CN115158613A - Rope threading device and application thereof - Google Patents
Rope threading device and application thereof Download PDFInfo
- Publication number
- CN115158613A CN115158613A CN202211081242.9A CN202211081242A CN115158613A CN 115158613 A CN115158613 A CN 115158613A CN 202211081242 A CN202211081242 A CN 202211081242A CN 115158613 A CN115158613 A CN 115158613A
- Authority
- CN
- China
- Prior art keywords
- groove
- blocking
- rope
- rope threading
- underwater robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The invention discloses a rope threading device and application thereof, and belongs to the field of underwater operation equipment. Comprises a mounting plate, a baffle plate and a blocking part; the tail part of the mounting plate is provided with a first groove, and the underwater robot is detachably mounted in the first groove; the two oppositely arranged baffle plates are arranged in a second groove formed in the mounting plate, the second groove is formed in two sides of the first groove and communicated with the first groove, and a first elastic piece is arranged between the inner side of the second groove and the baffle plates; the blocking part is arranged at the front end of the mounting plate and used for blocking the stringing device from being separated from the to-be-threaded opening after the blocking part penetrates through the to-be-threaded opening. The rope threading device is applied to underwater rope threading, solves the technical problems of low rope threading efficiency and long time consumption of the underwater robot when the rope threading work is executed under the condition of deeper water depth, has the characteristics of high rope threading efficiency and quick and automatic separation after rope threading, and can realize the rope threading work under the condition of not carrying a manipulator when the rope threading device is adopted for underwater rope threading.
Description
Technical Field
The invention belongs to the field of underwater operation equipment, and particularly relates to a rope threading device and application thereof.
Background
In many underwater construction works, manual operation cannot be performed due to too deep water depth, and operation can be performed only by means of a robot. However, since the robot is too heavy and cannot achieve flexible operation like a human, when the robot faces to pass soft materials such as rope and rope through holes or anchor openings of ground anchors, the robot cannot well complete rope threading work, and therefore the difficulty of tasks such as rope threading is high. In addition, when the water depth is deep, the underwater environment is complex, for example, the influence of water flow and the influence of water pressure further aggravate the difficulty of underwater rope threading work, so that the rope threading efficiency is low, and the time consumption is long.
Disclosure of Invention
The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the invention.
The invention provides a rope threading device and application thereof, which solve the technical problems of low rope threading efficiency and long time consumption of an underwater robot when rope threading is carried out under the condition of deeper water depth.
The invention discloses a stringing device which is connected with a rope to be strung and matched with an underwater robot to finish underwater stringing work, and comprises an installation plate, a baffle plate and a blocking part; the tail part of the mounting plate is provided with a first groove, and the underwater robot is detachably mounted in the first groove; the two oppositely arranged baffle plates are arranged in a second groove formed in the mounting plate, the second groove is formed in two sides of the first groove and communicated with the first groove, and a first elastic piece is arranged between the inner side of the second groove and the baffle plates; when the first elastic piece is in an extension state, the two oppositely arranged baffles clamp the connecting rod and fix the connecting rod in the first groove, and when the first elastic piece is in a compression state, the two oppositely arranged baffles release the connecting rod, so that the connecting rod is separated from the first groove; the blocking part is arranged at the front end of the mounting plate and used for blocking the stringing device from coming out of the to-be-strung opening after the blocking part penetrates through the to-be-strung opening.
In some of these embodiments, the blocking portion is an umbrella structure that can be collapsed and opened.
In some embodiments, the blocking part comprises a supporting rod and a plurality of blocking pieces, wherein the blocking pieces are arranged around the supporting rod, one end of each blocking piece is movably connected with one end of the supporting rod, and a second elastic piece is arranged between the supporting rod and the blocking pieces; when the second elastic piece is in an extension state, the blocking piece is opened, the blocking part is in an opened umbrella-shaped structure, when the second elastic piece is in a compression state, the blocking piece is contracted towards the supporting rod, and the blocking part is in a contracted umbrella-shaped structure.
In some of these embodiments, the other end of the support rod is fixedly connected to the front end of the mounting plate.
In some embodiments, the device further comprises a pull rope, one end of the pull rope is fixedly connected with the baffle, and the other end of the pull rope is fixedly connected with the blocking piece;
when the threading device passes through the opening to be threaded, the blocking piece contracts towards the supporting rod;
after the rope threading device penetrates through the to-be-threaded opening, the underwater robot drives the rope threading device to retreat, the blocking piece is opened, the blocking piece pulls the pull rope, the pull rope pulls the baffle to move towards the inner side close to the second groove, the baffle compresses the first elastic piece and releases the connecting rod, and the connecting rod is separated from the first groove.
In some embodiments, the device further comprises a fixed pulley fixed on the mounting plate and matched with the pull rope.
In some of these embodiments, the fixed pulleys include first fixed pulleys located on both sides of the second groove.
In some embodiments, the pull ring is arranged at the front end of the blocking part.
The invention further discloses application of the rope threading device in the deep water area to rope threading operation.
In some of these embodiments, include:
the connection step comprises the steps that a connecting rod of the underwater robot is arranged in a first groove, and the underwater robot is connected with the rope threading device;
a rope threading step, including that the underwater robot drives the rope threading device to penetrate through the opening to be threaded, and the blocking piece contracts towards the supporting rod;
the releasing step comprises the steps that after the rope threading device penetrates through the to-be-threaded opening, the underwater robot drives the rope threading device to retreat, the blocking piece is opened, the blocking piece pulls the pull rope, the pull rope pulls the baffle to move towards the inner side close to the second groove, the baffle compresses the first elastic piece and releases the connecting rod, and the connecting rod is released from the first groove;
and finishing the threading step, namely hooking the pull ring by the underwater robot, and drawing the threading device to the water surface from the front side to finish the threading work.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a stringing device, which is characterized in that a baffle is arranged and matched with a second groove, a first groove and a first elastic piece to realize automatic clamping, fixing and connecting and automatic releasing of an underwater robot; through setting up the stop part, under the comparatively complicated underwater environment in deep water region, guarantee the stability of stringing in-process rope handling device, improve the efficiency of reeving, can realize the wire handling work when adopting this rope handling device to reeve underwater because of the inefficiency that the rope handling device deviates from and causes, long problem of reeving time after avoiding the reeving.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view of a stringing device according to an embodiment of the present invention, wherein a blocking portion is in a contracted state;
fig. 2 is a schematic structural view of the stringing device according to the embodiment of the present invention, when the blocking portion is in the open state;
FIG. 3 is a diagram illustrating a threading operation of the threading device according to an embodiment of the present invention;
description of the drawings: 1. mounting a plate; 2. a baffle plate; 3. a first groove; 4. a second groove; 5. a first elastic member; 601. a support bar; 602. a stopper; 7. a second elastic member; 8. pulling a rope; 901. a first fixed pulley; 902. a second fixed pulley; 10. a pull ring; 11. a rope is to be threaded; 12. a connecting rod.
Detailed Description
The embodiment of the invention provides a stringing device, and fig. 1 and 2 are schematic structural diagrams of the stringing device according to the embodiment of the invention. Referring to fig. 1 and 2, the device is connected with a rope 11 to be reeved, is matched with an underwater robot to finish underwater reeving work, and comprises a mounting plate 1, a baffle plate 2 and a blocking part; the tail part of the mounting plate 1 is provided with a first groove 3, and the underwater robot is detachably mounted in the first groove 3; the two oppositely arranged baffle plates 2 are arranged in a second groove 4 formed in the mounting plate 1, the second groove 4 is formed in two sides of the first groove 3 and communicated with the first groove 3, and a first elastic piece 5 is arranged between the inner side of the second groove 4 and the baffle plates 2; when the first elastic piece 5 is in an extension state, the two oppositely arranged baffle plates 2 clamp the connecting rod 12 and fix the connecting rod 12 in the first groove 3, and when the first elastic piece 5 is in a compression state, the two oppositely arranged baffle plates 2 release the connecting rod 12, and the connecting rod 12 is separated from the first groove 3; the blocking part is arranged at the front end of the mounting plate 1 and used for blocking the stringing device from being pulled out from the to-be-strung opening after the blocking part penetrates through the to-be-strung opening. Due to the complex underwater environment, especially when the rope threading task is executed in a deepwater area, the rope threading work can only be completed by means of the underwater robot, however, the underwater robot is too heavy and cannot achieve the flexible operation like a human, so the rope threading task is difficult. When an existing underwater robot executes a rope threading task, after a rope head is required to be threaded into a hole by means of a manipulator clamping rope head, the manipulator clamps the rope head in the opposite direction and pulls the rope head out of the hole to an appointed position, and the operation process has the following defects: the direct clamping operation difficulty of the manipulator is high, the alignment precision is low, the perforating speed is low, the dragging force is small, and the like. The embodiment provides a rope threading device, which is characterized in that a baffle 2 is arranged and matched with a second groove 4, a first groove 3 and a first elastic part 5 to realize automatic clamping, fixing and connection and automatic release of an underwater robot, specifically, when the first elastic part 5 is in an extension state or the first elastic part 5 is in a relative extension state, the first elastic part 5 compresses the baffle 2, two oppositely arranged baffles 2 arranged in the second groove 4 approach to the first groove 3 and are matched with a clamping groove part on a connecting rod 12 of the underwater robot to clamp the connecting rod 12 and fix the connecting rod 12 in the first groove 3; when the first elastic piece 5 is in a compressed state, the two baffle plates 2 which are arranged oppositely release the connecting rod 12, and the connecting rod 12 is separated from the first groove 3. Optionally, the first elastic element 5 is a spring, and under the action of no external force, the baffle plate 2 is ensured to block the groove of the connecting rod 12 under the action of thrust, so that the rope threading device is prevented from falling off from the underwater robot; under the effect of external force, baffle 2 is close to and extrudes first elastic component 5 to second recess 4 inboard, and relative baffle 2 that sets up loosens connecting rod 12, and connecting rod 12 is deviate from in first recess 3, realizes underwater robot's automation and releases. Optionally, the first groove 3 and the second groove 4 are square, so that the stability of the connection between the stringing device and the underwater robot is further ensured.
Further, receive the influence of factors such as rivers, water pressure, another main difficulty that exists when carrying out the wire rope handling task under water is how to accomplish stable wire rope handling work under the unstable environment of rivers, guarantee the steadiness of wire rope handling device stringing process, avoid the wire rope handling device to deviate from treating the mouth of wearing, cause invalid wire rope handling, the extension wire rope handling time, lead to the wire rope handling inefficiency, influence the problem of efficiency of construction, this embodiment is through setting up the barrier part, it deviates from treating the mouth of wearing to block the wire rope handling device, the wire rope handling efficiency has been guaranteed. Optionally, the stopping part is an umbrella-shaped structure which can be contracted and opened, the umbrella-shaped structure can more easily form a supporting effect with surrounding obstacles, the contact area is increased, the stability of the rope threading device can be guaranteed even underwater, the rope threading device is not easy to deflect under the action of external force, the underwater rope threading work is more efficient, in addition, the stopping part is limited to the umbrella-shaped structure which can be contracted and opened, and the applicability of the rope threading device to different apertures to be subjected to rope threading can be improved. Further, the blocking part comprises a support rod 601 and a plurality of blocking pieces 602 which are arranged around the support rod 601 and one end of each blocking piece is movably connected with one end of the support rod 601, and a second elastic piece 7 is arranged between the support rod 601 and the blocking pieces 602; when the second elastic element 7 is in an extended state, the blocking member 602 is opened, and the blocking portion is in an open umbrella-shaped structure, and when the second elastic element 7 is in a compressed state, the blocking member 602 is contracted towards the support rod 601, and the blocking portion is in a contracted umbrella-shaped structure. In an alternative embodiment, the number of the blocking members 602 is at least 2, and a plurality of the blocking members 602 are uniformly arranged around the supporting rod 601. When the number of the blocking members 602 is 2, the two blocking members 602 are oppositely disposed on the left and right sides of the supporting rod 601, and the plane on which the two blocking members 602 are disposed is parallel to the plane on which the mounting plate 1 is disposed. In an alternative embodiment, the number of the supporting rods 601 may be 1 or more, and when the number of the supporting rods 601 is multiple, the number thereof is the same as that of the blocking members 602, and the top ends of the supporting rods 601 are movably connected to the respective blocking members 602. Optionally, the second elastic element 7 is a spring, and when the umbrella-shaped structure is not acted by external force, the thrust given by the spring keeps the umbrella-shaped structure in an open state all the time, so that the perforating device is prevented from being brought out due to the backward movement of the robot or the action of water flow after the umbrella-shaped structure passes through the opening to be perforated. In order to further improve the stability of the reeving device, the other end of the support rod 601 is fixedly connected with the front end of the mounting plate 1.
The baffle further comprises a pull rope 8, one end of the pull rope is fixedly connected with the baffle 2, and the other end of the pull rope is fixedly connected with the blocking piece 602; when the stringing device passes through the to-be-strung opening, the blocking piece 602 contracts towards the supporting rod 601; after the rope threading device penetrates through the to-be-threaded opening, the underwater robot drives the rope threading device to retreat, the blocking piece 602 is opened, the blocking piece 602 pulls the pull rope 8, the pull rope 8 pulls the baffle 2 to move towards the inner side close to the second groove 4, the baffle 2 compresses the first elastic piece 5 and releases the connecting rod 12, and the connecting rod 12 is separated from the first groove 3. This stay cord 8 can make the flexibility but does not have elastic rope or rope, through setting up this stay cord 8, realize the linkage between each structure of this stringing device, the degree of automation of stringing under water has further been improved, no longer need under the artifical circumstances of participating in, the efficiency of stringing has been guaranteed, it is concrete, after the stringing device passes and treats the mouth of wearing, underwater robot drives the stringing device and retreats, under the effect of underwater robot back tension, make to block piece 602 and open, under the existence of umbelliform structure blocking part, the stringing device can not deviate from treating the mouth of wearing, thereby make to block piece 602 pulling stay cord 8, 8 pulling baffles of stay cord 2 are to the inboard removal that is close to second recess 4, baffle 2 compresses first elastic component 5 and loosens connecting rod 12, connecting rod 12 deviates from in first recess 3. In order to ensure smooth operation and better change the direction of the pull rope 8, the pull rope fixing device further comprises a fixed pulley which is fixed on the mounting plate 1 and matched with the pull rope 8. In order to ensure that the pulling rope 8 can pull the baffle 2 towards the inner side of the second groove 4 better, the fixed pulleys comprise first fixed pulleys 901 which are positioned at two sides of the second groove 4. Further, the fixed pulley further comprises a second fixed pulley 902 disposed at both sides of the supporting rod 601. Optionally, the underwater robot further comprises a pull ring 10 arranged at the front end of the blocking part, so that the underwater robot can pull out the rope threading device from the opening to be threaded from the front to finish the rope threading work.
The invention also discloses an application of any one of the rope threading devices in the rope threading operation in the deepwater area, which comprises a connecting step, a rope threading step, a releasing step and a rope threading step, and specifically comprises the following steps:
the connecting step comprises that a connecting rod 12 of the underwater robot is arranged in the first groove 3 and is connected with the underwater robot and the rope threading device; the rope threading step comprises the steps that the underwater robot drives the rope threading device to penetrate through a to-be-threaded opening, and the blocking piece 602 contracts towards the supporting rod 601; after the stringing device penetrates through the to-be-strung opening, as shown in fig. 3, the underwater robot drives the stringing device to retreat, the blocking piece 602 is opened, the blocking piece 602 pulls the pull rope 8, the pull rope 8 pulls the baffle 2 to move towards the inner side close to the second groove 4, the baffle 2 compresses the first elastic piece 5 and releases the connecting rod 12, and the connecting rod 12 is loosened from the first groove 3; and finishing the threading step, namely hooking the pull ring 10 by the underwater robot, and drawing the threading device to the water surface from the front side to finish the threading work.
In the above-mentioned step, before the wire rope handling work begins, prop open the blocking part of umbrella structure, stretch into the draw-in groove of connecting rod 12 in the first recess 3 of wire rope handling device, when the blocking part of umbrella structure is not atress, second elastic component 7 can extend, guarantee that umbrella structure width is greater than and treat the mouth of wearing, can not deviate from, underwater robot retreats the in-process, the blocking part of umbrella structure is because outside barrier supports, the angle grow, pulling stay cord 8, change 8 directions of stay cord through the fixed pulley, make first elastic component 5 compressed, baffle 2 moves to both sides, make underwater robot break away from the wire rope handling device.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (10)
1. A rope threading device is characterized by being connected with a rope to be threaded and matched with an underwater robot to finish underwater rope threading work, and comprises
The tail part of the mounting plate is provided with a first groove, and the underwater robot is detachably mounted in the first groove;
the two oppositely arranged baffles are arranged in a second groove formed in the mounting plate, the second groove is formed in two sides of the first groove and communicated with the first groove, and a first elastic piece is arranged between the inner side of the second groove and the baffles; when the first elastic piece is in an extension state, the two oppositely arranged baffles clamp the connecting rod fixedly connected with the underwater robot and fix the connecting rod in the first groove, and when the first elastic piece is in a compression state, the two oppositely arranged baffles loosen the connecting rod, so that the connecting rod is separated from the first groove;
the blocking part is arranged at the front end of the mounting plate and used for blocking the rope threading device from being separated from the to-be-threaded opening after the blocking part penetrates through the to-be-threaded opening.
2. A reeving device according to claim 1, wherein the blocking portion is an umbrella structure that can be retracted and opened.
3. The stringing device as claimed in claim 2, wherein the blocking part comprises a support rod and a plurality of blocking parts arranged around the support rod and having one end movably connected with one end of the support rod, and a second elastic part is arranged between the support rod and the blocking parts; when the second elastic piece is in an extension state, the blocking piece is opened, the blocking part is in an opened umbrella-shaped structure, when the second elastic piece is in a compression state, the blocking piece is contracted towards the supporting rod, and the blocking part is in a contracted umbrella-shaped structure.
4. The roping arrangement of claim 3, characterized in that the other end of the support bar is fixedly connected to the front end of the mounting plate.
5. The stringing device of claim 3, further comprising a pull cord having one end fixedly connected to the baffle and the other end fixedly connected to the blocking member;
when the threading device passes through the opening to be threaded, the blocking piece contracts towards the supporting rod;
after the rope threading device penetrates through the to-be-threaded opening, the underwater robot drives the rope threading device to retreat, the blocking piece is opened, the blocking piece pulls the pull rope, the pull rope pulls the baffle to move towards the inner side close to the second groove, the baffle compresses the first elastic piece and releases the connecting rod, and the connecting rod is separated from the first groove.
6. The rope threading device of claim 5, further comprising a fixed pulley secured to the mounting plate and engaged with the pull rope.
7. The roping arrangement of claim 6, wherein said fixed sheave comprises a first fixed sheave on each side of said second groove.
8. The roping arrangement of claim 1, further comprising a pull ring disposed at the forward end of the blocking portion.
9. Use of a reeving device according to any one of claims 1-8 for performing reeving operations in deepwater areas.
10. Use according to claim 9, characterized in that it comprises:
the connection step comprises the steps that a connecting rod of the underwater robot is arranged in a first groove, and the underwater robot is connected with the rope threading device;
a rope threading step, including that the underwater robot drives the rope threading device to penetrate through the opening to be threaded, and the blocking piece contracts towards the supporting rod;
the releasing step comprises the steps that after the rope threading device penetrates through the to-be-threaded opening, the underwater robot drives the rope threading device to retreat, the blocking piece is opened, the blocking piece pulls the pull rope, the pull rope pulls the baffle to move towards the inner side close to the second groove, the baffle compresses the first elastic piece and releases the connecting rod, and the connecting rod is released from the first groove;
and finishing the threading step, namely hooking the pull ring by the underwater robot, and drawing the threading device to the water surface from the front side to finish the threading work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211081242.9A CN115158613B (en) | 2022-09-06 | 2022-09-06 | Rope threading device and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211081242.9A CN115158613B (en) | 2022-09-06 | 2022-09-06 | Rope threading device and application thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115158613A true CN115158613A (en) | 2022-10-11 |
| CN115158613B CN115158613B (en) | 2022-12-09 |
Family
ID=83481488
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211081242.9A Active CN115158613B (en) | 2022-09-06 | 2022-09-06 | Rope threading device and application thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115158613B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149951A (en) * | 2014-07-15 | 2014-11-19 | 中国船舶重工集团公司第七一九研究所 | Underwater releasing device |
| US20200055569A1 (en) * | 2018-08-17 | 2020-02-20 | Bardex Corporation | Mooring and tensioning methods, systems, and apparatus |
| CN111720088A (en) * | 2020-07-01 | 2020-09-29 | 曹燚 | Wire threading mechanism, fishing device and fishing method for drill bit fishing |
| CN214493261U (en) * | 2021-02-26 | 2021-10-26 | 张少钦 | Convenient cable threading device |
| CN113883226A (en) * | 2021-08-24 | 2022-01-04 | 中核华辰建筑工程有限公司 | Rope threading fixing device |
-
2022
- 2022-09-06 CN CN202211081242.9A patent/CN115158613B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149951A (en) * | 2014-07-15 | 2014-11-19 | 中国船舶重工集团公司第七一九研究所 | Underwater releasing device |
| US20200055569A1 (en) * | 2018-08-17 | 2020-02-20 | Bardex Corporation | Mooring and tensioning methods, systems, and apparatus |
| CN111720088A (en) * | 2020-07-01 | 2020-09-29 | 曹燚 | Wire threading mechanism, fishing device and fishing method for drill bit fishing |
| CN214493261U (en) * | 2021-02-26 | 2021-10-26 | 张少钦 | Convenient cable threading device |
| CN113883226A (en) * | 2021-08-24 | 2022-01-04 | 中核华辰建筑工程有限公司 | Rope threading fixing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115158613B (en) | 2022-12-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR100949196B1 (en) | A apparatus for extensioning steel strand | |
| CN115158613B (en) | Rope threading device and application thereof | |
| DE202010015616U1 (en) | crane | |
| CN102667285B (en) | Hoisting method and assembly for abandoning and/or recovering an underwater pipeline from a laying vessel, and laying vessel equipped with such a hoisting assembly | |
| CL2020000084A1 (en) | Lifting pole for a marine corral and use of the lifting pole for cleaning a net. | |
| KR102578107B1 (en) | Automatic towing device | |
| CN112901103A (en) | Monitoring well fisher and method | |
| KR101436997B1 (en) | Spores transplanting device clamp structure | |
| CN105613253A (en) | Raft culture rapid connection and disengagement device | |
| CN104998424B (en) | Combined lifting circus ring-fence apparatus | |
| CN203754114U (en) | Automatic retracting device for twice-carrying cable of heading machine | |
| CN209211146U (en) | A kind of steel wire cable is spliced and docking facilities | |
| CN108385524B (en) | Bidirectional traction method for equidirectional rotary steel strands | |
| CN203808529U (en) | Net bag for bundle penetrating guidance of prestressed steel stranded wires | |
| CN210712573U (en) | Steel strand traction system | |
| JP2015198636A (en) | Scallop cultivation fastening pin and scallop harvest method | |
| CN210973557U (en) | High mound construction reinforcing bar stone tongs | |
| CN210887260U (en) | Water retaining device of quick concatenation under open cut tunnel construction | |
| JP3110704B2 (en) | Crane rear post pendant rope connection device and rear post pendant rope connection method | |
| CN106800072B (en) | Remove the device and its twister sweep-out method of buoying device heaving pile twister waterborne | |
| CN112227099A (en) | Self-locking knotless looping method for braided cable | |
| CN110373925A (en) | Cable is spliced looper equipment | |
| JP3110703B2 (en) | Crane rear post pendant rope connection device and rear post pendant rope connection method | |
| US20160183510A1 (en) | Fishing line retrieval system and method | |
| KR100572403B1 (en) | Pulling machine and pulling method using the thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |