CN105460820B - Cable rolling electrofluidic control device and electric propulsion engineering truck - Google Patents
Cable rolling electrofluidic control device and electric propulsion engineering truck Download PDFInfo
- Publication number
- CN105460820B CN105460820B CN201610040363.7A CN201610040363A CN105460820B CN 105460820 B CN105460820 B CN 105460820B CN 201610040363 A CN201610040363 A CN 201610040363A CN 105460820 B CN105460820 B CN 105460820B
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- Prior art keywords
- motor
- valve
- pressure sensor
- reversal valve
- oil
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Classifications
-
- 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
- B66D1/02—Driving gear
- B66D1/08—Driving gear incorporating fluid motors
-
- 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
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
Abstract
The present invention relates to a kind of cable rolling electrofluidic control device and electric propulsion engineering truck, wherein, cable rolling electrofluidic control device includes motor, the motor is drivingly connected spooling system, the oil circuit connected with the left chamber of the motor is equipped with first pressure sensor, the oil circuit connected with the right chamber of the motor is equipped with second pressure sensor, oil circuit where the motor is additionally provided with electric proportional throttle valve, and the first pressure sensor, the second pressure sensor and the electric proportional throttle valve are electrically connected controller；In take-up state and cable laying state, the controller can be judged according to the signal that the first pressure sensor and the second pressure sensor transmit, and the opening of the electric proportional throttle valve be controlled, to adjust the back pressure of the motor.The present invention on demand can be adjusted folding and unfolding cable tension force in real time, and simple in structure, cost is low.
Description
Technical field
The present invention relates to engineering machinery field, more particularly to a kind of cable rolling electrofluidic control device and electric propulsion engineering truck
.
Background technology
Electric propulsion engineering truck is a kind of using electric power as power source, and the engineering truck of power transmission medium is used as using cable
, one end of cable is fixed on consumer unit through anchor, and the other end is fixed on car body after elevator is wound.If vehicle travels
Away from consumer unit, then payout is rolled up in elevator passive rotation under cable tension effect；If vehicle traveling is close to consumer unit, elevator
Active rotation furls cable under motor driving effect.Realize that twisted and released of the cable following vehicle travels shape by coil cable control device
State changes.
Existing coil cable control device General System is more complicated, and energy loss is larger, and cost is higher, and take-up is without back pressure tune
Section, cable are also easy to produce fluctuation；Take-up, cable laying state switching moment, system produce opposite traffic grooming it is improper, easily produce compared with
Big compression shock；Also some coil cable control devices on demand cannot carry out cable stretch adjusting, it is necessary to control manually in real time；Also
Though there are some coil cable control devices that cable stretch can be adjusted on demand, pilot control mode is more employed, it is real
When property is bad.
The content of the invention
The purpose of the present invention is to propose to a kind of cable rolling electrofluidic control device and electric propulsion engineering truck, its is simple in structure,
Folding and unfolding cable tensile force can be adjusted in real time.
To achieve the above object, the present invention provides a kind of cable rolling electrofluidic control device, it includes motor, and the motor drives
Dynamic connection spooling system, the oil circuit connected with the left chamber of the motor are equipped with first pressure sensor, the right chamber with the motor
The oil circuit of connection is equipped with second pressure sensor, and the oil circuit where the motor is additionally provided with electric proportional throttle valve, first pressure
Force snesor, the second pressure sensor and the electric proportional throttle valve are electrically connected controller；In take-up state and cable laying
State, the controller can be carried out according to the signal that the first pressure sensor and the second pressure sensor transmit
Judge, the opening of the electric proportional throttle valve is controlled, to adjust the back pressure of the motor.
One preferably or in alternative embodiment, cable rolling electrofluidic control device includes reversal valve, two works of the reversal valve
The left chamber and right chamber of the motor are respectively communicated with as hydraulic fluid port；Take-up state, the reversal valve in the first working position, the motor
Left chamber oil inlet, the right chamber oil return of the motor；Cable laying state, the reversal valve in the second working position, the right chamber of the motor into
Oil, the left chamber oil return of the motor.
One preferably or in alternative embodiment, the right chamber of the motor also connects fuel tank, cable laying state, and the reversal valve exists
Second working position, two actuator ports connection of the reversal valve, the oil return of the left chamber of the motor by the reversal valve into
Enter the right chamber of the motor.
One preferably or in alternative embodiment, the oil circuit that the right chamber of the motor is connected with fuel tank is equipped with the first check valve,
The oil inlet connection fuel tank of first check valve, the oil outlet of first check valve connect the right chamber of the motor.
One preferably or in alternative embodiment, the electricity proportional throttle valve is arranged on the right chamber of the motor and the reversal valve
Actuator port connection oil circuit.
One preferably or in alternative embodiment, oil circuit that the left chamber of the motor is connected with the actuator port of the reversal valve
Equipped with throttle valve.
One preferably or in alternative embodiment, the reversal valve is pilot operated directional control valve, the throttle valve and the reversal valve
The first control oil circuit is connected to by the oil circuit of actuator port connection, the first control of reversal valve described in the first control oil communication
End, for controlling the reversal valve to be in the first working position, connects by the oil circuit that the throttle valve is connected with the left chamber of the motor
There is the second control oil circuit, the second control terminal of reversal valve described in the second control oil communication, for controlling the reversal valve
In the second working position.
One preferably or in alternative embodiment, the oil inlet of the reversal valve connects fuel tank, the driving by transfer tube
Pump as automatically controlled variable pump.
One preferably or in alternative embodiment, the throttle valve is equipped with the oil circuit that the actuator port of the reversal valve connects
3rd pressure sensor, the first pressure sensor are arranged on the oil circuit that the throttle valve is connected with the left chamber of the motor, institute
State the 3rd pressure sensor and the automatically controlled variable pump is electrically connected controller；The controller can be passed according to the first pressure
Sensor and the signal of the 3rd pressure sensor transmission are judged, the discharge capacity of the transfer tube are controlled, to adjust the horse
The rotating speed reached.
To achieve the above object, present invention also offers a kind of electric propulsion engineering truck, it includes any of the above-described implementation
Cable rolling electrofluidic control device in example.
Based on above-mentioned technical proposal, the present invention at least has the advantages that：
Cable rolling electrofluidic control device provided by the invention is respectively equipped with first pressure sensor and the second pressure in motor both sides
Force snesor, first pressure sensor and second pressure sensor are electrically connected controller, in take-up state and cable laying state, control
Device processed can be judged according to the signal that first pressure sensor and second pressure sensor transmit, first pressure sensor
Difference with the pressure signal of second pressure sensor collection is the pressure difference of motor, and controller is according to the pressure difference of motor, control
The opening of electric proportional throttle valve, to adjust the back pressure of motor, and then on demand can be adjusted folding and unfolding cable tension force in real time, structure
Simply, cost is low.
Brief description of the drawings
Attached drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the principle schematic of cable rolling electrofluidic control device provided by the invention.
Attached figure label：
1- motors；2- spooling systems；3- first pressure sensors；4- second pressure sensors；5- electricity proportional throttle valves；6-
Controller；7- reversal valves；8- fuel tanks；The first check valves of 9-；10- throttle valves；The 3rd pressure sensors of 11-；12- transfer tubes；13-
Second check valve.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in embodiment is clearly and completely retouched
State.Obviously, described embodiment is only the part of the embodiment of the present invention, instead of all the embodiments.Based on this hair
Bright embodiment, the every other implementation that those of ordinary skill in the art are obtained without creative efforts
Example, belongs to the scope of protection of the invention.
In the description of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " is based on attached drawing institutes
The orientation or position relationship shown, is for only for ease of the description present invention and simplifies description, rather than instruction or the dress for implying meaning
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that the present invention is protected
The limitation of scope.
As shown in Figure 1, it is the illustrative examples of cable rolling electrofluidic control device provided by the invention, in the schematic implementation
In example, cable rolling electrofluidic control device includes motor 1, and motor 1 is drivingly connected spooling system 2, the rotation winding cable of spooling system 2；
The oil circuit connected with the left chamber of motor 1 is equipped with first pressure sensor 3, and first pressure sensor 3 is used for the left chamber for detecting motor 1
Pressure, the oil circuit connected with the right chamber of motor 1 is equipped with second pressure sensor 4, and second pressure sensor 4 is used to detect motor
The pressure of 1 right chamber, the oil circuit where motor 1 are additionally provided with electric proportional throttle valve 5, first pressure sensor 3, second pressure sensing
Device 4 and electric proportional throttle valve 5 are electrically connected controller 6；In take-up state and cable laying state, controller 6 can be according to first
The signal that pressure sensor 3 and second pressure sensor 4 transmit is judged that first pressure sensor 3 is sensed with second pressure
The difference for the pressure signal that device 4 gathers is the pressure difference of motor 1, and controller 6 controls electric ratio throttling according to the pressure difference of motor 1
The opening of valve 5, to adjust the back pressure of motor 1, and then on demand can be adjusted folding and unfolding cable tension force in real time.
5 one valve multipotency of electric proportional throttle valve in above-described embodiment, can be used as the back pressure tune of motor 1 when take-up or cable laying
Section, take-up status adjustment back pressure can reduce cable fluctuation, and cable laying status adjustment back pressure can adjust cable stretch and reduce ripple
It is dynamic.
Cable rolling electrofluidic control device provided by the invention, can improve cable rolling control performance, and it is unfavorable to improve cable fluctuation etc.
Factor, system is succinct, cost is low, and being easily integrated, and has certain economic benefit and social benefit.
Cable rolling electrofluidic control device provided by the invention further includes reversal valve 7, and two actuator ports of reversal valve 7 connect respectively
The left chamber and right chamber of logical motor 1；The oil inlet of reversal valve 7 connects fuel tank 8, the oil outlet connection of reversal valve 7 by transfer tube 12
Fuel tank 8, the right chamber of motor 1 also connect fuel tank 8.Electric proportional throttle valve 5 is arranged on the right chamber of motor 1 and the actuator port of reversal valve 7
On the oil circuit of connection.
Reversal valve 7 has two working positions, take-up state, and reversal valve 7 leads in the first working position, the oil inlet of reversal valve 7
Cross the left chamber of actuator port connection motor 1, the left chamber oil inlet of motor 1, another work that the right chamber of motor 1 passes through reversal valve 7
Hydraulic fluid port connects the oil outlet of reversal valve 7, the right chamber oil return of motor 1；Cable laying state, reversal valve 7 is in the second working position, reversal valve 7
The connection of two actuator ports, the oil inlet of reversal valve 7 connects with oil outlet, the right chamber oil inlet of motor 1, the left chamber time of motor 1
Oil, the oil return of the left chamber of motor 1 enter the right chamber of motor 1 by two actuator ports of reversal valve 7.
The oil circuit that the right chamber of motor 1 is connected with fuel tank 8 is equipped with the first check valve 9, the oil inlet connection oil of the first check valve 9
Case 8, the right chamber of the oil outlet connection motor 1 of the first check valve 9.First check valve 9 can be mended in payout process for closed circuit
Oil, prevents the oil of the right chamber of motor 1 from flowing backwards oil return box 8.
The oil circuit that the left chamber of motor 1 is connected with the actuator port of reversal valve 7 is equipped with throttle valve 10.Reversal valve 7 changes for hydraulic control
To valve, the first control oil circuit is connected to by the oil circuit that throttle valve 10 is connected with 7 actuator port of reversal valve, the first control oil communication changes
To the first control terminal of valve 7, for controlling reversal valve 7 to be in the first working position, the oil that throttle valve 10 is connected with the left chamber of motor 1
Roadside is connected to the second control oil circuit, the second control terminal of the second control oil communication reversal valve 7, for controlling reversal valve 7 to be in
Second working position.
Take-up state, the upstream pressure of throttle valve 10 are more than downstream pressure, and reversal valve 7 is in the first working position；Hydraulic oil
Pass sequentially through reversal valve 7, throttle valve 10, motor 1, electric proportional throttle valve 5, pilot operated directional control valve 7, last oil return box 8.
Cable laying state, motor 1 are inverted to pump under external force, and hydraulic oil is sucked from the right chamber of motor 1, from motor 1
Left chamber is discharged, and the upstream pressure of throttle valve 10 is less than downstream pressure at this time, and 7 moment of reversal valve automatically switches to the second working position,
Hydraulic system forms closed circuit, and hydraulic oil passes sequentially through throttle valve 10, reversal valve 7, electric proportional throttle valve 5 from the discharge of motor 1
It is again introduced into motor 1；First check valve 9 can be conducive to supplement hydraulic oil for closed circuit, prevent motor 1 to be emptied.
On the basis of the various embodiments described above, the oil inlet of reversal valve 7 connects fuel tank 8, transfer tube 12 by transfer tube 12
Automatically controlled variable pump can be used.The oil circuit that throttle valve 10 is connected with the actuator port of reversal valve 7 is equipped with the 3rd pressure sensor 11,
3rd pressure sensor 11 is used for the upstream pressure for detecting throttle valve 10；First pressure sensor 3 is arranged on throttle valve 10 and motor 1
The oil circuit of left chamber connection, first pressure sensor 3 are used for the downstream pressure for detecting throttle valve 10；3rd pressure sensor 11 and drive
Dynamic pump 12 is electrically connected controller 6；The letter that controller 6 can be transmitted according to 3 and the 3rd pressure sensor 11 of first pressure sensor
Number judged, the difference of 3 and the 3rd pressure sensor 11 of first pressure sensor collection signal is the pressure difference of throttle valve 10；
Controller 6 controls the discharge capacity of transfer tube 12 according to the pressure difference of throttle valve 10, to adjust the rotating speed of motor 1.
Preferably or in alternative embodiment, second is also provided with the oil circuit that transfer tube 12 is connected with reversal valve 7 one
Check valve 13, the oil inlet connection transfer tube 12 of the second check valve 13, the oil outlet connection reversal valve 7 of the second check valve 13, the
Two check valves 13 can prevent fluid from flowing back, and protect transfer tube 12.
In above-mentioned each embodiment, reversal valve 7 can be two-position four-way pilot operated directional control valve, the first working oil of reversal valve 7
Mouth A is connected with the left chamber of motor 1, and the second actuator port B of reversal valve 7 is connected with the right chamber of motor 1, the oil inlet P of reversal valve 7
Transfer tube 12, the oil outlet T connection fuel tanks 8 of reversal valve 7 are connected, reversal valve 7 connects in the first working position, the oil inlet P of reversal valve 7
Logical first actuator port A, the oil outlet T of reversal valve 7 connect the second actuator port B, and reversal valve 7 is in the second working position, reversal valve 7
The first actuator port A connect the second actuator port B, the oil inlet P connection oil outlet T of reversal valve 7.Throttle valve 10 can produce
Appropriate pressure drop, driving two-position four-way pilot operated directional control valve commutation, can be according to folding and unfolding cable state auto-switching working position, take-up
Open circuit is formed, cable laying forms closed circuit.
In above-mentioned each embodiment, controller 6 can gather the signal of each pressure sensor, and control transfer tube 12 and electricity
Proportional throttle valve 5.
With reference to the specific embodiment shown in Fig. 1, cable rolling electrofluidic control device is described in detail in take-up state and anti-cable
The operating process of state：
Take-up state：The upstream pressure of throttle valve 10 is more than downstream pressure at this time, and reversal valve 7 is in the first working position；Liquid
Pressure oil from the output of transfer tube 12 pass sequentially through the second check valve 13, reversal valve 7, throttle valve 10, motor 1, electric proportional throttle valve 5,
Reversal valve 7, last oil return box 8；The signal meter that controller 6 is gathered according to 3 and the 3rd pressure sensor 11 of first pressure sensor
The differential pressure conditions of gained current throttle valve 10 are calculated, controlling the discharge capacity of transfer tube 12, controller 6 is at the same time to adjust the rotating speed of motor 1
The signal gathered always according to first pressure sensor 3 and second pressure sensor 4 calculates the differential pressure conditions of gained present motor 1,
The opening of the electric proportional throttle valve 5 of control, to adjust 1 back pressure of motor, that is, adjusts cable stretch.
Cable laying state：Motor 1 is inverted to pump under external force, and hydraulic oil is sucked from the right chamber of motor 1, from motor 1
Left chamber is discharged, and the upstream pressure of throttle valve 10 is less than downstream pressure at this time, and 7 moment of reversal valve automatically switches to the second working position,
Hydraulic system forms closed circuit, and hydraulic oil passes sequentially through throttle valve 10, reversal valve 7, electric proportional throttle valve 5 from the discharge of motor 1,
It is again introduced into motor 1；Set the first check valve 9 to be easy to supplement hydraulic oil for closed circuit, prevent motor 1 to be emptied；Transfer tube 12
Outlet lead to fuel tank 8；Controller 6 calculates differential pressure conditions (the i.e. valve of throttle valve 10 of gained current throttle valve 10 according to collection
Preceding pressure is less than downstream pressure), control the discharge capacity of transfer tube 12 as minimum, controller 6 according to the differential pressure conditions of present motor 1,
The opening of the electric proportional throttle valve 5 of control, to adjust 1 back pressure of motor, that is, adjusts cable stretch.
In addition, 1 side of rotation of motor can directly be judged by 3 and the 3rd pressure sensor 11 of first pressure sensor
To i.e. take-up, cable laying state；It is take-up state if 11 detected value of the 3rd pressure sensor is more than first pressure sensor 3；
It is cable laying state if 11 detected value of the 3rd pressure sensor is less than first pressure sensor 3.
Present invention also offers a kind of electric propulsion engineering truck, it includes the electro-hydraulic control of cable rolling in any of the above-described embodiment
Device processed.
By the description of above-mentioned each embodiment, can derive：Cable rolling electrofluidic control device provided by the invention, possesses
The control of cable rolling motor rotary speed, back pressure control and follow the critical functions such as twisted and released of the cable automatic reverse so that vehicle is in whole row
During sailing, the active take-up of spooling system and passive cable laying can be easily realized, and folding and unfolding cable tension force is carried out on demand real
When adjust, and then realize cable rolling synchronization；And system loss and compression shock are small, system is succinct, cost is low.
In the description of the present invention, it is to be understood that limit zero using the word such as " first ", " second ", " the 3rd "
Component, it is only for easy to be distinguished to above-mentioned parts, such as do not have Stated otherwise, above-mentioned word does not have special contain
Justice, therefore it is not intended that limiting the scope of the invention.
Finally it should be noted that:The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
It can modify to the embodiment of the present invention or equivalent substitution is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical solution, it should all cover among the claimed technical solution scope of the present invention.
Claims (8)
- A kind of 1. cable rolling electrofluidic control device, it is characterised in that：Including motor (1), the motor (1) is drivingly connected spooling system (2), the oil circuit connected with the left chamber of the motor (1) is equipped with first pressure sensor (3), connects with the right chamber of the motor (1) Logical oil circuit is equipped with second pressure sensor (4), and the oil circuit where the motor (1) is additionally provided with electric proportional throttle valve (5), described First pressure sensor (3), the second pressure sensor (4) and the electric proportional throttle valve (5) are electrically connected controller (6)；In take-up state and cable laying state, the controller (6) can be according to the first pressure sensor (3) and described The signal of two pressure sensors (4) transmission is judged, the opening of the electric proportional throttle valve (5) is controlled, to adjust the horse Up to the back pressure of (1)；Including reversal valve (7), two actuator ports of the reversal valve (7) are respectively communicated with the left chamber and right chamber of the motor (1)； Take-up state, the reversal valve (7) are returned in the first working position, the left chamber oil inlet of the motor (1), the right chamber of the motor (1) Oil；Cable laying state, the reversal valve (7) is in the second working position, the right chamber oil inlet of the motor (1), the left chamber of the motor (1) Oil return；The electricity proportional throttle valve (5) is arranged on the oil that the right chamber of the motor (1) is connected with the actuator port of the reversal valve (7) Road.
- 2. cable rolling electrofluidic control device as claimed in claim 1, it is characterised in that：The right chamber of the motor (1) also connects oil Case (8), cable laying state, the reversal valve (7) are described in the second working position, two actuator ports connection of the reversal valve (7) The oil return of the left chamber of motor (1) enters the right chamber of the motor (1) by the reversal valve (7).
- 3. cable rolling electrofluidic control device as claimed in claim 2, it is characterised in that：The right chamber of the motor (1) and fuel tank (8) The oil circuit of connection is equipped with the first check valve (9), and the oil inlet connection fuel tank (8) of first check valve (9), described first is unidirectional The oil outlet of valve (9) connects the right chamber of the motor (1).
- 4. cable rolling electrofluidic control device as claimed in claim 1, it is characterised in that：The left chamber of the motor (1) is changed with described The oil circuit connected to the actuator port of valve (7) is equipped with throttle valve (10).
- 5. cable rolling electrofluidic control device as claimed in claim 4, it is characterised in that：The reversal valve (7) is pilot operated directional control valve, The first control oil circuit, first control are connected to by the oil circuit that the throttle valve (10) connects with the reversal valve (7) actuator port First control terminal of reversal valve (7) described in oil communication processed, it is described for controlling the reversal valve (7) to be in the first working position The second control oil circuit is connected to by the oil circuit that throttle valve (10) is connected with the left chamber of the motor (1), the second control oil circuit connects Lead to the second control terminal of the reversal valve (7), for controlling the reversal valve (7) to be in the second working position.
- 6. cable rolling electrofluidic control device as claimed in claim 4, it is characterised in that：The oil inlet of the reversal valve (7) passes through Transfer tube (12) connection fuel tank (8), the transfer tube (12) is automatically controlled variable pump.
- 7. cable rolling electrofluidic control device as claimed in claim 6, it is characterised in that：The throttle valve (10) and the reversal valve (7) oil circuit of actuator port connection is equipped with the 3rd pressure sensor (11), and the first pressure sensor (3) is arranged on the section The oil circuit that stream valve (10) is connected with the left chamber of the motor (1), the 3rd pressure sensor (11) and the automatically controlled variable pump It is electrically connected controller (6)；The controller (6) can be according to the first pressure sensor (3) and the 3rd pressure sensing The signal of device (11) transmission is judged, the discharge capacity of the transfer tube (12) is controlled, to adjust the rotating speed of the motor (1).
- A kind of 8. electric propulsion engineering truck, it is characterised in that：Including such as electro-hydraulic control of claim 1-7 any one of them cable rolling Device processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610040363.7A CN105460820B (en) | 2016-01-21 | 2016-01-21 | Cable rolling electrofluidic control device and electric propulsion engineering truck |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610040363.7A CN105460820B (en) | 2016-01-21 | 2016-01-21 | Cable rolling electrofluidic control device and electric propulsion engineering truck |
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| CN105460820A CN105460820A (en) | 2016-04-06 |
| CN105460820B true CN105460820B (en) | 2018-05-01 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108116620B (en) * | 2017-10-31 | 2019-08-02 | 武汉船用机械有限责任公司 | A kind of auto-tensioning control device and control method |
| CN108019387B (en) * | 2017-12-01 | 2019-12-06 | 三一重型装备有限公司 | Control oil way, cable winding device and heading machine |
| CN110836202A (en) * | 2019-12-05 | 2020-02-25 | 浙江大学 | Hydraulic source load self-adaptive system and self-adaptive control method thereof |
| CN112645163B (en) * | 2020-11-10 | 2022-12-27 | 中国煤炭科工集团太原研究院有限公司 | Cable winding device and control method of cable winding device |
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| US3965841A (en) * | 1974-04-26 | 1976-06-29 | CROeSE HENDRIK MAGCHIEL WILLEM | Method for hauling a vessel alongside a mooring platform |
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| Publication number | Publication date |
|---|---|
| CN105460820A (en) | 2016-04-06 |
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