CN108675135B - A kind of recoil stabilising arrangement for flexible cable positioning - Google Patents
A kind of recoil stabilising arrangement for flexible cable positioning Download PDFInfo
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- CN108675135B CN108675135B CN201810487467.1A CN201810487467A CN108675135B CN 108675135 B CN108675135 B CN 108675135B CN 201810487467 A CN201810487467 A CN 201810487467A CN 108675135 B CN108675135 B CN 108675135B
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- solenoid valve
- jet pipe
- steady rest
- recoil
- hoist cable
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Classifications
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
Abstract
The invention discloses a kind of recoil stabilising arrangements for flexible cable positioning.Using crane as workbench, high-pressure air source is fixed on the column top of crane, and the tracheae of high-pressure air source is connected by motor capstan winch along jib boom, hoist cable, tracheae end and steady rest, provides power source for recoil stabilising arrangement.Industrial camera is located at below the cantilever end of crane, and steady rest and solenoid valve is made to be always positioned at industrial camera within sweep of the eye；The vision recognition mark on solenoid valve that industrial camera passes through monitoring steady rest side, the position and posture of real-time judgment steady rest determine the action response of recoil stabilising arrangement.The stabilising arrangement that recoils passes through the monitoring real-time judge flexible cable state of industrial camera, the recoil thrust generated using solenoid valve control jet-impingement, to ensure that flexible cable is accurately positioned；Recoil stabilising arrangement can be effectively reduced each to head-on windage, enhancing interference rejection ability；It can be applied to warehouse, operation in various working environments is hung in port and pier, boat-carrying sea.
Description
Technical field
The present invention relates to anti-sway and flexible cable location technology is lifted, specifically, being related to a kind of for the anti-of flexible cable positioning
Rush stabilising arrangement.
Background technique
In existing hoisting and hanging industry, due to crane self structure, flexible hoist cable inevitably by
To the influence of inertia and external interference factor, offset deviation is generated so as to cause load and hoist is swung, influencing production effect
It will also result in some potential safety problems while rate, ultimately cause serious economic loss.
Existing literature " the efficient anti-swing control research of derrick crane " (mechanical and electronics, 06 phase in 2016,11-15 pages) text
In, it realizes that the real-time swing information of hanging object is fed back by sensor, it is straight to propose that a kind of cooperation frequency conversion trolley carries out pivot angle deviation
Connect the anti-swing control method that tracking is eliminated.This method is simple to mechanical design requirements, caused by because of factors such as wind-force, acceleration and deceleration
Shimmy have a certain effect, but control method is complicated, especially to establish accurate crane mathematical model be just able to achieve it is good
Weakening effect, and anti-sway low-response, the time that final load orientation needs are longer.
" a kind of crane connection structure " is disclosed in Chinese patent CN 205442418U, the crane connection structure packet
Trolley frame and the anti-rocker of rigidity are included, is provided in the trolley frame lower end with the anti-rocker upper end of rigidity and connect trolley frame lower end and just
The link mechanism of the anti-rocker upper end of property.The crane connection structure is ingenious in design, manufacturing cost is cheap；, connection structure is using just
Property anti-rocker replace lifting flexible cable, unfavorable impact is offset by the swing of two oscillating bearings using connecting rod two end, can be had
The swing of anti-rocker is prevented to effect, but it can only offset inertia impact by a small margin, and can only make the plumbness of anti-rocker
Constant, the position that not can guarantee load is accurate.
A kind of " crane antiswing device " is disclosed in patent CN 205442418U, its main feature is that anti-using rigidity
Rocker replaces flexible hoist cable enhancing equipment rigidity to inhibit to swing, and suspender operates in inside anti-rocker, and it is anti-to hang ambilateral front and back
The anti-balance wheel of balance wheel and left and right and the anti-sway track of anti-rocker two sides cooperate, and constraining suspender with this will not shake in front and rear, left and right direction
It is dynamic, but this device has that structure is complicated, later maintenance maintenance work amount is big.
A kind of " stabilization and control program of crane " is disclosed in United States Patent (USP) US 9346656-B2, the crane
Stablize and control feature is to increase by one group of auxiliary steel wire rope to enhance suspension rigidity, passes through the spy of wirerope and three pulleys
Different winding applies an oblique pulling to suspender and load to reach anti-swinging effect.But program structure is more complicated, reliability
It is not high, flexible cable can only be improved in the beat of tension direction, anti-sway effect is undesirable.
Summary of the invention
In order to avoid the antiswing device in the prior art deficiency that structure is complicated, reliability of positioning is not high, frequency response is slow, this hair
It is bright to propose a kind of recoil stabilising arrangement for flexible cable positioning.The recoil stabilising arrangement passes through the monitoring real-time judge of industrial camera
Flexible cable state, the recoil thrust generated using solenoid valve control jet-impingement, active accommodation pose is to ensure that flexible cable is accurately positioned.
The technical solution adopted by the present invention to solve the technical problems is: including steady rest, tracheae, hoist cable, industrial camera,
High-pressure air source, the first solenoid valve, second solenoid valve, third solenoid valve, the 4th solenoid valve, 1#Four-way pipe, 2#Four-way pipe and jet pipe,
For crane as workbench, high-pressure air source is fixed on the column top of crane, and industrial camera is located at the cantilever end of crane
The hoist cable of lower section, crane is connect with steady rest, and suspender is connect with the suspender installing port of steady rest lower part, it is characterised in that described
Steady rest is hollow cylinder structure, and both ends are equipped with the first mounting hole, the second mounting hole, on the outside of steady rest among wall above and below position
There is cylinder boss respectively, two cylinder boss central axes are located along the same line and perpendicular to the axis of steady rest, two cylinder boss
End blind hole has internal screw thread, is used as hoist cable interface and suspender installing port, the hoist cable interface of steady rest side wall and the first installation
It is provided with air inlet between hole, and is communicated with steady rest inner cavity, hoist cable interface central axes and air inlet axis parallel, and central axes
Perpendicular to steady rest axis；Tracheae is connected through a screw thread and seals with air inlet；
Described 1#Four-way pipe and described 2#Four-way pipe be the identical component of two structures, 1#Four-way pipe, 2#Four-way pipe one end point
It is not threadedly coupled with first mounting hole at steady rest both ends, the second mounting hole, 1#Other three ports of four-way pipe are respectively with first
Jet pipe, the second jet pipe, third jet pipe are threadedly coupled by the first solenoid valve, second solenoid valve, third solenoid valve, and 2#Four-way pipe
Other three ports pass through the 4th solenoid valve, the 5th solenoid valve, the 6th electricity with the 4th jet pipe, the 5th jet pipe, the 6th jet pipe respectively
Magnet valve is threadedly coupled, and each nozzle axis is generally aligned in the same plane with steady rest axis, the corresponding jet pipe gas of the folding control of each solenoid valve
The on-off of stream realizes that the adjusting of recoil thrust size, the cooperation control of different solenoid valves are realized the control of recoil thrust direction, adjusted
Steady rest pose is saved, realizes the stable position of hoist cable；
The jet pipe includes the first jet pipe, the second jet pipe, third jet pipe, the 4th jet pipe, the 5th jet pipe and the 6th jet pipe, more
A jet pipe is the identical isentropic nozzle of structure, and there is internal screw thread in jet pipe one end, and internal channel is shrinkage expansion type, nozzle throat area
As follows:
In formula: AeFor constant entropy spout outlet area；MeFor the Mach number of constant entropy spout outlet air-flow
ptIt is adiabatic exponent of air for bleed pressure γ.
The industrial camera is located at below the cantilever end of crane, and steady rest and solenoid valve is made to be always positioned at industrial camera view
In wild range；The vision recognition mark on solenoid valve that industrial camera passes through monitoring steady rest side, real-time judgment steady rest
Position and posture, to determine the action response of recoil stabilising arrangement.
The tracheae of the high-pressure air source is by motor capstan winch along jib boom, hoist cable, tracheae end and steady rest
Air inlet is threadedly coupled, and provides power source for recoil stabilising arrangement.
The suspender is any one of suspension hook or sucker or clamp, to lift different materials.
Beneficial effect
A kind of recoil stabilising arrangement for flexible cable positioning proposed by the present invention, passes through the monitoring real-time judge of industrial camera
Flexible cable state is ensured once beat occurs for flexible cable using the recoil thrust that the multiple nozzle gas flow injections of solenoid valve control generate
Flexible cable is accurately positioned；Under general operating condition, source gas temperature is set as 24 degrees Celsius, bleed pressure pt=0.6MPa, air
Adiabatic exponent γ=1.4, gas constant take R=287J/Kg/K, then the ratio between nozzle throat and discharge area are about 0.48；Work as spray
When pipe outlet diameter is 14mm, throat diameter 9.7mm.Taking spout efficiency is 0.95, then the recoil thrust that spout generates is
105N, with offset 4 grades of sea winds wind-force, avoid the bad interference under working environment, can be applied to factory floor, port and pier,
In the various working environments that boat-carrying sea is hung.
The present invention is used for the recoil stabilising arrangement of flexible cable positioning, since jet pipe is arranged in flexible cable end, greatly enhances soft
Rope rigidity；High-pressure air source supplies high-speed flow, and jet-stream wind flow velocity generally up to supersonic speed, is realized the quick positioning of flexible cable, kept away
Exempt from the slow problem of existing antiswing device frequency response.
Recoil stabilising arrangement structure of the present invention for flexible cable positioning is simple, reliable and stable work, and components use standard
Part is convenient for installation and maintenance；Recoil stabilising arrangement can be applied to different workbenches, such as gantry crane, derrick crane are respectively
Kind crane hoisting equipment plays a significant role to improving working efficiency, reduction security risk, developing intelligent lift by crane.
Detailed description of the invention
Make with reference to the accompanying drawing with the embodiment recoil stabilising arrangement for flexible cable positioning a kind of to the present invention further
It is described in detail.
Fig. 1 is recoil stabilising arrangement installation position schematic diagram of the present invention for flexible cable positioning.
Fig. 2 is recoil stabilising arrangement schematic diagram of the present invention for flexible cable positioning.
Fig. 3 is steady rest axonometric drawing of the present invention for the recoil stabilising arrangement of flexible cable positioning.
Fig. 4 a, Fig. 4 b are the steady rest left view and cross-sectional view of present invention recoil stabilising arrangement.
Fig. 5 is the jet pipe axonometric drawing of present invention recoil stabilising arrangement.
Fig. 6 a, Fig. 6 b are the jet pipe main view and cross-sectional view of present invention recoil stabilising arrangement.
In figure:
1. 6. crane of suspender 2. tracheae, 3. hoist cable, 4. industrial camera, 5. high-pressure air source, 7. first jet pipe 8. first
11. third jet pipe of solenoid valve 9. second jet pipe, 10. second solenoid valve, 12. third solenoid valve 13.1#Four-way pipe 14. the 4th
The 4th solenoid valve 16.2 of jet pipe 15.#The 6th solenoid valve 20. of the 5th jet pipe 19. of the 5th solenoid valve 18. of four-way pipe 17.
Six jet pipes, 21. 22. first mounting hole of steady rest, 23. air inlet, 24. 25. second mounting hole of hoist cable interface, 26. suspender peace
Fill mouth
A. the second vision recognition mark of First look distinguishing mark B. C. third vision recognition mark
Specific embodiment
The present embodiment is a kind of recoil stabilising arrangement for flexible cable positioning.
Refering to fig. 1~Fig. 6 a, Fig. 6 b, the present embodiment are used for the recoil stabilising arrangement of flexible cable positioning, apply and rise in cantilevered
On heavy-duty machine.By steady rest 21, tracheae 2, hoist cable 3, industrial camera 4, high-pressure air source 5, the first solenoid valve 8, second solenoid valve 10,
Three solenoid valves 12, the 4th solenoid valve 15 and 1#Four-way pipe 13,2#Four-way pipe 16, jet pipe composition；Wherein, crane 6 is flat as work
Platform, high-pressure air source 5 are fixed on the column top of crane 6, and industrial camera 4 is located at below the cantilever end of crane 6, crane 6
Hoist cable 3 connect with steady rest 21, suspender 1 is connect with the suspender installing port 26 of 21 lower part of steady rest, suspender 1 be suspension hook or suction
Any one of disk or clamp, to lift different materials.
In the present embodiment, steady rest 21 is hollow cylinder structure, and both ends are equipped with the first mounting hole 22, the second mounting hole
25, there is cylinder boss at 21 outside wall centre position of steady rest respectively up and down, and two cylinder boss central axes are located along the same line, and
Perpendicular to the axis of steady rest 21；Two cylinder boss end blind holes have internal screw thread, are used as hoist cable interface 24 and suspender installation
Mouth 26；Be machined with air inlet 23 between the hoist cable interface 24 and the first mounting hole 22 of 21 side wall of steady rest, and in steady rest 21
Chamber communicates；24 central axes of hoist cable interface and 23 axis parallel of air inlet, and central axes are perpendicular to 21 axis of steady rest.Tracheae 2
It is connect with air inlet 23 by thread seal.
1#Four-way pipe 13 and 2#Four-way pipe 16 be the identical component of two structures, 1#Four-way pipe 13,2#One end of four-way pipe 16
It is connect respectively with first mounting hole 22 at 21 both ends of steady rest, the second mounting hole 25 by being threadedly engaged, 1#Four-way pipe 13 is other
Three ports pass through the first solenoid valve 8, second solenoid valve 10, third with the first jet pipe 7, the second jet pipe 9, third jet pipe 11 respectively
Solenoid valve 12 is threadedly coupled；2#Other three ports of four-way pipe 16 respectively with the 4th jet pipe 14, the 5th jet pipe 18, the 6th jet pipe
20 are threadedly coupled by the 4th solenoid valve 15, the 5th solenoid valve 17, the 6th solenoid valve 19；Each nozzle axis and steady rest axis position
In same plane；The on-off of the corresponding nozzle gas flow of the folding control of each solenoid valve realizes the adjusting of recoil thrust size, different electricity
The control of recoil thrust direction is realized in the cooperation control of magnet valve, is adjusted 21 pose of steady rest, is realized the stable position of hoist cable.
In the present embodiment, jet pipe includes the first jet pipe 7, the second jet pipe 9, third jet pipe 11, the 4th jet pipe 14, the 5th jet pipe
18, the 6th jet pipe 20, multiple jet pipes are the identical isentropic nozzle of structure, and there is internal screw thread in jet pipe one end, and internal channel is to shrink to expand
Type, nozzle throat area as follows:
In formula: AeFor constant entropy spout outlet area；MeFor the Mach number of constant entropy spout outlet air-flow
ptIt is adiabatic exponent of air for bleed pressure γ.
Industrial camera 4 is mounted below the cantilever end of crane, and steady rest 21 and solenoid valve is made to be always positioned at industrial camera
Within sweep of the eye；The vision recognition mark on solenoid valve that industrial camera passes through monitoring steady rest side, real-time judgment steady rest
Position and posture, thus determine recoil stabilising arrangement action response.Wherein, second solenoid valve 10, the 4th solenoid valve 15 and
Three vision recognition marks A, B, C that the upper surface of six solenoid valves 19 is pasted, as the foundation for determining stable table pose.
The tracheae 2 of high-pressure air source 5 is by motor capstan winch along jib boom, hoist cable 3, tracheae end and steady rest 21
Air inlet 23 is connected through a screw thread, and provides power source for recoil stabilising arrangement.
Stabilising arrangement direction definition is using the axis direction of the second jet pipe 9 as X-axis positive direction in the present embodiment application, the first spray
The axis parallel direction Y-axis positive direction of pipe 7, using the axis direction of hoist cable interface 24 as Z axis positive direction, for by three in X/Y plane
A visual identity mark can differentiate the real time position and hoist cable state of mounting rack.When crane 6 works, industrial camera 4
Monitor in real time solenoid valve on tri- vision recognition marks of A, B, C position, determine steady rest 21 position and posture, and with it is preparatory
The operating position of setting is compared, if deflecting under interference, makes different sound for jet pipe is controlled according to different situations
It should act:
(1) when detection position is identical as operating position, the first solenoid valve 8, second solenoid valve 10,12 and of third solenoid valve
4th solenoid valve 15, the 5th solenoid valve 17, the 6th solenoid valve 19 are closed；First jet pipe 7, the second jet pipe 9, third jet pipe 11,
4th jet pipe 14, the 5th jet pipe 18, the 6th jet pipe 20 do not spray air-flow.
(2) when detecting hoist cable 3 to X-axis positive direction beat, the folding of second solenoid valve 10 is controlled according to bias contribution,
The recoil strength that high-speed flow is applied to hoist cable 3 is sprayed to adjust the second jet pipe 9, so that hoist cable 3 is rapidly returned back to operating position, later
Second solenoid valve 10 is closed, this adjustment movement is completed.
(3) when detecting hoist cable 3 to X-axis negative direction beat, the folding of the 5th solenoid valve 17 is controlled according to bias contribution,
The recoil strength that high-speed flow is applied to hoist cable 3 is sprayed to adjust the 5th jet pipe 18, hoist cable 3 is made to rapidly return back to operating position, it
The 5th solenoid valve 17 is closed afterwards, completes this adjustment movement.
(4) when detecting hoist cable 3 to Y-axis positive direction beat, according to bias contribution control the first solenoid valve 8 and the 6th electricity
The folding of magnet valve 19, so that adjusting the first jet pipe 7 and the 6th jet pipe 20 both sprays high-speed flow and make that be applied to hoist cable 3 identical
Recoil strength, so that hoist cable 3 is rapidly returned back to operating position in the effect of two power, the first solenoid valve 8 and the 6th solenoid valve 19 are closed later,
Complete this adjustment movement.
(5) when detecting hoist cable 3 to Y-axis negative direction beat, third solenoid valve 12 and the 4th is controlled according to bias contribution
The folding of solenoid valve 15, to adjust third jet pipe 11 and the 4th jet pipe 14 ejection high-speed flow and the two is made to be applied to hoist cable 3
Identical recoil strength makes hoist cable 3 rapidly return back to operating position in the effect of two power, later third solenoid valve 12 and the 4th solenoid valve 15
It closes, completes this adjustment movement.
(6) when detecting that hoist cable 3 reverses clockwise along Z axis positive direction, third solenoid valve 12 is controlled according to bias contribution
With the folding of the 6th solenoid valve 19, it is applied to adjust third jet pipe 11 and the 6th jet pipe 20 and both spray high-speed flow and make
3 one, hoist cable recoil couples counterclockwise away from, make hoist cable 3 the moment of couple effect under rapidly return back to operating position, later third electricity
Magnet valve 12 and the 6th solenoid valve 19 are closed, this adjustment movement is completed.
(7) when detecting that hoist cable 3 reverses counterclockwise along Z axis positive direction, 8 He of the first solenoid valve is controlled according to bias contribution
The folding of 4th solenoid valve 15 is hung to adjust the first jet pipe 7 and the 4th jet pipe 14 ejection high-speed flow and be applied to the two
3 one, rope clockwise recoil couples are away from making hoist cable 3 rapidly return back to operating position under moment of couple effect, the first electromagnetism later
This adjustment movement is completed in the closing of valve 8 and the 4th solenoid valve 15.
Claims (4)
1. it is a kind of for hoist cable positioning recoil stabilising arrangement, including steady rest, tracheae, hoist cable, industrial camera, high-pressure air source,
First solenoid valve, second solenoid valve, third solenoid valve, the 4th solenoid valve, 1#Four-way pipe, 2#Four-way pipe and jet pipe, crane conduct
Workbench, high-pressure air source are fixed on the column top of crane, and industrial camera is located at below the cantilever end of crane, crane
Hoist cable connect with steady rest, suspender is connect with the suspender installing port of steady rest lower part, it is characterised in that: during the steady rest is
Hollow cylinder structure, both ends are equipped with the first mounting hole, the second mounting hole, and there is cylinder at position respectively up and down among steady rest lateral wall
Boss, two cylinder boss central axes are located along the same line and perpendicular to the axis of steady rest, and two cylinder boss end blind holes have
Internal screw thread is used as hoist cable interface and suspender installing port, opens between the hoist cable interface and the first mounting hole of steady rest lateral wall
There is air inlet, and is communicated with steady rest inner cavity, hoist cable interface central axes and air inlet axis parallel, and central axes are perpendicular to steady
Determine frame axis；Tracheae is connected through a screw thread and seals with air inlet；
Described 1#Four-way pipe and described 2#Four-way pipe be the identical component of two structures, 1#Four-way pipe, 2#Four-way pipe one end respectively with
First mounting hole, second mounting hole at steady rest both ends are threadedly coupled, and 1#Other three ports of four-way pipe respectively with the first jet pipe,
Second jet pipe, third jet pipe are threadedly coupled by the first solenoid valve, second solenoid valve, third solenoid valve, and 2#Four-way pipe it is other
Three ports pass through the 4th solenoid valve, the 5th solenoid valve, the 6th solenoid valve with the 4th jet pipe, the 5th jet pipe, the 6th jet pipe respectively
It is threadedly coupled, each nozzle axis is generally aligned in the same plane with steady rest axis, the corresponding nozzle gas flow of the folding control of each solenoid valve
On-off realizes that the control of recoil thrust direction is realized in the adjusting of recoil thrust size, the cooperation control of different solenoid valves, adjusts steady
Determine frame pose, realizes the stable position of hoist cable；
The jet pipe includes the first jet pipe, the second jet pipe, third jet pipe, the 4th jet pipe, the 5th jet pipe and the 6th jet pipe, each jet pipe
It is the identical isentropic nozzle of structure, there is internal screw thread in jet pipe one end, and internal channel is shrinkage expansion type, and nozzle throat area is by following
Formula:
In formula: AeFor constant entropy spout outlet area；MeFor the Mach number of constant entropy spout outlet air-flow
PtFor bleed pressure；PeFor environmental pressure；γ is adiabatic exponent of air.
2. the recoil stabilising arrangement according to claim 1 for hoist cable positioning, it is characterised in that: the industrial camera position
Below the cantilever end of crane, steady rest and solenoid valve is made to be always positioned at industrial camera within sweep of the eye；Industrial camera passes through
Monitor the vision recognition mark on the solenoid valve of steady rest side, the position and posture of real-time judgment steady rest, to determine to recoil
The action response of stabilising arrangement.
3. the recoil stabilising arrangement according to claim 1 for hoist cable positioning, it is characterised in that: the high-pressure air source
Tracheae is arranged by motor capstan winch along jib boom, hoist cable, and it is anti-that tracheae end is threadedly coupled with the air inlet on steady rest
It rushes stabilising arrangement and power source is provided.
4. the recoil stabilising arrangement according to claim 1 for hoist cable positioning, it is characterised in that: the suspender is suspension hook
Or any one of sucker or clamp, to lift different materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810487467.1A CN108675135B (en) | 2018-05-21 | 2018-05-21 | A kind of recoil stabilising arrangement for flexible cable positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810487467.1A CN108675135B (en) | 2018-05-21 | 2018-05-21 | A kind of recoil stabilising arrangement for flexible cable positioning |
Publications (2)
| Publication Number | Publication Date |
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| CN108675135A CN108675135A (en) | 2018-10-19 |
| CN108675135B true CN108675135B (en) | 2019-06-21 |
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| CN201810487467.1A Active CN108675135B (en) | 2018-05-21 | 2018-05-21 | A kind of recoil stabilising arrangement for flexible cable positioning |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116281604B (en) * | 2023-05-23 | 2023-08-11 | 河南省大方重型机器有限公司 | Anti-swing outdoor portal crane |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1019379B (en) * | 1990-03-02 | 1992-12-09 | 章大章 | Electric antishake device for container's crane |
| US5273333A (en) * | 1993-02-22 | 1993-12-28 | Columbia Helicopters, Inc. | Load hook assembly for multiple loads and method of load transport |
| US5593113A (en) * | 1995-02-06 | 1997-01-14 | Cox; Donald P. | Methods and apparatus for selectively attaching and releasing multiple payloads suspended from an aircraft |
| CN202098976U (en) * | 2011-05-10 | 2012-01-04 | 中交第二航务工程局有限公司 | Device capable of freely adjusting sling length and overhead transverse posture of part |
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