CN110202013B - Vertical descending device and vertical descending method thereof - Google Patents
Vertical descending device and vertical descending method thereof Download PDFInfo
- Publication number
- CN110202013B CN110202013B CN201910419070.3A CN201910419070A CN110202013B CN 110202013 B CN110202013 B CN 110202013B CN 201910419070 A CN201910419070 A CN 201910419070A CN 110202013 B CN110202013 B CN 110202013B
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- heater
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 239000002994 raw material Substances 0.000 claims abstract description 39
- 238000005491 wire drawing Methods 0.000 claims abstract description 39
- 238000003860 storage Methods 0.000 claims abstract description 26
- 239000000463 material Substances 0.000 claims description 28
- 238000001125 extrusion Methods 0.000 claims description 18
- 238000005520 cutting process Methods 0.000 claims description 10
- 238000010438 heat treatment Methods 0.000 claims description 10
- 238000003825 pressing Methods 0.000 claims description 8
- 239000004626 polylactic acid Substances 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 3
- 229920000747 poly(lactic acid) Polymers 0.000 claims description 2
- 238000009428 plumbing Methods 0.000 claims 6
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 239000007787 solid Substances 0.000 abstract description 2
- 238000007599 discharging Methods 0.000 description 5
- 208000019300 CLIPPERS Diseases 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 208000021930 chronic lymphocytic inflammation with pontine perivascular enhancement responsive to steroids Diseases 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C1/00—Manufacture of metal sheets, metal wire, metal rods, metal tubes by drawing
- B21C1/02—Drawing metal wire or like flexible metallic material by drawing machines or apparatus in which the drawing action is effected by drums
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Extrusion Of Metal (AREA)
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
Abstract
The invention discloses a vertical falling device and a vertical falling method thereof. At present, most robots are limited by space, are limited to the movement of a solid surface, and cannot complete the crossing of the space. The invention relates to a vertical falling device which comprises a rack, a storage box, a feeder, a heater, a clamping and breaking device and a tractor. The feeder comprises a first motor, a feeding gear, an L-shaped rod piece, a buffer spring, a limiting bolt, a feeding frame and a hinge bolt. The heater is fixed on the frame. A wire drawing channel is arranged in the heater. The tractor comprises a traction shell, a first gear shaft, a second gear shaft, a first traction wheel, a second traction wheel and a traction driving assembly. The invention adopts the wire drawing vertical drop, can bear larger load, and the vertical drop distance of the invention is increased by the operation of wire drawing. The wire raw material after wire drawing can be recycled, so that the cost is saved and the wire raw material is beneficial to environmental protection. The guide block can avoid the breakage of wire raw materials.
Description
Technical Field
The invention belongs to the technical field of space mobile robots, and particularly relates to a vertical falling device and a vertical falling method thereof.
Background
The development of science and technology is changing day by day, and more robots replace human beings to complete some dangerous, difficult or tedious work. Some of these tasks require the robot to span a certain height, such as: high-rise window cleaning, underground exploration, space exploration and the like. At present, most robots are limited by space, are limited to the movement of a solid surface, and cannot complete the crossing of the space. If the flight mechanism is mounted, the load factor becomes a main factor limiting the movement thereof. Therefore, a drooping device is necessary to remove the space restriction of the robot.
Disclosure of Invention
The invention aims to provide a vertical descending device and a vertical descending method thereof.
The invention relates to a vertical falling device which comprises a rack, a storage box, a feeder, a heater, a clamping and breaking device and a tractor. The storage box is fixed with the frame. The storage box is filled with wire raw materials. The feeder comprises a first motor, a feeding gear, an L-shaped rod piece, a buffer spring, a limiting bolt, a feeding frame and a hinge bolt. The feeding frame is fixed on the frame. The middle part of the L-shaped rod piece is hinged with the feeding frame. The buffer spring is connected with one end of the L-shaped rod piece and the feeding frame respectively. And the other end of the L-shaped rod piece is provided with an extrusion column. The first motor is fixed on the feeding frame, and the output shaft and the feeding gear are fixed. The feeding gear is arranged close to the extrusion column.
The heater is fixed on the frame. A wire drawing channel is arranged in the heater. The tractor comprises a traction shell, a first gear shaft, a second gear shaft, a first traction wheel, a second traction wheel and a traction driving assembly. The traction housing is fixed on the top of the base. The first gear shaft and the second gear shaft are supported in the traction shell. The first gear shaft and the second gear shaft are synchronously and reversely driven by the traction driving component. The first traction wheel and the second traction wheel are respectively fixed with the first gear shaft and the second gear shaft. The pinch-off device is arranged between the heater and the tractor.
Furthermore, the clipping and breaking device comprises a clipping and breaking frame, a sliding blade, a return spring and an electromagnet. The two sliding blades and the clipping frame form a sliding pair. The cutting edges of the two sliding blades are oppositely arranged. And the opposite ends of the two sliding blades are respectively fixed with a return spring. The end of each reset spring far away from the corresponding sliding knife is fixed with the clipping frame. Electromagnets are fixed on the two sliding blades. In the initial state, the cutting edges of the two sliding blades are arranged at intervals. And under the power-on state of the two electromagnets, the cutting edges of the two sliding blades are contacted.
Further, the retractor also comprises a guide block. The guide block is fixed on the traction shell. The guide block is provided with a funnel-shaped guide groove. The inner end of the guide groove is aligned with the gap between the first traction wheel and the second traction wheel.
Furthermore, the L-shaped rod piece consists of a turning rod and a material pressing rod, wherein the inner ends of the turning rod and the material pressing rod are connected together. The outer end of the turning rod is provided with a yielding hole. And a screw rod of the limiting bolt penetrates through the abdicating hole on the turnover rod and is in threaded connection with the feeding frame. The aperture of the abdicating hole is larger than the diameter of the screw of the limiting bolt. The buffer spring is sleeved on the screw rod of the limiting bolt. The extrusion column is positioned on the material pressing rod. One side of the extrusion column close to the feeding gear is provided with a wire dent.
Further, the traction drive assembly comprises a first gear, a second gear and a second motor. The second motor is fixed outside the traction shell, and the output shaft is fixed with the first gear shaft. The first gear and the second gear are respectively fixed with the first gear shaft and the second gear shaft. The first gear is engaged with the second gear.
Furthermore, one end of the wire raw material in the storage box sequentially penetrates through a position between the feeding gear and the extrusion column of the feeder, and a position between the wire drawing channel, the clamping breaker, the first traction wheel and the second traction wheel in the heater.
Furthermore, a plurality of heating sheets are arranged on the outer side surface of the heater. The diameter of the wire drawing channel is equal to that of the wire in the discharge box.
Further, the frame includes support, base and base. The bottom of four supports all is fixed with the base, and the other end all is fixed with the base. The base is provided with a heating channel. The heater is fixed in the heating channel.
Further, the storage box is a disc type box body. The wire raw materials in the storage box are coiled. The material of the wire material is polylactic acid.
The vertical falling method of the vertical falling device comprises the following specific steps:
step one, starting a heater to heat and soften the wire raw material in the wire drawing channel. The first motor corotation for the feeding gear corotation is carried the wire rod raw materials in the storage box to the heater continuously. The traction driving assembly drives the first traction wheel and the second traction wheel to rotate so as to draw the wire material in the heater; and fixing the wire raw material after wire drawing with a fixed object in the environment.
And step two, when the wire rod needs to be vertically lowered, the heater is started, the first motor rotates forwards, the traction driving assembly drives the first traction wheel and the second traction wheel to rotate, and the wire rod raw material after wire drawing is continuously output, so that the rack is gradually lowered.
Step three, after the rack is lowered to the designated position, if the rack needs to climb again, the step four is carried out; otherwise, the pinch-off device cuts off the wire material.
Fourthly, starting the heater, driving the first traction wheel and the second traction wheel to rotate by the traction driving assembly, and conveying external wire raw materials into a wire drawing channel of the heater; the wire raw material after wire drawing is axially extruded in the wire drawing channel and is thickened to a diameter equal to that of the wire drawing channel. The first motor reverses to make the feeding gear reverse, and the wire rod raw materials in the wire drawing channel are conveyed to the storage box.
The invention has the beneficial effects that:
1. the invention adopts the wire drawing vertical drop, can bear larger load, and the vertical drop distance of the invention is increased by the operation of wire drawing.
2. The wire raw material after wire drawing can be recycled, so that the cost is saved and the wire raw material is beneficial to environmental protection.
3. The guide block can prevent the raw material of the wire rod after wire drawing from contacting the sharp foot due to the gravity center deviation of the device, thereby avoiding the breakage of the raw material of the wire rod.
4. The device has the advantages of small size, flexibility, portability, wide application range and high modularization degree, and is easy to integrate into other robots, so that the terrain adaptability of the conventional robot is greatly enhanced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is a schematic view of a feeder of the present invention;
FIG. 4 is a schematic view of a clipper of the present invention;
figure 5 is a schematic view of the retractor of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the vertical falling device comprises a frame, a storage box 1, a feeder 7, a heater 9, a pinch-off device 6, a tractor 4 and a controller. The frame comprises a support 2, a base 3 and a base 8. The bottom of four supports 2 all is fixed with base 8, and the other end all is fixed with base 3. The bracket 2 is made of aluminum section. The storage box 1 is a disc type box body. The storage box 1 is fixed with the base 8. The storage box 1 is filled with wire raw materials 11. The wire stock 11 in the magazine 1 is provided in a coil. The material of the wire material 11 is polylactic acid (PLA). A first discharge hole is formed in one side, close to the base, of the storage box 1. The base is provided with a raw material channel aligned with the discharge hole.
As shown in fig. 1, 2 and 3, the feeder 7 includes a first motor 12, a feeding gear 13, an L-shaped bar member 15, a buffer spring 17, a limit bolt 16, a feeding frame 14, and a hinge bolt 30. The L-shaped rod piece 15 consists of a turning rod and a material pressing rod which are connected together at the inner ends. The turning part (the joint of the turning rod and the material pressing rod) of the L-shaped rod piece 15 and the feeding frame 14 form a rotating pair through a hinge bolt 30.
The outer end of the turning rod is provided with a yielding hole. The screw of the limit bolt 16 passes through the abdicating hole on the turning rod and is in threaded connection with the feeding frame 14. The aperture of the abdicating hole is larger than the diameter of the screw rod of the limiting bolt 16, so that the turning rod can rotate around the hinge bolt. The buffer spring 17 is sleeved on the screw rod of the limit bolt 16, and two ends of the buffer spring respectively abut against the outer end of the turning rod and the feeding frame 14. The pressing rod is provided with an extrusion column. The feed carriage 14 is fixed to the base 3. The first motor 12 is fixed to the feed carriage 14 and the output shaft and feed gear 13 are fixed. The side of the feed gear 13 is located close to the side of the extrusion column. One side of the extrusion column close to the feeding gear 13 is provided with a wire dent. The wire dent is used for increasing the contact area of the extrusion column and the wire raw material 11 and limiting the wire raw material 11. The turning rod and the feeding frame 14 are respectively provided with a second discharging hole and a third discharging hole for passing the wire raw material 11. In the case where the wire material 11 is passed between the feed gear 13 and the extrusion column, the extrusion column presses the wire material 11 by the action of the buffer spring 17. The rotation of the feeding gear 13 will drive the wire material 11 to slide, and during the sliding process of the wire material 11, the extrusion column presses the wire material 11 at any time, and then turns over.
As shown in fig. 2, the susceptor 3 is provided with a heating channel. The heater 9 is fixed in the heating passage. A wire drawing channel is arranged in the heater 9. The diameter of the wire drawing channel is equal to that of the wire in the discharge box. The outer side surface of the heater 9 is provided with a plurality of heating sheets for increasing the temperature of the wire-drawing channel in the heater 9. The two ends of the heater 9 are respectively provided with a feeding joint and a discharging nozzle. The feed block is aligned with the third discharge hole in the feed block 14.
As shown in fig. 1, 2 and 4, the pinch-off unit 6 includes a pinch-off stand 26, a slide knife 27, a return spring 28 and an electromagnet 29. The two sliding blades 27 and the pinch-off stand 26 form a sliding pair with the same sliding direction. The cutting edges of the two sliding blades 27 are oppositely arranged. Two return springs 28 are fixed on the opposite ends of the two sliding blades 27. The end of each return spring 28 remote from the corresponding sliding blade 27 is fixed to the pinch-off stand 26. Electromagnets 29 are fixed on the two sliding blades 27, and the two electromagnets 29 are arranged oppositely. In the initial state, the cutting edges of the two sliding blades 27 are spaced apart. When the two electromagnets are in the power-on state, the cutting edges of the two sliding blades 27 are in contact.
As shown in fig. 1, 2 and 5, the tractor 4 includes a second motor 18, a tractor housing 21, a first gear shaft 19, a second gear shaft 25, a first gear 20, a second gear 24, a first traction wheel 22, a second traction wheel 23 and a guide block 5. The traction housing 21 is fixed on top of the base 3. The first gear shaft 19 and the second gear shaft 25, which are parallel to each other, are supported in the traction housing 21. The second motor 18 is fixed outside the traction housing 21, and the output shaft is fixed with the first gear shaft 19. The first gear 20 and the second gear 24 are fixed to the first gear shaft 19 and the second gear shaft 25, respectively. The first gear 20 is in mesh with the second gear 24. The first traction wheel 22 and the second traction wheel 23 are respectively fixed with the first gear shaft 19 and the second gear shaft 25. The first traction wheel 22 and the second traction wheel 23 are arranged close to each other. The side surfaces of the first traction wheel 22 and the second traction wheel 23 are both concave. The first traction wheel 22 and the second traction wheel 23 clamp and convey the wire raw material 11 after wire drawing. The guide block 5 is fixed to the traction housing 21. The guide block 5 is provided with a funnel-shaped guide groove. Two fourth discharging holes are formed in the traction shell 21. One of the fourth discharge openings is aligned with the discharge spout. The other fourth discharging hole is aligned with a small opening of a guide groove of the guide block 5.
One end of the wire raw material 11 in the storage box 1 sequentially passes through the space between the feeding gear 13 and the extrusion column of the feeder 7, the space between the wire drawing channel in the heater 9 and the cutting edges of the two sliding blades 27, the space between the first traction wheel 22 and the second traction wheel 23 and the guide groove of the guide block 5.
The first motor and the second motor are connected with the controller through a motor driver. The two electromagnets are connected with the controller through a relay. Each heating plate is connected with the controller through the same relay.
The vertical falling method of the vertical falling device comprises the following specific steps:
step one, starting a heater 9 to heat and soften the wire raw material 11 in the wire drawing channel. The first motor 12 rotates forward, so that the feeding gear 13 rotates forward, and the wire raw materials 11 in the storage box 1 are continuously conveyed to the heater. The second motor 18 rotates forwards to draw the wire material 11 in the heater 9; the wire material 11 after drawing is fed out from the guide block 5, and the wire material 11 immediately after being fed out from the guide block 5 is not completely cooled, and therefore has a strong viscosity. The wire material 11 output by the guide block 5 is bonded and fixed with a fixed object in the environment. The ratio of the speed at which the feeder 7 and the puller 4 feed the wire stock 11 determines the diameter of the wire stock 11 after drawing.
And step two, when the wire rod needs to be vertically lowered, the heater 9 is started, the first motor 12 and the second motor 18 rotate forwards, and the wire rod raw material 11 after wire drawing is continuously output from the guide block, so that the rack is gradually lowered.
And step three, after the frame is lowered to the designated position, loading the robot of the invention for working. If the climbing is needed again, entering a step four; otherwise, the controller controls the two electromagnets to be electrified, the two sliding knives move oppositely, and the wire raw material 11 is cut off.
Step four, starting the heater 9, reversely rotating the second motor 18, and conveying the external wire material 11 into a wire drawing channel of the heater 9; the wire stock 11 after drawing is axially extruded in the drawing passage and begins to thicken to a diameter equal to that of the drawing passage. The first motor 12 rotates reversely, so that the feeding gear 13 rotates reversely, and the wire raw material 11 in the wire drawing channel is conveyed to the storage box 1 for reuse.
Claims (8)
1. A vertical falling device comprises a frame, a storage box, a feeder, a heater, a clamping device and a tractor; the method is characterized in that: the frame comprises a bracket, a base and a base; the bottom ends of the four brackets are all fixed with the base, and the other ends of the four brackets are all fixed with the base; a heating channel is arranged on the base; the heater is fixed in the heating channel; the storage box is fixed with the frame; the storage box is filled with wire raw materials; the feeder comprises a first motor, a feeding gear, an L-shaped rod piece, a buffer spring, a limiting bolt, a feeding frame and a hinge bolt; the feeding frame is fixed on the frame; the L-shaped rod piece consists of a turnover rod and a material pressing rod, the inner ends of which are connected together; the outer end of the turning rod is provided with a abdicating hole; a screw rod of the limiting bolt penetrates through the abdicating hole on the turnover rod and is in threaded connection with the feeding frame; the aperture of the abdicating hole is larger than the diameter of the screw of the limiting bolt; the buffer spring is sleeved on the screw rod of the limiting bolt; the extrusion column is positioned on the material pressing rod; one side of the extrusion column close to the feeding gear is provided with a wire dent; the middle part of the L-shaped rod piece is hinged with the feeding frame; the buffer spring is respectively connected with one end of the L-shaped rod piece and the feeding frame; the other end of the L-shaped rod piece is provided with an extrusion column; the first motor is fixed on the feeding frame, and the output shaft and the feeding gear are fixed; the feeding gear is arranged close to the extrusion column;
the heater is fixed on the frame; a wire drawing channel is arranged in the heater; the tractor comprises a traction shell, a first gear shaft, a second gear shaft, a first traction wheel, a second traction wheel and a traction driving assembly; the traction shell is fixed on the top of the base; the first gear shaft and the second gear shaft are supported in the traction shell; the first gear shaft and the second gear shaft are synchronously and reversely driven by the traction driving component; the first traction wheel and the second traction wheel are respectively fixed with the first gear shaft and the second gear shaft; the pinch-off device is arranged between the heater and the tractor.
2. A plumbing device according to claim 1, wherein: the clipping and breaking device comprises a clipping and breaking frame, a sliding knife, a return spring and an electromagnet; the two sliding blades and the pinch-off frame form a sliding pair; the cutting edges of the two sliding blades are oppositely arranged; the opposite ends of the two sliding blades are respectively fixed with a return spring; the end of each reset spring, which is far away from the corresponding sliding knife, is fixed with the clipping frame; electromagnets are fixed on the two sliding blades; in an initial state, the cutting edges of the two sliding blades are arranged at intervals; and under the power-on state of the two electromagnets, the cutting edges of the two sliding blades are contacted.
3. A plumbing device according to claim 1, wherein: the tractor also comprises a guide block; the guide block is fixed on the traction shell; the guide block is provided with a funnel-shaped guide groove; the inner end of the guide groove is aligned with the gap between the first traction wheel and the second traction wheel.
4. A plumbing device according to claim 1, wherein: the traction driving assembly comprises a first gear, a second gear and a second motor; the second motor is fixed outside the traction shell, and an output shaft is fixed with the first gear shaft; the first gear and the second gear are respectively fixed with the first gear shaft and the second gear shaft; the first gear is engaged with the second gear.
5. A plumbing device according to claim 1, wherein: one end of the wire raw material in the storage box sequentially penetrates through a position between a feeding gear and an extrusion column of the feeder, and a position between a wire drawing channel, a clipping device, a first traction wheel and a second traction wheel in the heater.
6. A plumbing device according to claim 1, wherein: the outer side surface of the heater is provided with a plurality of heating plates, and the diameter of the wire drawing channel is equal to that of a wire in the storage box.
7. A plumbing device according to claim 1, wherein: the material storage box is a disc type box body; the wire raw materials in the storage box are coiled; the material of the wire material is polylactic acid.
8. A vertical drop method of a vertical drop apparatus according to claim 1, wherein: starting a heater to heat and soften the wire raw material in the wire drawing channel; the first motor rotates forwards to enable the feeding gear to rotate forwards, and the wire raw materials in the storage box are continuously conveyed to the heater; the traction driving assembly drives the first traction wheel and the second traction wheel to rotate so as to draw the wire material in the heater; fixing the wire raw material after wire drawing with a fixed object in the environment;
step two, when the wire rod needs to be vertically lowered, the heater is started, the first motor rotates forwards, the traction driving assembly drives the first traction wheel and the second traction wheel to rotate, and the wire rod raw material after wire drawing is continuously output, so that the rack is gradually lowered;
step three, after the rack is lowered to the designated position, if the rack needs to climb again, the step four is carried out; otherwise, the wire material is cut off by the pinch-off device;
fourthly, starting the heater, driving the first traction wheel and the second traction wheel to rotate by the traction driving assembly, and conveying external wire raw materials into a wire drawing channel of the heater; the wire raw material after wire drawing is axially extruded in the wire drawing channel and is thickened to a diameter equal to that of the wire drawing channel; the first motor reverses to make the feeding gear reverse, and the wire rod raw materials in the wire drawing channel are conveyed to the storage box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910419070.3A CN110202013B (en) | 2019-05-20 | 2019-05-20 | Vertical descending device and vertical descending method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910419070.3A CN110202013B (en) | 2019-05-20 | 2019-05-20 | Vertical descending device and vertical descending method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110202013A CN110202013A (en) | 2019-09-06 |
| CN110202013B true CN110202013B (en) | 2020-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910419070.3A Expired - Fee Related CN110202013B (en) | 2019-05-20 | 2019-05-20 | Vertical descending device and vertical descending method thereof |
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| Country | Link |
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| CN (1) | CN110202013B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10249431A (en) * | 1997-03-10 | 1998-09-22 | Katsuma Kokan Kk | Method for profile forming on slit of tube and device therefor |
| CN105984761A (en) * | 2015-02-05 | 2016-10-05 | 中际联合（北京）科技股份有限公司 | Lifting rope switch control device of lifting equipment |
| CN106166828A (en) * | 2016-06-28 | 2016-11-30 | 巢湖市金辉自控设备有限公司 | A kind of wire drawing machine |
| CN207627755U (en) * | 2017-12-08 | 2018-07-20 | 刘元锟 | Anti- fear adjustable speed escape packet |
| CN108853766A (en) * | 2018-08-31 | 2018-11-23 | 陈伟晓 | One kind is counter to hang lifter |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070261921A1 (en) * | 2004-04-04 | 2007-11-15 | Res-Q Rescue Technologies Ltd. | Portable Apparatus for Controlled Descent |
-
2019
- 2019-05-20 CN CN201910419070.3A patent/CN110202013B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10249431A (en) * | 1997-03-10 | 1998-09-22 | Katsuma Kokan Kk | Method for profile forming on slit of tube and device therefor |
| CN105984761A (en) * | 2015-02-05 | 2016-10-05 | 中际联合（北京）科技股份有限公司 | Lifting rope switch control device of lifting equipment |
| CN106166828A (en) * | 2016-06-28 | 2016-11-30 | 巢湖市金辉自控设备有限公司 | A kind of wire drawing machine |
| CN207627755U (en) * | 2017-12-08 | 2018-07-20 | 刘元锟 | Anti- fear adjustable speed escape packet |
| CN108853766A (en) * | 2018-08-31 | 2018-11-23 | 陈伟晓 | One kind is counter to hang lifter |
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| CN110202013A (en) | 2019-09-06 |
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