CN104477723B - A kind of mine hoist winds the determination methods of reel disorder cable monitoring system - Google Patents
A kind of mine hoist winds the determination methods of reel disorder cable monitoring system Download PDFInfo
- Publication number
- CN104477723B CN104477723B CN201410826012.XA CN201410826012A CN104477723B CN 104477723 B CN104477723 B CN 104477723B CN 201410826012 A CN201410826012 A CN 201410826012A CN 104477723 B CN104477723 B CN 104477723B
- Authority
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- China
- Prior art keywords
- reel
- steel wire
- wire rope
- rope
- shaft encoder
- Prior art date
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Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000012544 monitoring process Methods 0.000 title claims abstract description 20
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 45
- 239000010959 steel Substances 0.000 claims abstract description 45
- 238000004804 winding Methods 0.000 claims abstract description 34
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 24
- 238000005070 sampling Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 abstract description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 28
- 238000010586 diagram Methods 0.000 description 2
- 238000012800 visualization Methods 0.000 description 2
- 206010038743 Restlessness Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/54—Safety gear
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Maintenance And Inspection Apparatuses For Elevators (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
A kind of mine hoist winding reel disorder cable monitoring system and determination methods, belong to a kind of cable drum disorder cable monitoring system and method.Specifically, described disorder cable monitoring system includes being arranged in the middle of reel in rope stretching rear or inferoanterior industrial camera, the shaft encoder for being arranged on reel shaft end and being connected with axle, the data collecting card being sequentially connected with shaft encoder and industrial computer；Described industrial camera is connected with industrial computer by communication cable.Described disorder cable determination methods are to measure the anglec of rotation of reel and by industrial camera measuring steel wire rope rope stretching position by shaft encoder, and judge whether disorder cable by analyzing angle in some cycles with the variation characteristic of rope stretching position, the monitoring system is easy for installation, reel need not be transformed, while improve the safety of mine hoisting system operation.
Description
Technical field
The present invention relates to a kind of method of cable drum disorder cable monitoring system, specifically a kind of mine hoist winding volume
The determination methods of cylinder disorder cable monitoring system, are suitable for single rope or multi-rope winding type reel, are particularly suited for vertical or built of constructing
Mine hoist winds the use of reel.
Background technology
Lift system is the important component part in transportation system, and steel wire rope is responsible for important function in lift system.
For single rope or multi-rope winding type reel, elevated object is to unreel steel wire rope on cylinder realizing transporting up and down by twining
Dynamic.Due to a variety of causes, steel wire rope twining on reel is possible to during putting not according to existing trajectory alignment, that is, to be occurred
Disorder cable phenomenon.Disorder cable phenomenon is very harmful for steel wire rope, gently then accelerates steel rope abrasion, heavy then destruction wirerope-winding knot
Structure, especially in many rope winding processes can cause steel wire rope unbalance stress or even cause rope-broken accident.The serious shadow of steel wire rope disorder cable
The safety for being lifted is rung.Therefore the running status that volume lets slip journey steel wire rope is monitored, the accurate judgement to steel wire rope disorder cable
To avoid serious lifting accident from occurring, tool is of great significance.
Content of the invention
The invention aims to providing the determination methods that a kind of mine hoist winds reel disorder cable monitoring system, solve
Cannot whether disorder cable be judged and the problem that is monitored to steel wire rope in mine hoist winding reel running.Realize ore deposit
The real time implementation of well elevator winding reel disorder cable monitoring, visualization, automatization, intellectuality.
For achieving the above object, mine hoist of the invention winding reel disorder cable monitoring system, including being arranged on reel
Rear or inferoanterior industrial camera in middle rope stretching, the shaft encoder for being arranged on reel shaft end and being connected with axle are compiled with axle
Data collecting card and industrial computer that code device is sequentially connected；Described industrial camera is connected with industrial computer by communication cable.
The mine hoist winding reel disorder cable determination methods of the present invention, including：
1）Set and judge cycle T, judge industrial camera and shaft encoder identical sampling number n in cycle T, i.e., each
Sampling interval duration Δt=T/n, and set with m ΔstFor the sampling process different time sections of time interval, same period T point
Analysis cycle T1、T2、T3…Tz, and preseting length S1 and S2 be the threshold values for judging whether disorder cable, wherein m≤n, S2 ＞ S1；
2）Industrial camera continuous acquisition reel volume put during steel wire rope image and pass to industrial computer；
3）Image is carried out industrial computer gray processing and thresholding is processed, and steel wire rope is separated from background；
4）Set a horizontal line on image near mandrel surface after thresholding process, above the horizontal line, steel
Cord region arranges a kind of color A, and other regions arrange another kind of color B, the pixel water of color a-quadrant above selected level line
Rope stretching position of the meansigma methodss of flat coordinate figure for steel wire rope；
5）Steel wire rope is set under different winding layers, extreme position of the reel rope stretching position at reel width two ends is Ai、
Bi, wherein i=1,2 ... j are i-th layer of winding layer from inside to outside on reel 1；
6）The T that industrial computer analysis is set with time order and function1、T2、T3…TzThe reel of shaft encoder measurement in a cycle T
The reel volume of the anglec of rotation and industrial camera measurement puts the rope stretching position of steel wire rope：
If a) in a cycle T, rope stretching position does not reach AiOr Bi, then
If the anglec of rotation of the reel of the measurement of shaft encoder 5 persistently changes, and the rope stretching final position of steel wire rope and starting
The absolute difference of position is in the range of the threshold values S1 of setting or more than or equal to threshold values S2, then judge that reel winding process is sent out
Raw disorder cable state, and reported to the police；
If the anglec of rotation of the reel of shaft encoder measurement persistently changes, and the rope stretching final position of steel wire rope and start bit
The absolute difference that puts is beyond the threshold values S1 for setting, and less than threshold values S2, then judges that reel winding process does not occur disorder cable；
If the anglec of rotation of the reel of shaft encoder measurement has identical value, judge that reel stops winding.
If b) in a cycle T, rope stretching position reaches AiOr Bi, then
If the anglec of rotation of the reel of shaft encoder measurement persistently changes, and the rope stretching final position of steel wire rope and start bit
Put each and AiOr BiThe absolute value sum of position coordinateses difference is in the range of the threshold values S1 of setting or more than or equal to threshold values
S2, then judge that reel winding process occurs disorder cable state, and reported to the police；
If the anglec of rotation of the reel of shaft encoder measurement persistently changes, and the rope stretching final position of steel wire rope and start bit
Put each and AiOr BiThe absolute value sum of position coordinateses difference is beyond the threshold values S1 for setting, and is less than threshold values S2, then judge volume
There is no disorder cable in cylinder winding process；
If the anglec of rotation of the reel of shaft encoder measurement has identical value, judge that reel stops winding.
Beneficial effect, using above-mentioned technical proposal, with advantages below：
1）The part of monitoring system composition is few, need not change the structure of reel, easy for installation, low cost, less investment；
2）The running status for having used machine vision technique put steel wire rope to winding reel volume carries out contactless prison
Survey, and the anglec of rotation for reel being measured with reference to shaft encoder carries out disorder cable and judges the warning with disorder cable state, it is achieved that mine is carried
The real time implementation of liter machine cable drum disorder cable monitoring, visualization, automatization, intellectuality, it is ensured that the peace of mine hoist winding drum
Row for the national games.
Description of the drawings：
Fig. 1 is a kind of Mine Elevator Wire Rope reel disorder cable monitoring system layout figure of the invention.
Fig. 2 is the steel wire rope image schematic diagram after gray processing and thresholding are processed.
Fig. 3 is the extreme position schematic diagram at reel width two ends.
In figure, 1, reel；2nd, industrial camera；3rd, shaft encoder；4th, data collecting card；5th, host computer；6th, steel wire rope；7th, lead to
News cable；8th, horizontal line.
Specific embodiment
A kind of mine hoist of the invention is wound by reel disorder cable monitoring system and is sentenced below in conjunction with accompanying drawing and instantiation
Disconnected method is made to specifically describe in detail.
Embodiment：The present invention includes monitoring system and monitoring method.
Fig. 1 is a kind of Mine Elevator Wire Rope reel disorder cable monitoring system layout figure of the invention.The monitoring system includes：
It is arranged on rear or inferoanterior industrial camera 2 in 1 middle rope stretching of reel, the axle for being arranged on 1 shaft end of reel and being connected with axle
Encoder 3, the data collecting card 4 being sequentially connected with shaft encoder 3 and industrial computer 5；Industrial camera 2 is by cable 7 and industrial computer 5
Connection.
A kind of Mine Elevator Wire Rope reel disorder cable determination methods, specifically：
1）Industrial computer 5 sets and judges cycle T, judges industrial camera 2 and 3 identical sampling number of shaft encoder in cycle T
N, i.e., each sampling interval duration Δt=T/n, and set with m ΔstFor the sampling process different time sections of time interval, phase
Analytical cycle T with cycle T1、T2、T3…Tz, and preseting length S1 and S2 be the threshold values for judging whether disorder cable, wherein m≤n,
S2〉S1；
2）By industrial camera 2 installed in 1 back upper place of cable drum, industrial camera 2 is enable to photograph steel wire rope 6 completely
Rope stretching position on reel 1；Connect industrial camera 2 and host computer 5 with communication cable 7.
3）2 continuous acquisition reel of industrial camera volume 1 put during steel wire rope 6 image and pass to industrial computer 5；
4）Image is carried out industrial computer 5 gray processing and thresholding is processed, and steel wire rope 6 is separated from background；
5）A horizontal line 8 on image near 1 surface of reel after thresholding process is set, above the horizontal line 8,
Steel wire rope region arranges a kind of color A（Such as black）, other regions arrange another kind of color B（Such as white）, selected level
Rope stretching position of the meansigma methodss of the pixel level coordinate figure of 8 top color a-quadrant of line for steel wire rope 6；
6）Industrial computer 5 set steel wire rope 6 under different winding layers, the limit of the 1 rope stretching position of reel at 1 width two ends of reel
Position is Ai、Bi, wherein i=1,2 ... j are i-th layer of winding layer from inside to outside on reel 1；
7）Industrial computer 5 analyzes the T set with time order and function1、T2、T3…TzThe rotation of the measurement of shaft encoder 5 in a cycle T
The reel volume 1 of gyration and the measurement of industrial camera 2 puts the rope stretching position of steel wire rope 6：
If a) in a cycle T, rope stretching position does not reach AiOr Bi, then
If the anglec of rotation of reel 1 of the measurement of shaft encoder 5 persistently changes, and the rope stretching final position of steel wire rope 6 with rise
The absolute difference of beginning position is in the range of the threshold values S1 of setting or more than or equal to threshold values S2, then judges that reel 1 wound
Cheng Fasheng disorder cable states, and reported to the police；
If the anglec of rotation of reel 1 of the measurement of shaft encoder 5 persistently changes, and the rope stretching final position of steel wire rope 6 with rise
The absolute difference of beginning position is beyond the threshold values S1 for setting, and less than threshold values S2, then judges that 1 winding process of reel does not occur unrest
Rope；
If the anglec of rotation of the reel 1 of the measurement of shaft encoder 5 has identical value, judge that reel 1 stops winding.
If b) in a cycle T, rope stretching position reaches AiOr Bi, then
If the anglec of rotation of reel 1 of the measurement of shaft encoder 5 persistently changes, and the rope stretching final position of steel wire rope 6 with rise
Beginning position is each and AiOr BiThe absolute value sum of position coordinateses difference is in the range of the threshold values S1 of setting or is more than or equal to
Threshold values S2, then judge that 1 winding process of reel occurs disorder cable state, and reported to the police；
If the anglec of rotation of reel 1 of the measurement of shaft encoder 5 persistently changes, and the rope stretching final position of steel wire rope 6 with rise
Beginning position is each and AiOr BiThe absolute value sum of position coordinateses difference is beyond the threshold values S1 for setting, and less than threshold values S2, then sentences
There is no disorder cable in 1 winding process of disconnected reel；
If the anglec of rotation of the reel 1 of the measurement of shaft encoder 5 has identical value, judge that reel 1 stops winding.
Claims (1)
1. a kind of mine hoist winds the determination methods of reel disorder cable monitoring system, it is characterized in that：Including arranging within the roll
Between rear or inferoanterior industrial camera, the shaft encoder for being arranged on reel shaft end and being connected with axle in rope stretching, encode with axle
Data collecting card and industrial computer that device is sequentially connected；Described industrial camera is connected with industrial computer by communication cable；
It is characterized in that：
1）Set and judge cycle T, judge industrial camera and shaft encoder identical sampling number n, i.e., each sampling in cycle T
Interval time Δt=T/n, and set with m ΔstFor the sampling process different time sections of time interval, the analysis week of same period T
Phase T1、T2、T3…Tz, and preseting length S1 and S2 be the threshold values for judging whether disorder cable, wherein m≤n, S2 ＞ S1；
2）Industrial camera continuous acquisition reel volume put during steel wire rope image and pass to industrial computer；
3）Image is carried out industrial computer gray processing and thresholding is processed, and steel wire rope is separated from background；
4）Set a horizontal line on image near mandrel surface after thresholding process, above the horizontal line, steel wire rope
Region arranges a kind of color A, and other regions arrange another kind of color B, and above selected level line, the pixel level of color a-quadrant is sat
Rope stretching position of the meansigma methodss of scale value for steel wire rope；
5）Steel wire rope is set under different winding layers, extreme position of the reel rope stretching position at reel width two ends is Ai、Bi, its
Middle i=1,2 ... j, are i-th layer of winding layer from inside to outside on reel；
6）The T that industrial computer analysis is set with time order and function1、T2、T3…TzThe reel anglec of rotation of shaft encoder measurement in a cycle T
The reel volume of degree and industrial camera measurement puts the rope stretching position of steel wire rope：
If a) in a cycle T, rope stretching position does not reach AiOr Bi, then
If the anglec of rotation of the reel of shaft encoder measurement persistently changes, and the rope stretching final position of steel wire rope and original position
Absolute difference is in the range of the threshold values S1 of setting or more than or equal to threshold values S2, then judge that reel winding process occurs disorder cable
State, and reported to the police；
If the anglec of rotation of the reel of shaft encoder measurement persistently changes, and the rope stretching final position of steel wire rope and original position
Absolute difference is beyond the threshold values S1 for setting, and less than threshold values S2, then judges that reel winding process does not occur disorder cable；
If the anglec of rotation of the reel of shaft encoder measurement has identical value, judge that reel stops winding；
If b) in a cycle T, rope stretching position reaches AiOr Bi, then
If the anglec of rotation of the reel of shaft encoder measurement persistently changes, and the rope stretching final position of steel wire rope is each with original position
From with AiOr BiThe absolute value sum of position coordinateses difference is in the range of the threshold values S1 of setting or is more than or equal to threshold values S2, then
Judge that reel winding process occurs disorder cable state, and reported to the police；
If the anglec of rotation of the reel of shaft encoder measurement persistently changes, and the rope stretching final position of steel wire rope is each with original position
From with AiOr BiThe absolute value sum of position coordinateses difference is beyond the threshold values S1 for setting, and less than threshold values S2, then judges that reel is rolled up
There is no disorder cable around process；
If the anglec of rotation of the reel of shaft encoder measurement has identical value, judge that reel stops winding.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826012.XA CN104477723B (en) | 2014-12-25 | 2014-12-25 | A kind of mine hoist winds the determination methods of reel disorder cable monitoring system |
| PCT/CN2015/078848 WO2016101500A1 (en) | 2014-12-25 | 2015-05-13 | Disorder rope monitoring system and judging method for winding reel of mine hoist |
| AU2015372216A AU2015372216B2 (en) | 2014-12-25 | 2015-05-13 | Disorder rope monitoring system and judging method for winding reel of mine hoist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826012.XA CN104477723B (en) | 2014-12-25 | 2014-12-25 | A kind of mine hoist winds the determination methods of reel disorder cable monitoring system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104477723A CN104477723A (en) | 2015-04-01 |
| CN104477723B true CN104477723B (en) | 2017-03-15 |
Family
ID=52752372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410826012.XA Active CN104477723B (en) | 2014-12-25 | 2014-12-25 | A kind of mine hoist winds the determination methods of reel disorder cable monitoring system |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN104477723B (en) |
| AU (1) | AU2015372216B2 (en) |
| WO (1) | WO2016101500A1 (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104477723B (en) * | 2014-12-25 | 2017-03-15 | 中国矿业大学 | A kind of mine hoist winds the determination methods of reel disorder cable monitoring system |
| CN105347129B (en) * | 2015-12-03 | 2018-01-19 | 中国矿业大学 | A kind of wound form roller volume puts steel wire rope moving state identification System and method for |
| US10544012B2 (en) | 2016-01-29 | 2020-01-28 | Manitowoc Crane Companies, Llc | Visual outrigger monitoring system |
| CN106365061B (en) * | 2016-08-31 | 2018-05-18 | 永春德鑫服饰有限公司 | A kind of hawser safety monitoring assembly of elevator machine cylinder side installation |
| US10717631B2 (en) | 2016-11-22 | 2020-07-21 | Manitowoc Crane Companies, Llc | Optical detection and analysis of crane hoist and rope |
| JP6676572B2 (en) * | 2017-03-29 | 2020-04-08 | Ckd株式会社 | Inspection device and winding device |
| CN107403443B (en) * | 2017-07-28 | 2019-10-25 | 中南大学 | A kind of more rope multi-lay windings row's rope form state online test method and device based on machine vision |
| CN107973195A (en) * | 2017-12-12 | 2018-05-01 | 中国矿业大学 | A kind of method that lifting system load-carrying is confirmed based on image recognition |
| CN108910635A (en) * | 2018-06-26 | 2018-11-30 | 太原理工大学 | A kind of tail rope monitoring device of mine hoisting system |
| CN109095376A (en) * | 2018-09-13 | 2018-12-28 | 徐州建机工程机械有限公司 | A kind of tower crane safety monitoring system and method |
| CN109292549B (en) * | 2018-09-28 | 2024-06-21 | 中国科学院光电研究院 | Cable containing equipment |
| CN111392626A (en) * | 2020-04-30 | 2020-07-10 | 中国水利水电夹江水工机械有限公司 | Rope disorder detection method and detection device |
| JP2022138304A (en) * | 2021-03-10 | 2022-09-26 | コベルコ建機株式会社 | Winch monitoring method, winch monitoring device, crane |
| CN112862817A (en) * | 2021-03-16 | 2021-05-28 | 精英数智科技股份有限公司 | Roller rope disorder detection method and device based on machine vision |
| CN113247812A (en) * | 2021-06-03 | 2021-08-13 | 中国海洋石油集团有限公司 | Wire rope reel rope disorder fault early warning device using infrared distance measurement technology |
| CN114057106B (en) * | 2021-10-28 | 2023-08-01 | 湖南三一中型起重机械有限公司 | Double-winch rope disorder recognition method and device and computer readable storage medium |
| CN114059793B (en) * | 2021-12-01 | 2022-11-18 | 成都理工大学 | Civil engineering building structure reinforcing apparatus |
| CN116735079B (en) * | 2023-08-15 | 2023-11-14 | 山东宇飞传动技术有限公司 | Mining winch balance detection equipment and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0256397A (en) * | 1988-08-22 | 1990-02-26 | Toshiba Corp | Checking device for crane wore rope |
| JPH08178868A (en) * | 1994-12-26 | 1996-07-12 | Japan Aircraft Mfg Co Ltd | Fiber cord automatic detecting method and device |
| CN2658135Y (en) * | 2003-09-29 | 2004-11-24 | 三一汽车制造有限公司 | Capstan and mechanism for winding rop in orderly |
| CN2832768Y (en) * | 2005-10-09 | 2006-11-01 | 陈兴国 | Anti-eccentric calibration type steel rope drive ropewinder |
| CN101264851B (en) * | 2008-05-12 | 2010-08-18 | 湖南三一起重机械有限公司 | Crane disorderly rope alarm method and device, and crane using the same device |
| US8548742B2 (en) * | 2008-10-21 | 2013-10-01 | National Oilwell Varco L.P. | Non-contact measurement systems for wireline and coiled tubing |
| CN201834700U (en) * | 2010-08-12 | 2011-05-18 | 三一汽车起重机械有限公司 | Rope tangling alarm monitoring device, crane provided with same and winch thereof |
| CN201999675U (en) * | 2011-02-16 | 2011-10-05 | 长沙中联重工科技发展股份有限公司 | Tower crane roller monitoring device |
| CN202098957U (en) * | 2011-06-25 | 2012-01-04 | 昆明有色冶金设计研究院股份公司 | Video-monitoring automatic switching device of mine hoist |
| CN103466490B (en) * | 2012-09-27 | 2015-06-24 | 中联重科股份有限公司 | Crane control method and system based on image processing and crane |
| CN104477723B (en) * | 2014-12-25 | 2017-03-15 | 中国矿业大学 | A kind of mine hoist winds the determination methods of reel disorder cable monitoring system |
-
2014
- 2014-12-25 CN CN201410826012.XA patent/CN104477723B/en active Active
-
2015
- 2015-05-13 WO PCT/CN2015/078848 patent/WO2016101500A1/en active Application Filing
- 2015-05-13 AU AU2015372216A patent/AU2015372216B2/en not_active Ceased
Also Published As
| Publication number | Publication date |
|---|---|
| AU2015372216A1 (en) | 2016-07-28 |
| WO2016101500A1 (en) | 2016-06-30 |
| CN104477723A (en) | 2015-04-01 |
| AU2015372216B2 (en) | 2017-07-06 |
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Address after: 221116 Research Institute of China University of Mining and Technology,, Jiangsu Applicant after: China Mining Technology Univ. Address before: 221116 Research Institute, China University of Mining and Technology, Xuzhou University, Jiangsu, China, Applicant before: China Mining Technology Univ. |
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| CB03 | Change of inventor or designer information |
Inventor after: Cao Guohua Inventor after: Shen Gang Inventor after: Zhang Jian Inventor after: Niu Yanjun Inventor after: Zhu Zhencai Inventor after: Peng Weihong Inventor after: Wang Naige Inventor after: Wang Yandong Inventor after: Wang Jinjie Inventor after: Peng Yuxing Inventor after: Liu Shanzeng Inventor before: Cao Guohua Inventor before: Shen Gang Inventor before: Niu Yanjun Inventor before: Zhu Zhencai Inventor before: Peng Weihong Inventor before: Wang Naige Inventor before: Wang Yandong Inventor before: Wang Jinjie Inventor before: Peng Yuxing Inventor before: Liu Shanzeng |
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| COR | Change of bibliographic data | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |