CN106185624B - Crane hanger anti-swing mechanism and anti-shake drawstring tension control system - Google Patents
Crane hanger anti-swing mechanism and anti-shake drawstring tension control system Download PDFInfo
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- CN106185624B CN106185624B CN201610775538.9A CN201610775538A CN106185624B CN 106185624 B CN106185624 B CN 106185624B CN 201610775538 A CN201610775538 A CN 201610775538A CN 106185624 B CN106185624 B CN 106185624B
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- drawstring
- suspender
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- tension
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses crane hanger anti-swing mechanisms, it further include preventing shaking drawstring, the anti-one ends wound for shaking drawstring shakes on drawstring reel anti-, it is anti-shake drawstring reel by retarder with prevent that shaking drawstring reel motor connect, it is anti-shake drawstring reel motor and wave dynamic detector with suspender connect, suspender waves dynamic detector and connect with frequency converter, and frequency converter is connect with drawstring tension controller；The anti-other end for shaking drawstring is wrapped on hoisting drum, and the anti-drawstring that shakes passes through the first movable pulley being fixed on suspender and the fixed pulley being fixed on monkey；Further include raising line, one end of raising line is fixed on monkey, the other end with it is anti-shake drawstring with identical winding direction together be wrapped on hoisting drum, raising line passes through the second movable pulley being fixed on suspender.By the control to each anti-tension for shaking drawstring, drawstring tension controller can also do small adjustment to the position of suspender when needed and control.
Description
Technical field
The invention belongs to crane technical fields, and in particular to a kind of crane hanger anti-swing mechanism and anti-shake drawstring tension
Control system.
Background technique
The various cranes with special hanger, the container crane especially largely used in railway and harbour, work
Make rank height, the speed of service is fast, has very high requirement to suspender rocking-prevention function.In order to solve this problem, it is commonly used
The device that torque motor and one-way clutch and brake are combined, hydraulic damping device, or the scheme of simple torque motor are come
Solve the problems, such as that suspender waves.Existing suspender is anti-to shake scheme, and some scheme mechanical mechanisms are too complicated, and cost is too high, and maintenance is tired
Difficulty, some schemes are anti-to shake that effect is poor, and the effect of practical application is all not satisfactory.
Summary of the invention
The technical problem to be solved by the present invention is to the suspenders of the crane with special hanger, especially container crane
Flapping issue, the control of each anti-tension for shaking drawstring, drawstring tension controller can also when needed do the position of suspender micro-
Small adjustment control, to solve the above problems, the present invention provides a kind of crane hanger anti-swing mechanism and anti-shakes drawstring tension control
System processed.
The object of the present invention is achieved in the following manner:
Crane hanger anti-swing mechanism, including monkey further include preventing shaking drawstring, and the anti-one ends wound for shaking drawstring exists
It is anti-to shake on drawstring reel, it is anti-to shake drawstring reel and shake drawstring reel motor with anti-by retarder and connect, prevent shaking drawstring reel motor
It waves dynamic detector with suspender to connect, suspender waves dynamic detector and connect with frequency converter, frequency converter and drawstring tension force
Device connection；The anti-other end for shaking drawstring is wrapped on hoisting drum, and the anti-drawstring that shakes passes through the first movable pulley being fixed on suspender
With the fixed pulley being fixed on monkey；It further include raising line, one end of raising line is fixed on monkey, another
End with it is anti-shake drawstring with identical winding direction together be wrapped on hoisting drum, raising line passes through second be fixed on suspender
Movable pulley；The suspender wave dynamic detector also with it is anti-shake drawstring reel or it is anti-shake drawstring reel motor and connect, it is described to prevent shaking
Drawstring reel, retarder, it is anti-shake drawstring reel motor, suspender waves dynamic detector, frequency converter and drawstring tension controller are equal
It is arranged on monkey.
The crane hanger anti-swing mechanism is two groups, vertical central plane of two groups of crane hanger anti-swing mechanisms along suspender
It is symmetrical arranged, and suspender is tensed to the oblique side direction at two angles respectively with identical oblique angle.
The crane hanger anti-swing mechanism is at least four groups, and is even number set, and crane hanger anti-swing mechanism is along suspender
Vertical central plane be symmetrical arranged, and with identical oblique angle respectively to oblique side direction tense suspender.
First movable pulley, fixed pulley and the second movable pulley are at least one, and the first movable pulley, fixed pulley and
The quantity of two movable pulleys is equal.
It is to be installed on to prevent shaking drawstring reel or the anti-rotation shaken on drawstring reel motor that the suspender, which waves dynamic detector,
Encoder.
Anti- applied to above-mentioned crane hanger anti-swing mechanism shakes drawstring tension control system, the drawstring tension controller
According to from be mounted on it is anti-shake the suspender on drawstring reel motor and wave the signal that dynamic detector obtains and calculate each anti-shake drawstring
Rope closing or put rope speed, and then judge the swinging condition of suspender；According to the swinging condition of suspender, drawstring tension controller passes through
Can directly feedback energy each anti-driving torque for shaking drawstring reel motor of Frequency Converter Control or the anti-rotation for shaking drawstring reel
Direction and rotating cycle make to prevent that shake drawstring is directed toward the opposite direction that suspender waves to the active force of suspender always, and allow and prevent shaking drawing
The maximum strain of rope, thus on the one hand prevent suspender generation from waving, on the other hand in the case where suspender has waved, consumption
Load waves energy, reduces the amplitude of waving of suspender until stopping is waved completely.
The crane hanger anti-swing mechanism is four groups, vertical central plane of four groups of crane hanger anti-swing mechanisms along suspender
It is symmetrical arranged, and suspender is tensed to the oblique side direction at four angles respectively with identical oblique angle.
To shake drawstring tension force calculation method as follows for the drawstring tension controller anti-:
WithV LF 、V LB 、V RF WithV RB (Right before respectively left front (Left Front), left back (Left Back), the right side
Front) and it is right after (Right Back) 4 anti-rope closing speed for shaking drawstring；When it is anti-shake drawstring rope closing when its rope closing speed be positive,
Its value is negative when putting rope；WithV A ForV LF 、V LB 、V RF WithV RB Average value, allow△V LF = V LF -V A ,△V LB = V LB -V A ,△V RF =V RF -V A With△V RB = V RB -V A , therefore△V LF +△V LB +△V RF +△V RB = 0；It allows△V MIN It is waved for reliable recognition suspender
It is the smallest needed for dynamic to prevent shaking drawstring rope closing and put the speed difference of rope；WithF LF 、F LB 、F RF WithF RB It is respectively left front, it is left back, it is right
4 anti-tension force target values for shaking drawstring after preceding and right；WithF MAX The anti-maximum value for shaking drawstring tension designed for it；WithF MIN The anti-minimum tension for shaking drawstring tensioning is kept for it；Dynamic decision condition is waved according to the suspender listed in following table, from upper
It is calculated one by one under and determine current suspender waves dynamic, and provided and corresponding each anti-shake drawstring tensionF LF 、F LB 、F RF WithF RB Control target value:
Compared with the existing technology, the present invention passes through the intelligent control of drawstring tension controller, using with energy feedback function
The energy that waves of suspender and load is converted into electrical energy transportation telegram in reply net by the frequency converter of energy, is not only eliminated existing suspender and is prevented the side of shaking
The problem of masty mechanical device generates heat in case, and energy conservation and environmental protection.
Since the anti-other end for shaking drawstring is wrapped in raising with the raising line of lifting mechanism with identical winding direction together
On reel, when hoisting drum rotates, when load rises or falls, the anti-drawstring reel that shakes is without withdrawing rope, therefore the anti-drawstring that shakes is rolled up
Cylinder is substantially motionless；Only when load is waved, prevent that the rotation of withdrawing rope need to be carried out by shaking drawstring reel.Due to suspender anti-sway system
Effect, suspender waves very little, thus it is anti-shake drawstring reel and can be made small, and utilize retarder speed change, select small
The drawstring reel driving motor of power just can produce the very big anti-tension for shaking drawstring, effectively improves suspender and prevents shaking efficiency.
By the control to each anti-tension for shaking drawstring, drawstring tension controller can also be when needed to the position of suspender
Do small adjustment control.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Wherein, 1 is drawstring tension controller；2 be frequency converter；3 be that suspender waves dynamic detector；4 be that the anti-drawstring that shakes is rolled up
Cylinder motor；5 be retarder；6 be to prevent shaking drawstring reel；7 be fixed pulley；8 be hoisting drum；9 be to prevent shaking drawstring；10 be raising
Rope；11 be the second movable pulley；12 be suspender；13 be the first movable pulley.
Specific embodiment
As shown in Fig. 1, crane hanger anti-swing mechanism, including monkey further include preventing shaking drawstring 9, anti-to shake drawing
The one ends wound of rope 9 shakes on drawstring reel 6 anti-, prevents that shaking drawstring reel 6 shakes the company of drawstring reel motor 4 with anti-by retarder 5
Connect, it is anti-shake drawstring reel motor 4 and wave dynamic detector 3 with suspender connect, suspender waves dynamic detector 3 and the company of frequency converter 2
It connects, frequency converter 2 is connect with drawstring tension controller 1；The anti-other end for shaking drawstring 9 is wrapped on hoisting drum 8, anti-to shake drawstring 9
Across the fixed pulley 7 that first be fixed on suspender 12 13 at movable pulley and is fixed on monkey；It further include raising line 10,
One end of raising line 10 is fixed on monkey, the other end with it is anti-shake drawstring 9 with identical winding direction together be wrapped in
On hoisting drum 8, raising line 10 passes through the second movable pulley 11 being fixed on suspender 12；The suspender waves dynamic detector 2
Also with it is anti-shake drawstring reel 6 or it is anti-shake drawstring reel motor 4 and connect, anti-drawstring reel 6, retarder 5, the anti-drawstring that shakes of shaking is rolled up
Cylinder motor 4, suspender wave dynamic detector 3, frequency converter 2 and drawstring tension controller 1 and are arranged on monkey.
Crane hanger anti-swing mechanism is two groups, and two groups of crane hanger anti-swing mechanisms are faced along the vertical centre of suspender 12
Claim setting, and suspender 12 is tensed to the oblique side direction at two angles respectively with identical oblique angle.
Crane hanger anti-swing mechanism is at least four groups, and is even number set, and crane hanger anti-swing mechanism is along suspender 12
Vertical central plane is symmetrical arranged, and tenses suspender 12 to oblique side direction respectively with identical oblique angle.
First movable pulley 13, fixed pulley 7 and the second movable pulley 11 are at least one, and the first movable pulley 13, fixed pulley 7
It is equal with the quantity of the second movable pulley 11, it is anti-to shake drawstring 9 and the raising multiplying power having the same of raising line 10.
It is to be installed on the anti-rotation shaken drawstring reel 6 or prevent shaking on drawstring reel motor 4 to compile that suspender, which waves dynamic detector 3,
Code device.
Anti- applied to above-mentioned crane hanger anti-swing mechanism shakes drawstring tension control system, and drawstring tension controller 1
According to from be mounted on it is anti-shake the suspender on drawstring reel motor 4 and wave the signal that dynamic detector 3 obtains and calculate each anti-shake drawstring 9
Rope closing or put rope speed, and then judge the swinging condition of suspender 12；According to the swinging condition of suspender, drawstring tension controller 1
By can the frequency converter 2 of directly feedback energy control each anti-driving torque for shaking drawstring reel motor 4 or anti-shake drawstring reel 6
Direction of rotation and rotating cycle, make it is anti-shake drawstring 9 opposite direction that suspender 12 waves be directed toward always to the active force of suspender 12,
And the anti-maximum strain for shaking drawstring 9 is allowed on the other hand to have shaken in suspender 12 on the one hand prevent the generation of suspender 12 from waving
In the case where pendulum, consumable load waves energy, reduces the amplitude of waving of suspender 12 until stopping is waved completely.
Crane hanger anti-swing mechanism is four groups, and four groups of crane hanger anti-swing mechanisms are faced along the vertical centre of suspender 12
Claim setting, and suspender 12 is tensed to the oblique side direction at four angles respectively with identical oblique angle.
To shake drawstring tension force calculation method as follows for drawstring tension controller 1 anti-:
WithV LF 、V LB 、V RF WithV RB (Right before respectively left front (Left Front), left back (Left Back), the right side
Front) and it is right after (Right Back) 4 anti-rope closing speed for shaking drawstring；When it is anti-shake drawstring rope closing when its rope closing speed be positive,
Its value is negative when putting rope；WithV A ForV LF 、V LB 、V RF WithV RB Average value, allow△V LF = V LF -V A ,△V LB = V LB -V A ,△V RF =V RF -V A With△V RB = V RB -V A , therefore△V LF +△V LB +△V RF +△V RB = 0；It allows△V MIN It is waved for reliable recognition suspender
It is the smallest needed for dynamic to prevent shaking drawstring rope closing and put the speed difference of rope；WithF LF 、F LB 、F RF WithF RB It is respectively left front, it is left back, it is right
4 anti-tension force target values for shaking drawstring after preceding and right；WithF MAX The anti-maximum value for shaking drawstring tension designed for it；WithF MIN The anti-minimum tension for shaking drawstring tensioning is kept for it；Dynamic decision condition is waved according to the suspender listed in following table, from upper
It is calculated one by one under and determine current suspender waves dynamic, and provided and corresponding each anti-shake drawstring tensionF LF 、F LB 、F RF WithF RB Control target value:
The course of work of the invention is as follows: crane hanger is opened, suspender passes through the folding and unfolding raising and lowering of raising line, if
Suspender does not wave, then prevents shaking drawstring reel without withdrawing rope, only when suspender waves, prevent that shaking drawstring reel need to just be received
Put the rotation of rope；Drawstring tension controller 1 anti-shake the suspender on drawstring reel motor 4 and waves dynamic detector according to from being mounted on
3 obtained signals calculate each anti-rope closing for shaking drawstring 9 or put rope speed, and then judge the swinging condition of suspender 12；According to hanging
The swinging condition of tool, drawstring tension controller 1 by can the frequency converter 2 of directly feedback energy control and each anti-shake drawstring reel electricity
The driving torque of machine 4 or anti-direction of rotation and the rotating cycle for shaking drawstring reel 6 make to prevent shaking drawstring 9 to the active force of suspender 12
Always it is directed toward the opposite direction waved of suspender 12, and allows the anti-maximum strain for shaking drawstring 9, on the one hand prevent suspender 12 from producing
Life is waved, and on the other hand in the case where suspender 12 has waved, consumable load waves energy, and make suspender 12 waves amplitude
Reduce until stopping is waved completely.
What has been described above is only a preferred embodiment of the present invention, it is noted that for those skilled in the art,
Without depart from that overall concept of the invention, several changes and improvements can also be made, these also should be considered as of the invention
Protection scope.
Claims (7)
1. crane hanger anti-swing mechanism, including monkey, it is characterised in that: it further include preventing shaking drawstring (9), it is anti-to shake drawstring
(9) one ends wound shakes on drawstring reel (6) anti-, anti-to shake drawstring reel (6) by retarder (5) and prevent shaking drawstring reel electricity
Machine (4) connection, it is anti-shake drawstring reel motor (4) and wave dynamic detector (3) with suspender connect, suspender waves dynamic detector
(3) it is connect with frequency converter (2), frequency converter (2) is connect with drawstring tension controller (1)；The anti-other end for shaking drawstring (9) is wrapped in
On hoisting drum (8), anti-shake drawstring (9) pass through the first movable pulley (13) being fixed on suspender (12) and to be fixed on crane small
Fixed pulley (7) on vehicle；Further include raising line (10), one end of raising line (10) is fixed on monkey, the other end with
Prevent that shake drawstring (9) is wrapped on hoisting drum (8) together with identical winding direction, raising line (10), which passes through, is fixed on suspender
(12) the second movable pulley (11) on；The suspender waves dynamic detector (2) and also shakes drawstring reel (6) with anti-or anti-shake drawstring
Reel motor (4) connection, it is described it is anti-shake drawstring reel (6), retarder (5), it is anti-shake drawstring reel motor (4), suspender wave it is dynamic
State detector (3), frequency converter (2) and drawstring tension controller (1) are arranged on monkey；
The drawstring tension controller (1) anti-shake the suspender on drawstring reel motor (4) and waves dynamic detection according to from being mounted on
Signal that device (3) obtains calculates each anti-rope closing for shaking drawstring (9) or puts rope speed, and then judge suspender (12) waves shape
State；According to the swinging condition of suspender, drawstring tension controller (1) by can directly feedback energy frequency converter (2) control it is each
The anti-driving torque for shaking drawstring reel motor (4) or anti-direction of rotation and the rotating cycle for shaking drawstring reel (6) make to prevent shaking drawstring
(9) opposite direction that suspender (12) waves is directed toward to the active force of suspender (12) always, and makes the anti-tension for shaking drawstring (9) maximum
Change, is waved so that suspender (12) on the one hand be prevented to generate, on the other hand in the case where suspender (12) has waved, consumable load
Wave energy, make suspender (12) wave amplitude reduce until completely stopping wave.
2. crane hanger anti-swing mechanism according to claim 1, it is characterised in that: the crane hanger anti-swing mechanism
It is two groups, two groups of crane hanger anti-swing mechanisms are symmetrical arranged along the vertical central plane of suspender (12), and with identical oblique angle point
Suspender (12) are not tensed to the oblique side direction at two angles.
3. crane hanger anti-swing mechanism according to claim 1, it is characterised in that: the crane hanger anti-swing mechanism
It is at least four groups, and is even number set, crane hanger anti-swing mechanism is symmetrical arranged along the vertical central plane of suspender (12), and with phase
Same oblique angle tenses suspender (12) to oblique side direction respectively.
4. crane hanger anti-swing mechanism according to claim 1, it is characterised in that: first movable pulley (13) is determined
Pulley (7) and the second movable pulley (11) are at least one, and the first movable pulley (13), fixed pulley (7) and the second movable pulley
(11) quantity is equal.
5. crane hanger anti-swing mechanism according to claim 1, it is characterised in that: the suspender waves dynamic detector
(3) prevent shaking drawstring reel (6) or the anti-rotary encoder shaken on drawstring reel motor (4) to be installed on.
6. crane hanger anti-swing mechanism according to claim 1, it is characterised in that: the crane hanger anti-swing mechanism
It is four groups, four groups of crane hanger anti-swing mechanisms are symmetrical arranged along the vertical central plane of suspender (12), and with identical oblique angle point
Suspender (12) are not tensed to the oblique side direction at four angles.
7. crane hanger anti-swing mechanism according to claim 6, it is characterised in that: the drawstring tension controller (1)
Anti- to shake drawstring tension force calculation method as follows:
WithV LF 、V LB 、V RF WithV RB Respectively left front (Left Front), left back (Left Back), it is right before (Right Front) and
(Right Back) 4 anti-rope closing speed for shaking drawstring behind the right side；When it is anti-shake drawstring rope closing when its rope closing speed be positive, when putting rope its
Value is negative；WithV A ForV LF 、V LB 、V RF WithV RB Average value, allow△V LF = V LF -V A ,△V LB = V LB -V A ,△V RF = V RF -V A With△ V RB = V RB -V A , therefore△V LF +△V LB +△V RF +△V RB = 0；It allows△V MIN It is waved needed for dynamic for reliable recognition suspender
The smallest anti-shake drawstring rope closing and put the speed difference of rope；WithF LF 、F LB 、F RF WithF RB It is respectively left front, it is left back, before right and 4 after right
The anti-tension force target value for shaking drawstring of item；WithF MAX The anti-maximum value for shaking drawstring tension designed for it；WithF MIN It is protected for it
Hold the anti-minimum tension for shaking drawstring tensioning；Dynamic decision condition is waved according to the suspender being listed below, calculate one by one and determines to work as
Preceding suspender waves dynamic, and provides and corresponding each anti-shake drawstring tensionF LF 、F LB 、F RF WithF RB Control target value:
Suspender waves dynamic decision condition:△V LF >△V MIN ,△V LB >△V MIN ,△V RF >△V MIN , suspender wave dynamic: to the left
Before wave, the left front anti-control target value for shaking drawstring tension isF MIN , left back to prevent that the control target value for shaking drawstring tension isF MAX /2,
Prevent that the control target value for shaking drawstring tension is before the right sideF MAX /2, the control target value that right rear defence shakes drawstring tension isF MAX ；
Suspender waves dynamic decision condition:△V LF >△V MIN ,△V LB >△V MIN ,△V RB >△V MIN , suspender wave dynamic: to the left
After wave, the left front anti-control target value for shaking drawstring tension isF MAX /2, left back to prevent that the control target value for shaking drawstring tension isF MIN ,
Prevent that the control target value for shaking drawstring tension is before the right sideF MAX , the control target value that right rear defence shakes drawstring tension isF MAX /2；
Suspender waves dynamic decision condition:△V RF >△V MIN ,△V RB >△V MIN ,△V LF >△V MIN , suspender wave dynamic: to the right
Before wave, the left front anti-control target value for shaking drawstring tension isF MAX /2, left back to prevent that the control target value for shaking drawstring tension isF MAX ,
Prevent that the control target value for shaking drawstring tension is before the right sideF MIN , the control target value that right rear defence shakes drawstring tension isF MAX /2；
Suspender waves dynamic decision condition:△V RF >△V MIN ,△V RB >△V MIN ,△V LB >△V MIN , suspender wave dynamic: to the right
After wave, the left front anti-control target value for shaking drawstring tension isF MAX , left back to prevent that the control target value for shaking drawstring tension isF MAX /2,
Prevent that the control target value for shaking drawstring tension is before the right sideF MAX /2, the control target value that right rear defence shakes drawstring tension isF MIN ；
Suspender waves dynamic decision condition:△V LF >△V MIN ,△V LB >△V MIN , suspender waves dynamic: it waves to the left, it is left front anti-to shake
The control target value of drawstring tension isF MIN , left back to prevent that the control target value for shaking drawstring tension isF MIN , prevent shaking drawstring tension before right
Control target value beF MAX , the control target value that right rear defence shakes drawstring tension isF MAX ；
Suspender waves dynamic decision condition:△V RF >△V MIN ,△V RB >△V MIN , suspender waves dynamic: it waves to the right, it is left front anti-to shake
The control target value of drawstring tension isF MAX , left back to prevent that the control target value for shaking drawstring tension isF MAX , prevent shaking drawstring tension before right
Control target value beF MIN , the control target value that right rear defence shakes drawstring tension isF MIN ；
Suspender waves dynamic decision condition:△V LF >△V MIN ,△V RF >△V MIN , suspender waves dynamic: tilted forwards, left front to prevent shaking
The control target value of drawstring tension isF MIN , left back to prevent that the control target value for shaking drawstring tension isF MAX , prevent shaking drawstring tension before right
Control target value beF MIN , the control target value that right rear defence shakes drawstring tension isF MAX ；
Suspender waves dynamic decision condition:△V RB >△V MIN ,△V LB >△V MIN , suspender waves dynamic: it waves backward, it is left front anti-to shake
The control target value of drawstring tension isF MAX , left back to prevent that the control target value for shaking drawstring tension isF MIN , prevent shaking drawstring tension before right
Control target value beF MAX , the control target value that right rear defence shakes drawstring tension isF MIN ；
Suspender waves dynamic decision condition: other situations, and suspender waves dynamic: nothing is waved, the left front anti-control for shaking drawstring tension
Target value isF MIN , left back to prevent that the control target value for shaking drawstring tension isF MIN , prevent that the control target value for shaking drawstring tension is before rightF MIN , the control target value that right rear defence shakes drawstring tension isF MIN 。
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| CN201610775538.9A CN106185624B (en) | 2016-08-31 | 2016-08-31 | Crane hanger anti-swing mechanism and anti-shake drawstring tension control system |
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| US11254550B2 (en) * | 2018-11-13 | 2022-02-22 | Halliburton Energy Services, Inc. | Automatic wire spooling control |
| CN110356972B (en) * | 2019-07-23 | 2020-06-05 | 东北大学 | Replaceable lifting appliance anti-deflection crane |
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| CN202936110U (en) * | 2012-10-31 | 2013-05-15 | 三一集团有限公司 | Crane machinery |
| CN102976200B (en) * | 2012-12-13 | 2014-12-03 | 中联重科股份有限公司 | Hoisting control method, device and system, hoisting tool and hoisting machine |
| MY191008A (en) * | 2014-10-28 | 2022-05-27 | Oceaneering Int Inc | Suspended amusement ride system |
| CN205099211U (en) * | 2015-11-12 | 2016-03-23 | 河南华东工控技术有限公司 | Hoist anti -swing device |
| CN205500594U (en) * | 2015-12-24 | 2016-08-24 | 三一海洋重工有限公司 | Anti -sway device and hoist of hoist |
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2016
- 2016-08-31 CN CN201610775538.9A patent/CN106185624B/en active Active
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Effective date of registration: 20190311 Address after: 453400 West Section of Weihua Avenue, Changyuan County, Xinxiang City, Henan Province Patentee after: Henan Weihua Heavy Machinery Co., Ltd. Address before: 450000 Building No. 1, 49 Jinshui East Road, Zhengdong New District, Zhengzhou City, Henan Province, 24th Floor, 264 Patentee before: Henan Weihua Machinery Engineering Research Institute Co., Ltd. |