,
It can be effectively prevented the swing of anti-rocker, but small size inertia impact can only be offset, and the plumbness of anti-rocker can only be made
It is constant, can not proof load position it is accurate.
A kind of " crane antiswing device " is proposed in patent CN 205442418U, its main feature is that anti-using rigidity
The flexible hoist cable of rocker substitution enhances equipment rigidity to inhibit to swing, and suspender operates in inside anti-rocker, hangs ambilateral front and back anti-
The anti-balance wheel of balance wheel and left and right and the anti-sway track of anti-rocker both sides coordinate, and constraining suspender with this will not shake in direction around
It is dynamic, but the device has that complicated, later maintenance maintenance work amount is big.
United States Patent (USP) US 9346656-B2 disclose a kind of " stabilization and control program of crane ", its main feature is that increasing
One group of auxiliary steel wire rope increases suspension rigidity, by the special winding of steel wire rope and three pulleys, to suspender and load
Apply an oblique pulling, to realize anti-swinging effect.But program structure is more complicated, reliability is not high, can only improve soft
For sex cords in the beat of tension direction, anti-sway effect is undesirable.
Invention content
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of recoiling device for flexible cable anti-interference positioning.
The recoiling device is simple in structure, stable and reliable in work and convenient for installation and maintenance, has position monitoring and active accommodation pose in real time
Function；The recoiling device can be effectively reduced each to head-on windage, enhancing interference rejection ability.
The technical solution adopted by the present invention to solve the technical problems is:Including steady rest, tracheae, hoist cable, industrial camera,
Air source, the first solenoid valve, second solenoid valve, third solenoid valve, the 4th solenoid valve, 1#Three-way pipe, 2#Three-way pipe and jet pipe, rectification
Cover, for crane as workbench, air source is fixed on the column top of crane, and industrial camera is located under jib boom end
Side, the hoist cable of crane connect with steady rest, and suspender is mounted on steady rest in the following, radome fairing fastening is outside steady rest,
It is characterized in that the steady rest is hollow cylinder, both ends are equipped with the first mounting hole, the second mounting hole, on the outside of steady rest in wall
Between position have cylinder boss respectively up and down, two cylinder boss central axes are located along the same line and perpendicular to the axis of steady rest,
The blind hole of two cylinder boss has internal thread, is used as hoist cable interface and suspender installing port, on the outside of steady rest wall hoist cable interface with
It is provided with air inlet between second mounting hole, and is communicated with steady rest inner cavity, hoist cable interface central axes and air inlet axis parallel,
And central axes are perpendicular to steady rest axis；Tracheae is connected through a screw thread and seals with air inlet；
Described 1#Three-way pipe and described 2#Three-way pipe be the identical component of two structures, 1#Three-way pipe Single port and steady rest
The first mounting hole be threadedly coupled, 1#The another two port of three-way pipe passes through the first electromagnetism with the first jet pipe, the second jet pipe respectively
Valve, second solenoid valve are connected as gas outlet, and 2#Three-way pipe Single port is connected with the second mounting hole of steady rest, and 2#Three-way pipe
Another two port is connected by third solenoid valve, the 4th solenoid valve as gas outlet, the same end with third jet pipe, the 4th jet pipe respectively
Gas outlet axis perpendicular, and the axisymmetrical relative to air inlet is generally aligned in the same plane, by control the break-make of solenoid valve come
The air-flow of each jet pipe is adjusted, the size and Orientation of recoil thrust is adjusted, to adjust steady rest pose, realizes flexible cable anti-interference positioning；
The jet pipe includes the first jet pipe, the second jet pipe, third jet pipe, the 4th jet pipe, and each jet pipe is that structure is identical
Isentropic nozzle, it is shrinkage expansion type that, which there are internal thread, internal channel in jet pipe one end, and nozzle throat area is as follows:
Wherein：AeFor constant entropy spout outlet area；MeFor the Mach number of constant entropy spout outlet air-flow
ptIt is adiabatic exponent of air for bleed pressure γ.
The radome fairing includes top radome fairing, lower part radome fairing, and top radome fairing and the structure of lower part radome fairing are distinguished
It is shuttle-type after symmetrical fastening installation, there are four symmetrical for circumferential edge joint from circumferential edge to central shaft in streamlined protrusion
Gas outlet coordinates with nozzle hole.
By motor capstan winch along jib boom, hoist cable, tracheae end is connected the tracheae of the air source with steady rest, is anti-
Flushing device provides power source.
The industrial camera is located at below the cantilever end of crane, and radome fairing, which fastens, to be mounted on outside steady rest, and rectification
Cover is located at industrial camera within sweep of the eye, and by monitoring the vision recognition mark of radome fairing upper surface, real-time judgment steady rest is whole
The position and posture of body, to determine the action response of recoiling device.
Advantageous effect
A kind of recoiling device for flexible cable anti-interference positioning proposed by the present invention, passes through the monitoring real-time judge of industrial camera
Flexible cable state is sprayed, the recoil of generation if beat occurs for flexible cable using two nozzle gas flows in four jet pipes of solenoid valve control
Resultant force or the moment of couple come ensure flexible cable offset interference, be accurately positioned.Under general operating mode, it is 24 Celsius to take source gas temperature
Degree, bleed pressure pt=0.6MPa, adiabatic exponent of air γ=1.4, gas constant take R=287J/Kg/K, then nozzle throat with
The ratio between discharge area is 0.48；As a diameter of 14mm of nozzle exit, throat diameter 9.7mm.It is 0.95 to take nozzle efficiency, then
The recoil thrust that single jet pipe generates is 105N, and adjustment is two jet pipe effects to the recoiling device every time, and recoil resultant force is
Single jet pipe effectTimes, the wind-force of 4 grades of sea situations can be offset, the bad interference being avoided that under most of working environment.Dress
Set it is external fasten streamlined radome fairing, can be effectively reduced each to head-on windage, further enhance interference rejection ability.It can be applied to vehicle
Between, indoor and outdoor warehouse, port and pier, boat-carrying sea hang in various working environments.
The present invention is used for the recoiling device of flexible cable anti-interference positioning, since jet pipe is arranged in flexible cable end, greatly enhances soft
Rope rigidity；Air source supplies high-speed flow, and jet-stream wind flow velocity can generally reach supersonic speed, realize the quick positioning of flexible cable, overcome
The slow problem of existing antiswing device frequency response.
Recoiling device of the present invention for flexible cable anti-interference positioning is simple in structure, and parts are few, reliable and stable work, installation dimension
Shield is convenient, can be applied to different workbenches, such as a variety of different workbenches of gantry crane, derrick crane, and
Work efficiency is high, reduces security risk.
Description of the drawings
Make below in conjunction with the accompanying drawings with the embodiment recoiling device for flexible cable anti-interference positioning a kind of to the present invention further
It is described in detail.
Fig. 1 is recoiling device installation position schematic diagram of the present invention for flexible cable anti-interference positioning.
Fig. 2 is recoiling device schematic diagram of the present invention for flexible cable anti-interference positioning.
Fig. 3 is that recoiling device of the present invention for flexible cable anti-interference positioning carries radome fairing axonometric drawing.
Fig. 4 is that recoiling device of the present invention for flexible cable anti-interference positioning carries radome fairing schematic diagram.
Fig. 5 is the side view that the present invention carries radome fairing for the recoiling device of flexible cable anti-interference positioning.
Fig. 6 is the steady rest axonometric drawing of recoiling device of the present invention.
Fig. 7 (a), Fig. 7 (b) are the steady rest left view and sectional view of recoiling device of the present invention.
Fig. 8 is the jet pipe schematic diagram of recoiling device of the present invention.
Fig. 9 (a), Fig. 9 (b) are the jet pipe front view and sectional view of recoiling device of the present invention.
In figure:
1. 7. first jet pipe of suspender 2. tracheae, 3. hoist cable, 4. industrial camera, 5. air source, 6. crane, 8. first electromagnetism
9. second jet pipe of valve, 10. second solenoid valve 11.1#12. steady rest of three-way pipe, 13. third jet pipe, 14. third solenoid valve
15. the 4th jet pipe 17.2 of the 4th solenoid valve 16.#18. top radome fairing of three-way pipe, 19. lower part radome fairing 20. first is installed
21. hoist cable interface of hole, 22. 23. second mounting hole of air inlet, 24. suspender installing port
A vision recognition mark B vision recognition mark C vision recognition marks
Specific implementation mode
The present embodiment is a kind of recoiling device for flexible cable anti-interference positioning.
Refering to fig. 1~Fig. 9 (a), Fig. 9 (b), the present embodiment be used for flexible cable anti-interference positioning recoiling device, by steady rest 12,
Tracheae 2, hoist cable 3, industrial camera 4, air source 5, the first solenoid valve 8, second solenoid valve 10, third solenoid valve 14, the 4th solenoid valve
15、1#Three-way pipe 11,2#Three-way pipe 17 and jet pipe, radome fairing composition；Crane 6 is used as workbench, air source 5 to be fixed on lifting
The column top of machine, industrial camera 4 are located at below jib boom end, and the hoist cable 3 of crane is connect with steady rest 12, suspender 1
Mounted on steady rest 12 in the following, radome fairing fastens outside steady rest 12.Wherein, steady rest 12 be hollow cylinder, two
There are cylinder boss, two circles in end respectively up and down equipped with the first mounting hole 20, the second mounting hole 23,12 outside wall centre position of steady rest
Column boss central axes are located along the same line and perpendicular to the central axes of steady rest 12, and the blind hole of two cylinder boss has internal thread,
It is used as hoist cable interface 21 and suspender installing port 24.Add between 12 outside wall hoist cable interface 21 of steady rest and the second mounting hole 23
Work has air inlet 22, and is communicated with the inner cavity of steady rest 12.21 central axes of hoist cable interface and 22 axis parallel of air inlet, and in
Axis is perpendicular to steady rest axis.1#Three-way pipe 11,2#Three-way pipe 17 respectively with first mounting hole 20, second at steady rest both ends
Mounting hole 23 is threadedly coupled, and tracheae 2 is connected through a screw thread and seals with air inlet 22.The tracheae of air source 5 passes through motor capstan winch edge
Jib boom, hoist cable 3,2 end of tracheae are connected with steady rest, and power source is provided for recoiling device.
1#Three-way pipe 11 and 2#Three-way pipe 17 be the identical component of two structures, 1#11 Single port of three-way pipe and steady rest 12
The first mounting hole 21 be threadedly coupled, 1#The another two port of three-way pipe 11 passes through with the first jet pipe 7, the second jet pipe 9 respectively
One solenoid valve 8, second solenoid valve 10 are connected as gas outlet.2#17 Single port of three-way pipe coordinates with 12 second mounting hole 23 of steady rest
Connection, 2#The another two port of three-way pipe 17 passes through the 14, the 4th electricity of third solenoid valve with third jet pipe 13, the 4th jet pipe 16 respectively
Magnet valve 15 is connected as gas outlet.The same end gas outlet axis perpendicular, and it is located at same put down relative to the axisymmetrical of air inlet
Face；The air-flow of each jet pipe is adjusted by controlling the break-make of solenoid valve, the size and Orientation of recoil thrust is adjusted, to adjust stabilization
Frame pose realizes flexible cable anti-interference positioning.
Jet pipe includes the first jet pipe 7, the second jet pipe 9, third jet pipe 13, the 4th jet pipe 16, and each jet pipe is that structure is identical
Isentropic nozzle, there is an internal thread in jet pipe one end, and internal channel is shrinkage expansion type, and nozzle throat area is as follows:
Wherein：AeFor constant entropy spout outlet area；MeFor the Mach number of constant entropy spout outlet air-flow
ptIt is adiabatic exponent of air for bleed pressure γ.
Radome fairing includes top radome fairing 18, lower part radome fairing 19, and top radome fairing is with lower part dome structure by circumferential direction
Edge, in streamlined protrusion, is shuttle-type after symmetrical fastening installation, there are four symmetrical gas outlets for circumferential edge joint to central shaft
Coordinate with nozzle hole.Tri- vision recognition marks of A, B, C are posted in radome fairing 18 upper surface in top, industrial camera 4 it is reverse mounted
Jib boom end lower surface, ensure top radome fairing 18 always its within sweep of the eye, industrial camera 4 can monitor top
Tri- vision recognition marks of A, B, C that radome fairing upper surface is pasted, it is real by monitoring the vision recognition mark of radome fairing upper surface
When judge steady rest entirety position and posture, to determine the action response of recoiling device.
Recoiling device direction defines in the present embodiment application:Using the axis direction of hoist cable interface 21 as Z axis positive direction, suspender
The axis direction of installing port 24 is Z axis negative direction.When crane 6 works, the real time monitoring radome fairing of industrial camera 4 upper surface A,
B, the position of tri- vision recognition marks of C, the position and posture of 3 end of judgement hoist cable, and carried out with preset operating position
Compare, if deflecting under interference, controls jet pipe according to different situations and make different response actions:
(1) when test position is identical as operating position, hoist cable is without beat, then the first solenoid valve 8, second solenoid valve 10,
Three solenoid valves 14 and the 4th solenoid valve 15 are closed；First jet pipe 7,16 equal nothing of the second jet pipe 9, third jet pipe 13 and the 4th jet pipe
Air-flow sprays.
(2) when detecting hoist cable 3 to X-axis positive direction beat, according to bias contribution control the first solenoid valve 8 and the second electricity
The folding of magnet valve 10 is applied to 3 size of hoist cable both to adjust the first jet pipe 7 and the second jet pipe 9 ejection high-speed flow and make
Equal, direction vertical symmetry recoil thrust, makes hoist cable 3 rapidly return back to operating position under two power collective effects, and later first
Solenoid valve 8 and second solenoid valve 10 are closed, this adjustment action is completed.
(3) when detecting hoist cable 3 to X-axis negative direction beat, third solenoid valve 14 and the 4th is controlled according to bias contribution
The folding of solenoid valve 15 is applied to hoist cable 3 both to adjust third jet pipe 13 and the 4th jet pipe 16 ejection high-speed flow and make
Equal in magnitude, direction vertical symmetry recoil thrust, makes hoist cable 3 rapidly return back to operating position in two force effects, later third electricity
Magnet valve 14 and the 4th solenoid valve 15 are closed, this adjustment action is completed.
(4) when detecting hoist cable 3 to Y-axis positive direction beat, according to bias contribution control the first solenoid valve 8 and the 4th electricity
The folding of magnet valve 15 is applied to 3 size of hoist cable both to adjust the first jet pipe 7 and the 4th jet pipe 16 ejection high-speed flow and make
Equal, direction vertical symmetry recoil thrust, makes hoist cable 3 rapidly return back to operating position in two power collective effects, later the first electricity
Magnet valve 8 and the 4th solenoid valve 15 are closed, this adjustment action is completed.
(5) when detecting hoist cable 3 to Y-axis negative direction beat, second solenoid valve 10 and third are controlled according to bias contribution
It is big to be applied to hoist cable 3 both to adjust the second jet pipe 9 and the ejection high-speed flow of third jet pipe 13 and make for the folding of solenoid valve 14
Small equal, direction vertical symmetry recoil thrust, makes hoist cable 3 rapidly return back to operating position under two force effects, later the second electricity
Magnet valve 10 and third solenoid valve 14 are closed, this adjustment action is completed.
(6) when detecting that hoist cable 3 reverses clockwise along Z axis positive direction, second solenoid valve 10 is controlled according to bias contribution
With the folding of the 4th solenoid valve 15, it is applied to both to adjust the second jet pipe 9 and the 4th jet pipe 16 ejection high-speed flow and make
The recoil couple that 3 one, hoist cable is counterclockwise away from, make hoist cable 3 the moment of couple effect under rapidly return back to operating position, later second electricity
Magnet valve 10 and the 4th solenoid valve 15 are closed, this adjustment action is completed.
(7) when detecting that hoist cable 3 reverses counterclockwise along Z axis positive direction, 8 He of the first solenoid valve is controlled according to bias contribution
The folding of third solenoid valve 14 sprays high-speed flow and the two is made to be applied to and hang to adjust the first jet pipe 7 and third jet pipe 13
The clockwise recoil couple of 3 one, rope is away from making hoist cable 3 rapidly return back to operating position under moment of couple effect, the first electromagnetism later
Valve 8 and third solenoid valve 14 are closed, this adjustment action is completed.
Claims (4)
1. a kind of recoiling device for flexible cable anti-interference positioning, including steady rest, tracheae, hoist cable, industrial camera, air source, first
Solenoid valve, second solenoid valve, third solenoid valve, the 4th solenoid valve, 1#Three-way pipe, 2#Three-way pipe and jet pipe, radome fairing, crane
As workbench, air source is fixed on the column top of crane, and industrial camera is located at below jib boom end, crane
Hoist cable is connect with steady rest, and suspender is mounted on steady rest in the following, radome fairing fastens outside steady rest, it is characterised in that:
The steady rest is hollow cylinder, and both ends are equipped with the first mounting hole, the second mounting hole, on the outside of steady rest among wall above and below position
There are cylinder boss, two cylinder boss central axes to be located along the same line and perpendicular to the axis of steady rest, two cylinder boss respectively
Blind hole have internal thread, be used as hoist cable interface and suspender installing port, wall hoist cable interface and the second mounting hole on the outside of steady rest
Between be provided with air inlet, and communicated with steady rest inner cavity, hoist cable interface central axes and air inlet axis parallel, and central axes are hung down
Directly in steady rest axis；Tracheae is connected through a screw thread and seals with air inlet；
Described 1#Three-way pipe and described 2#Three-way pipe be the identical component of two structures, 1#The of three-way pipe Single port and steady rest
One mounting hole is threadedly coupled, and 1#The another two port of three-way pipe passes through the first solenoid valve, with the first jet pipe, the second jet pipe respectively
Two solenoid valves are connected as gas outlet, and 2#Three-way pipe Single port is connected with the second mounting hole of steady rest, and 2#The another two of three-way pipe
Port is connected by third solenoid valve, the 4th solenoid valve as gas outlet, the same end gas outlet with third jet pipe, the 4th jet pipe respectively
Axis perpendicular, and the axisymmetrical relative to air inlet is generally aligned in the same plane, and is adjusted by controlling the break-make of solenoid valve each
The air-flow of jet pipe adjusts the size and Orientation of recoil thrust, to adjust steady rest pose, realizes flexible cable anti-interference positioning；
The jet pipe includes the first jet pipe, the second jet pipe, third jet pipe, the 4th jet pipe, and each jet pipe is the identical constant entropy of structure
Jet pipe, it is shrinkage expansion type that, which there are internal thread, internal channel in jet pipe one end, and nozzle throat area is as follows:
Wherein：AeFor constant entropy spout outlet area；MeFor the Mach number of constant entropy spout outlet air-flow
ptIt is adiabatic exponent of air for bleed pressure γ.
2. the recoiling device according to claim 1 for flexible cable anti-interference positioning, it is characterised in that:The radome fairing includes
Top radome fairing, lower part radome fairing, top radome fairing and the structure of lower part radome fairing are in respectively stream from circumferential edge to central shaft
Linear protrusion is shuttle-type after symmetrical fastening installation, and there are four symmetrical gas outlets and nozzle hole cooperation for circumferential edge joint.
3. the recoiling device according to claim 1 for flexible cable anti-interference positioning, it is characterised in that:The tracheae of the air source
By motor capstan winch along jib boom, hoist cable, tracheae end is connected with steady rest, and power source is provided for recoiling device.
4. the recoiling device according to claim 1 for flexible cable anti-interference positioning, it is characterised in that:The industrial camera position
Below the cantilever end of crane, radome fairing, which fastens, to be mounted on outside steady rest, and radome fairing is located at industrial camera field range
Interior, by monitoring the vision recognition mark of radome fairing upper surface, the position and posture of real-time judgment steady rest entirety is anti-to determine
The action response of flushing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810487454.4A CN108639937B (en) | 2018-05-21 | 2018-05-21 | A kind of recoiling device for flexible cable anti-interference positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810487454.4A CN108639937B (en) | 2018-05-21 | 2018-05-21 | A kind of recoiling device for flexible cable anti-interference positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108639937A true CN108639937A (en) | 2018-10-12 |
| CN108639937B CN108639937B (en) | 2019-07-05 |
Family
ID=63757015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810487454.4A Expired - Fee Related CN108639937B (en) | 2018-05-21 | 2018-05-21 | A kind of recoiling device for flexible cable anti-interference positioning |
Country Status (1)
| Country | Link |
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| CN (1) | CN108639937B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1054752A (en) * | 1990-03-02 | 1991-09-25 | 章大章 | Electric antishake device for container's crane |
| US5273333A (en) * | 1993-02-22 | 1993-12-28 | Columbia Helicopters, Inc. | Load hook assembly for multiple loads and method of load transport |
| WO1996026107A1 (en) * | 1995-02-06 | 1996-08-29 | Cox Donald P | Methods and apparatus for selectively attaching and releasing multiple payloads suspended from an aircraft |
| CN202098976U (en) * | 2011-05-10 | 2012-01-04 | 中交第二航务工程局有限公司 | Device capable of freely adjusting sling length and overhead transverse posture of part |
-
2018
- 2018-05-21 CN CN201810487454.4A patent/CN108639937B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1054752A (en) * | 1990-03-02 | 1991-09-25 | 章大章 | Electric antishake device for container's crane |
| US5273333A (en) * | 1993-02-22 | 1993-12-28 | Columbia Helicopters, Inc. | Load hook assembly for multiple loads and method of load transport |
| WO1996026107A1 (en) * | 1995-02-06 | 1996-08-29 | Cox Donald P | Methods and apparatus for selectively attaching and releasing multiple payloads suspended from an aircraft |
| CN202098976U (en) * | 2011-05-10 | 2012-01-04 | 中交第二航务工程局有限公司 | Device capable of freely adjusting sling length and overhead transverse posture of part |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108639937B (en) | 2019-07-05 |
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