CN103569888A - Deepwater winch provided with brake structure - Google Patents
Deepwater winch provided with brake structure Download PDFInfo
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- CN103569888A CN103569888A CN201310527975.5A CN201310527975A CN103569888A CN 103569888 A CN103569888 A CN 103569888A CN 201310527975 A CN201310527975 A CN 201310527975A CN 103569888 A CN103569888 A CN 103569888A
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Abstract
The invention discloses a deepwater winch provided with a brake structure. The deepwater winch comprises a main winding drum, wherein a brake band is arranged on the outer side of the main winding drum, one end of the brake band is rotationally connected to a brake support, and the other end of the brake band is rotationally connected to a telescopic structure; the lower end of the telescopic structure is rotationally connected with a connecting rod; the connecting rod is rotationally connected with the brake support; a first hydraulic cylinder is arranged on the brake support; the end of a piston rod of the first hydraulic cylinder penetrates through the brake support and is hinged to the connecting rod; a stop block perpendicular to the piston rod is arranged on the piston rod of the first hydraulic cylinder; a spring is arranged between the stop block and the bottom of the first hydraulic cylinder; the upper surface of the other end of the connecting rod is a plane; a first through hole is formed in the brake support above the plane; a fixed block is fixed above the first through hole; a third screw hole is formed in the fixed block; and a second screw is arranged inside the third screw hole. With the adoption of the brake structure of the deepwater winch, danger caused by free rotation of the main winding drum due to the fact that the brake band does not brake tightly due to situations such as power failures and the like can be prevented.
Description
Technical field
The present invention relates to marine machinery technical field, a kind of deep water winch with brake structure specifically, is a kind of equipment being arranged on fishing boat for trawlnet.
Background technology
Deep water winch is mounted in the device for use in fishing trawl in trawlboat, and existing deep water winch generally comprises reel, HM Hydraulic Motor, brake system and rope guide.Traditional deep water winch is all generally one, and machine transports to go on board and assembles after integral installation well, but because deep water winch integral body is larger, installs comparatively inconvenience.
The operation of existing brake system generally all relies on manpower to strain and discharges cylinder.There is following problem in this structure: brake is by manual operation, by the speed of artificial hand screw rod and workman's strength, realize the braking to cylinder, the size of workman's strength and the speed of hand screw rod can not meet the working condition requirement of large load ship machinery conventionally, and workman's danger in hand screw rod is very large, easily causes safety misadventure.In order to improve the braking of safety and the large-scale winch of adaptation, the brake band of a lot of large-scale winches all adopts hydraulic actuating cylinder to drive, generally by the flexible of hydraulic actuating cylinder, drive the tension of brake band and unclamp, brake band is to need tension in most situation, only when cylinder is worked, just unclamp, general brake system needs hydraulic actuating cylinder to remain contraction state, and the element in hydraulic circuit is in running order all the time, therefore can cause Hydraulic Elements shorter service life, easily cause damage.
Summary of the invention
The present invention is directed to prior art deficiency, a kind of deep water winch with brake structure is provided, brake structure first hydraulic actuating cylinder of this deep water winch at out-of-run situation lower piston rod all the time in contraction state, even this makes also can make brake band in the tight state of stopping in the situation of power-off, prevent from main drum freely being rotated cause danger because the situation brake bands such as power-off do not stop tight.
In order to solve the problems of the technologies described above, the present invention is solved by following technical proposals: a kind of deep water winch with brake structure, comprise main drum, described main drum arranged outside has brake band, described brake band one end is rotatably connected on braking bracket, the other end is rotatably connected to stretching structure, described stretching structure lower end and pipe link are rotationally connected, described pipe link and braking bracket are rotationally connected, on described braking bracket, be provided with the first hydraulic actuating cylinder, the piston rod end of the first hydraulic actuating cylinder is hinged through described braking bracket and described pipe link, on the piston rod of described the first hydraulic actuating cylinder, be provided with the block vertical with piston rod, between described block and described the first hydraulic actuating cylinder bottom, be provided with spring, described pipe link other end upper surface is a plane, on the braking bracket of described plane top, be provided with the first through hole, described the first through hole top is fixed with a fixed block, on described fixed block, be provided with the 3rd screw, in described the 3rd screw, be provided with the second screw rod.
In technique scheme, preferred, on described the second screw rod, be provided with runner.
In technique scheme, preferred, on described second screw rod of described fixed block top, be provided with latch segment, on described latch segment, be provided with the 4th screw passing for described the second screw rod, on described latch segment, be provided with handle.
The present invention compared with prior art, there is following beneficial effect: brake structure first hydraulic actuating cylinder of this deep water winch of the present invention at out-of-run situation lower piston rod all the time in contraction state, even this makes also can make brake band in the tight state of stopping in the situation of power-off, prevent from main drum freely being rotated cause danger because the situation brake bands such as power-off do not stop tight.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention integral structure schematic diagram.
Fig. 2 is the first wall frame inner structure schematic diagram.
Fig. 3 is the structural representation of oil level and temperature-detecting device.
Fig. 4 is the right elevation of main drum.
Fig. 5 is that the B-B of Fig. 4 is to cutaway view.
Fig. 6 is the partial enlarged drawing in Fig. 5.
Fig. 7 is the sectional structure schematic diagram of brake structure.
Fig. 8 is the partial enlarged drawing of Fig. 7.
Fig. 9 is the schematic diagram of clutch structure.
Figure 10 is the sectional structure schematic diagram of clutch structure.
Figure 11 is the structural representation of rope guide.
Figure 12 is the structural representation of guide roller.
Figure 13 is the structural representation of the second rotating shaft.
Figure 14 is the structural representation at the second wall frame place.
Figure 15 is the structural representation of chain wheel cover.
Figure 16 is that A-A in Figure 15 is to cutaway view.
The specific embodiment
Below in conjunction with accompanying drawing and the specific embodiment, the present invention is described in further detail: referring to Fig. 1 to Figure 16, a kind of deep water winch with brake structure is the major part of deep water winch, this deep water winch comprises some wall framves 1, on the first wall frame 11, be provided with four HM Hydraulic Motor 2, big gear wheel a and bearing seat 3, on the output shaft of described HM Hydraulic Motor 2, be provided with miniature gears b, described miniature gears b coordinates transmission with described big gear wheel a, described big gear wheel a center is connected with the first rotating shaft 4, described the first rotating shaft 4 is through described bearing seat 3, because the very large bearing seat 3 of equipment is also very greatly very heavy, in order to be provided with hanger 31 on described bearing seat 3 easy for installation, for convenient, to bearing, add lubricating oil, on described bearing seat 3, be also provided with the first oil hole 32, outer main drum 41 and the loose drum 43 of being arranged with of described the first rotating shaft 4, for described the first wall frame 11 of convenient installation comprises base 111 and upper cover 112, described base 111 and upper cover 112 are for removably connecting, on described upper cover 112, be provided with porthole 113, in described the first wall frame 11, be provided with lubricating oil for lubricated to gear transmission, in order to control the sidewall of the first wall frame 11 described in the oil level of lubricating oil and temperature, be provided with oil level and temperature-detecting device 114, in order to prevent that oil level and temperature-detecting device 114 are damaged, described oil level and temperature-detecting device 114 are arranged with the first protection baffle ring 115 around.
Main drum 41 comprises the first cylinder 411, described the first cylinder 411 both sides are welded with step-like contiguous block 412, described contiguous block 412 is provided with the first groove 413 for being welded and fixed with described the first cylinder 411 with described the first cylinder 411 junctions, in described contiguous block 412, be provided with described the first rotating shaft 4 and be connected with bearing (not shown on figure), described contiguous block 412 diameter larger parts are also provided with the second oil hole 414, on described the second oil hole 414, be provided with oiling pipeline lubricated for the bearing oiling in contiguous block 412, on described contiguous block 412, diameter larger part is provided with some pieces 416 that stretch out, described contiguous block 412 diameter smaller parts are arranged with the first annular slab 417, described the first annular slab 417 1 sides lean described contiguous block 412 diameter larger parts, described the first annular slab 417 inner circles are provided with the second groove 418 near the first cylinder 411 sides, described the first annular slab 417 and described contiguous block 412 are by being welded and fixed, the first groove 413 and the convenient welding of the second groove 418 are set, and make welding more firm, due to the first annular slab 417 during with contiguous block 412 welding one side lean described contiguous block 412 diameter larger parts and described in stretch out piece 416, make the deformation after the first annular slab 417 welding very little, and during welding, locate convenient.Wherein a side described in stretch out piece 416 and be outside equipped with ratchet 419, the other ratchet clamping structure 4110 that arranges of described ratchet 419, by ratchet 419 and ratchet clamping structure 4110, coordinate, prevent from making main drum 41 freely to rotate after brake band 51 unclamps and cause danger, stretch out piece 416 outsides described in opposite side to be connected with annular ring 4111.Annular ring 4111 arranged outside have brake band 51, described brake band 51 one end are rotatably connected on braking bracket 12, the other end is rotatably connected to stretching structure 52, described stretching structure 52 lower ends and a pipe link 55 are rotationally connected, described pipe link 55 is rotationally connected with braking bracket 12, on described braking bracket 12, be provided with the first hydraulic actuating cylinder 56, piston rod 561 ends of the first hydraulic actuating cylinder 56 are hinged with pipe link 55 through described braking bracket 12, described in when piston rod 561 upward movement, brake band 51 is stopped tightly, described in when piston rod 561 moves downward, brake band 51 unclamps, because main drum 41 is in the ordinary course of things all in the tight state of stopping, on the piston rod 561 of described the first hydraulic actuating cylinder 56, be provided with the block vertical with piston rod 561 562, between described block 562 and described the first hydraulic actuating cylinder 56 bottoms, be provided with spring 563, this makes at the first hydraulic actuating cylinder 56 at out-of-run situation lower piston rod 561 all the time in contraction state, even this makes also can make brake band 51 in the tight state of stopping in the situation of power-off, prevent from main drum 41 freely being rotated cause danger because the situation brake band such as power-off does not stop tight, described pipe link 55 other end upper surfaces are a plane, on the braking bracket 12 of described plane top, be provided with the first through hole (not shown on figure), described the first through hole top is fixed with a fixed block 57, on described fixed block 57, be provided with the 3rd screw 58, in described the 3rd screw 58, be provided with the second screw rod 59, described the second screw rod 59 moves downward pipe link 55 top is unclamped brake band 51 downwards, this makes just need not switch on when main drum 41 is put rope, in power-off, also can carry out the operation of releasing of brake band 51, in order to rotate on more laborsaving described the second screw rod 59, be provided with runner 510, because rotating reasons such as producing vibration, main drum 41 can make the second screw rod 59 fluff, therefore on described second screw rod 59 of described fixed block 57 tops, be provided with latch segment 511, on described latch segment 511, be provided with the 4th screw 512 passing for described the second screw rod 59, on described latch segment 511, be provided with handle 513, when using operation, after the second screw rod 59 moves downward, pipe link 55 is pushed up to the tight brake band 51 of stopping downwards, then latch segment 511 is rotated to fixed block 57 and is adjacent to, make the second screw rod 59 and fixed block 57, between the second screw rod 59 and latch segment 511, produce very large static friction, thereby prevent from stopping when tight because the second screw rod 59 upward movements unclamp brake band 51 at brake band 51.
Between described some wall framves 1, be connected with fixed link 15, in order to prevent that main drum 41 hawser on main drum 41 when rotating from producing the outside of the first annular slab 417, on described fixed link 15, be provided with some catch 151, described catch 151 and described the first annular slab 417 are in same plane, space distance between described catch 151 and described the first annular slab 417 is less than 2cm, in the present embodiment, there are two fixed links 15, on every fixed link 15, be provided with two described catch 151.
Described the first rotating shaft 4 adopts clutch structure 42 transmissions with described main drum 41, in the present embodiment, described clutch structure 42 comprises sliding part 421, described sliding part 421 centers have polygonal hole 422, described the first rotating shaft 4 is through described polygonal hole 422, and described the first rotating shaft 4 is identical with the cross sectional shape of described sliding part 421 cross sections, cooperation place and described polygonal hole 422, on described sliding part 421, near main drum 41 sides, be provided with some the first projections 423, on main drum 41, be provided with some the second projections 424, described the first projection 423 coordinates and forms snap-in structure with described the second projection 424, by moving around of sliding part 421, can realize the transmission of power between the first rotating shaft 4 and main drum 41, described sliding part 421 lateral surfaces are provided with the annular groove continuous along side 425, in described annular groove 425, be provided with driving lever 426, on the second wall frame 13, be provided with support platform 131, described driving lever 426 is hinged with described support platform 131, on described driving lever 426, be provided with the second through hole, in described support platform 131, be provided with third through-hole, between described the second through hole and described third through-hole, by set pin 428, can fix, in described support platform 121, be also provided with the second hydraulic actuating cylinder 429, described second hydraulic actuating cylinder 429 one end and support platform 131 are rotationally connected, the other end and described driving lever 426 are rotationally connected, traditional clutch structure 42 is generally stirred by manpower, and in the present embodiment, can realize by the second hydraulic actuating cylinder 429 clutch of clutch structure 42, make to operate convenient, realizing automation controls.
What be set in the first rotating shaft 4 above also has loose drum 43 except main drum 41, loose drum 43 is mainly used as hoisting crane and is used, on described loose drum 43, be also provided with clutch structure and the brake structure identical with main drum 41, described loose drum 43 comprises that the second cylinder 431 both sides are all welded with the second annular slab 432, two outer annular retaining rings 433 that are provided with of described the second annular slab 432, space between described annular retaining ring 433 and described the second annular slab 432 is less than 2cm, annular retaining ring 433 is set to be spread and causes the accident to the outside of the second annular slab 432 for preventing hawser, between two annular retaining rings 433, adopt bar 434 to connect, adopt bar 434 that annular retaining ring 433 is connected and fixed and makes the intensity of annular retaining ring 433 larger, more firm, in the present embodiment, described annular retaining ring 433 two ends all with the 3rd wall frame 14 on extension 141 be rotationally connected.
Traditional deep water winch is all integrative-structure, and in the present embodiment, rope guide 6 and the first wall frame 11 and the second wall frame 13 are Split type structure, between described rope guide 6 and the first wall frame 11 and the second wall frame 13, adopt and removably connect, rope guide described in the present embodiment 6 and the first wall frame 11 and the second wall frame 13 are with bolts, adopt in this way at deep water winch and install and convenient during transportation, reduce the weight of single carrying.
Described rope guide 6 comprises the support 61 at two ends, on two described supports 61, be fixedly installed some pilot bars 62, between two described supports 61, be also provided with reverse-flighted screw 63, on described pilot bar 62 and reverse-flighted screw 63, be provided with track adjusting wheel 64, described reverse-flighted screw 63 is parallel with described pilot bar 62, described track adjusting wheel 64 is comprised of framework 641 and the second rotating shaft 642 and the 3rd rotating shaft 643 that are arranged in described framework 641, described framework 641 and described the second rotating shaft 642, described the 3rd rotating shaft 643 surrounds three-way rope hole 644, when rope closing, hawser is through three-way rope hole 644, by moving back and forth hawser proper alignment on main drum 41 of track adjusting wheel 64, and the volume of deep water winch is very large, the weight of track adjusting wheel 64 is also very large, for convenient, rope is taken out to three-way rope hole, bottom and the framework 641 of the second rotating shaft 642 of track adjusting wheel 64 are rotationally connected, upper end and framework 641 removably connect, when taking out rope or put into three-way rope hole 644, needs the second rotating shaft 642 can be fallen down like this, then rope is put into or is taken out three-way rope hole 644, forwarding the second rotating shaft 644 to original position again fixes, so just rope can easily be put into three-way rope hole 644 or take out three-way rope hole 644, described the second rotating shaft 642 lower ends and described framework 641 are rotationally connected, the second rotating shaft 642 upper ends and described framework 641 removably connect, described track adjusting wheel 64 also includes wire twisting machine 645, on described wire twisting machine 645, be provided with rope, described rope one end is detachably connected on described the second rotating shaft 642 upper ends, the other end is set around on described wire twisting machine 645.Traditional demountable structure is generally on rope, to be fixed with a bolt, removably connect with the screw in the second rotating shaft 642, dismantle like this and install also and comparatively bother, in the present embodiment, described the second rotating shaft 642 upper ends are provided with suspension ring 646, described cable end is provided with drag hook 647, like this after the second rotating shaft 642 is fallen down, put into or take out hawser and become convenient, wire twisting machine 645 is set in track adjusting wheel 64, make can controlling by the rotation of wire twisting machine 645 of the second rotating shaft 642, make rising of the second rotating shaft 642 safer, and a workman just can pour line operate into rising of the second rotating shaft 642, save human cost.
In order to prevent that track adjusting wheel 64 from blocking, in described framework 641, pilot bar 62 and reverse-flighted screw 63 are also provided with the 3rd oil hole 648 through place, and in order to prevent that the 3rd oil hole 648 is damaged, described the 3rd oil hole 648 sides are arranged with the second protection baffle ring 649.
Because the second rotating shaft 642 weight are very large, just in case fall down to be pressed onto people, understand danger close, therefore in described framework 641, be provided with groove 6411 with described the second rotating shaft 642 contact positions, upper end, described the second rotating shaft 641 upper ends are provided with elastic component 6412, described elastic component 6412 is connected with moving mass 6413, described moving mass 6413 coordinates with described groove 6411, when described moving mass 6413 is positioned at described groove 6411, it is downward that described moving mass 6413 is subject to the elastic force direction of elastic component 6412, in the present embodiment, described elastic component 6412 is spring, described elastic component 6412 is arranged at described moving mass 6413 tops.In order to facilitate rising of the second rotating shaft 642 to fall to operate, described suspension ring 646 are arranged at described moving mass 6413 tops, rotate wire twisting machine 645 like this and moving mass 6413 can be pulled out to groove 6411 when the second rotating shaft 642 need to be fallen down, and facilitate the second rotating shaft 642 to fall down.
Between rope guide 6 and the first rotating shaft 4, generally all adopt chain transmission to carry out transmission of power, and traditional sprocket wheel 65 is to be generally fixed on main drum 41, when all needing main drum 41 to rotate, rope guide 6 just can be provided power at every turn, this is mainly that mode of operation with main drum 41 rope closing time matches, and when putting rope, general orientation wheel 64 will fall back on the limit of reverse-flighted screw 63, can not make very soon and also hawser turmoil, so do not need by three-way rope hole 644 because put the speed of rope.And being fallen back on to this action need main drum 41 on the limit of reverse-flighted screw 63, track adjusting wheel 64 rotates together this certain trouble that operates.Now sprocket wheel 65 is fixed in described the first rotating shaft 4 by key, main drum 41 does not rotate and can make track adjusting wheel 64 motions yet like this, makes main drum 41 put rope operation before and becomes convenient.
Because the power between the first rotating shaft 4 and reverse-flighted screw 63 is by chain gear, and may snap in foreign matter between chain and sprocket wheel 65, damage, also may clamp workman's health, therefore described chain and sprocket wheel 65 arranged outside have chain wheel cover 66, described chain wheel cover 66 is generally by two half symmetrical sheet chain wheel cover 66 amalgamation welding in the time of processing, and then be fixed on the second wall frame 13, and it is very thin at the edge of chain wheel cover 66 welding, be difficult to chain wheel cover 66 to aim at and welding, generally need many people compounding practice.In the present embodiment, on the described chain wheel cover 66 of half cooperatively interacting, be provided with chute 661, described in two, chute 661 cooperatively interacts, in described chute 661, be inserted with inserted sheet 662, wait so when mounted two half chain wheel covers 66 are aimed at, then in chute 661, insert described inserted sheet 662 and can guarantee that the laminating between chain wheel cover 66 is smooth described in two and half sheets, and described in two and half sheets, the two ends of chain wheel cover 66 are provided with flange 663, on described flange 663, be provided with fourth hole, between described flange 663, be bolted, between described inserted sheet 662 and described chain wheel cover 66, also adopt bolt to fix.
Claims (3)
1. a deep water winch with brake structure, comprise main drum (41), it is characterized in that: annular ring (4111) arranged outside of described main drum (41) has brake band (51), described brake band (51) one end is rotatably connected on braking bracket (12), the other end is rotatably connected to stretching structure (52), described stretching structure (52) lower end and pipe link (55) are rotationally connected, described pipe link (55) is rotationally connected with braking bracket (12), on described braking bracket (12), be provided with the first hydraulic actuating cylinder (56), piston rod (561) end of the first hydraulic actuating cylinder (56) is hinged through described braking bracket (12) and described pipe link (55), on the piston rod (561) of described the first hydraulic actuating cylinder (56), be provided with the block (562) vertical with piston rod (561), between described block (562) and described the first hydraulic actuating cylinder (56) bottom, be provided with spring (563), described pipe link (55) other end upper surface is a plane, on the braking bracket (12) of described plane top, be provided with the first through hole, described the first through hole top is fixed with a fixed block (57), on described fixed block (57), be provided with the 3rd screw (58), in described the 3rd screw (58), be provided with the second screw rod (59).
2. a kind of deep water winch with brake structure as claimed in claim 1: it is characterized in that: be provided with runner (510) on described the second screw rod (59).
3. a kind of deep water winch with brake structure as claimed in claim 1: it is characterized in that: be provided with latch segment (511) on described second screw rod (59) of described fixed block (57) top, on described latch segment (511), be provided with the 4th screw (512) passing for described the second screw rod (59), on described latch segment (511), be provided with handle (513).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310527975.5A CN103569888B (en) | 2013-10-31 | 2013-10-31 | A kind of deepwater winch with brake structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310527975.5A CN103569888B (en) | 2013-10-31 | 2013-10-31 | A kind of deepwater winch with brake structure |
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| Publication Number | Publication Date |
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| CN103569888A true CN103569888A (en) | 2014-02-12 |
| CN103569888B CN103569888B (en) | 2016-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310527975.5A Active CN103569888B (en) | 2013-10-31 | 2013-10-31 | A kind of deepwater winch with brake structure |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104649169A (en) * | 2015-02-16 | 2015-05-27 | 中交四航局第二工程有限公司 | Sinking tube sidesway mooring winch and system |
| CN105417418A (en) * | 2015-11-20 | 2016-03-23 | 武汉船用机械有限责任公司 | Winding drum and hoisting mechanism thereof |
| CN106744449A (en) * | 2016-12-22 | 2017-05-31 | 宁波市海翔远洋捕捞用具有限公司 | A kind of winch with brake gear |
| CN106829782A (en) * | 2016-12-22 | 2017-06-13 | 宁波市海翔远洋捕捞用具有限公司 | A kind of winch for ensureing braking quality |
| CN109467017A (en) * | 2018-11-12 | 2019-03-15 | 王佳乐 | A kind of safety rope wire wrap assembly and its application method |
| CN113023584A (en) * | 2021-02-08 | 2021-06-25 | 浙江大学台州研究院 | Zero-gravity small crane |
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| CN203623930U (en) * | 2013-10-31 | 2014-06-04 | 宁波捷胜海洋开发有限公司 | Deepwater winch with brake structure |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104649169A (en) * | 2015-02-16 | 2015-05-27 | 中交四航局第二工程有限公司 | Sinking tube sidesway mooring winch and system |
| CN105417418A (en) * | 2015-11-20 | 2016-03-23 | 武汉船用机械有限责任公司 | Winding drum and hoisting mechanism thereof |
| CN105417418B (en) * | 2015-11-20 | 2018-03-20 | 武汉船用机械有限责任公司 | A kind of reel and its hoisting mechanism |
| CN106744449A (en) * | 2016-12-22 | 2017-05-31 | 宁波市海翔远洋捕捞用具有限公司 | A kind of winch with brake gear |
| CN106829782A (en) * | 2016-12-22 | 2017-06-13 | 宁波市海翔远洋捕捞用具有限公司 | A kind of winch for ensureing braking quality |
| CN106744449B (en) * | 2016-12-22 | 2019-03-19 | 宁波市海翔远洋捕捞用具有限公司 | A kind of winch with brake gear |
| CN109467017A (en) * | 2018-11-12 | 2019-03-15 | 王佳乐 | A kind of safety rope wire wrap assembly and its application method |
| CN109467017B (en) * | 2018-11-12 | 2020-07-31 | 王佳乐 | Safety rope winding device and using method thereof |
| CN113023584A (en) * | 2021-02-08 | 2021-06-25 | 浙江大学台州研究院 | Zero-gravity small crane |
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| CN103569888B (en) | 2016-02-24 |
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