CN207424603U - Folding and unfolding thread control device and take-up and pay-off device - Google Patents
Folding and unfolding thread control device and take-up and pay-off device Download PDFInfo
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- CN207424603U CN207424603U CN201721547366.6U CN201721547366U CN207424603U CN 207424603 U CN207424603 U CN 207424603U CN 201721547366 U CN201721547366 U CN 201721547366U CN 207424603 U CN207424603 U CN 207424603U
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Abstract
This application involves a kind of folding and unfolding thread control device and take-up and pay-off devices.Microprocessor and force snesor including interconnection, force snesor acquisition cable is concurrently sent by force parameter to microprocessor, microprocessor receives external control signal and should be by force parameter, and sends rotary speed regulating signal, and rotary speed regulating signal controls for drawing cable.The folding and unfolding thread control device and take-up and pay-off device of the application, when carrying out retractable cable operation, obtained in real time by force snesor cable by force parameter, microprocessor is according to the matching degree that present cable folding and unfolding speed and another end equipment translational speed of cable should be judged by force parameter, when mismatching, the rotating speed for the motor that driving reel operates is adjusted by rotary speed regulating signal in time, so that the electric wire for needing length can be accurately exported in unwrapping wire, accuracy is high, it is avoided that reel pulls the normal work for influencing another end equipment of cable in take-up, it is highly reliable.
Description
Technical field
This application involves the technical field for being tethered at unmanned plane, more particularly to a kind of retractable cable that can be used for being tethered at unmanned plane
Control device and take-up and pay-off device.
Background technology
It is tethered at unmanned plane and is mainly used in continual aerial monitoring and emergency communication for a long time, can carry special visible
Light video camera and infrared thermography can also carry special emergency communication trunking.Unmanned plane is tethered in army at present
Multiple professional domain extensive uses such as thing, fire-fighting, oil, ocean, mapping, traffic, scientific research.Being tethered at unmanned plane can solve very well
The power supply of unmanned plane and long endurance problem as the beginning, can open up huge technical grade unmanned plane market completely.
It is tethered at unmanned plane folding and unfolding line traffic control however, current and can only realize retractable cable roughly, system reliability is not strong, accurately
Degree is not high.For example, unmanned plane is tethered in task process is performed, by manually releasing power cord not from heavy cable reel
But substantial amounts of manpower is needed, and can not accurately export the electric wire for needing length, accuracy is limited；When unmanned plane declines,
Can not on time, accurate take-up, it is most likely that cause power cord confusion scattered on the ground, so as to cause the breakage of power cord and obstruction
The operation of unmanned plane, reliability be not strong.
Utility model content
Based on this, it is necessary in view of the above-mentioned problems, provide a kind of folding and unfolding thread control device highly reliable, accuracy is high and
Take-up and pay-off device.
A kind of folding and unfolding thread control device, microprocessor and force snesor including interconnection；
The force snesor acquisition cable is sent to the microprocessor by force parameter, and by described by force parameter；Institute
It states microprocessor and receives external control signal and described by force parameter, and send rotary speed regulating signal, the rotary speed regulating signal
It is controlled for drawing cable.
A kind of take-up and pay-off device, including motor, reel and folding and unfolding thread control device as described above, the folding and unfolding line traffic control
The microprocessor in device is connected with the motor, and the motor is connected with the reel；
The rotary speed regulating signal is sent to the motor so that the motor to be controlled to rotate by the microprocessor, the electricity
Machine drives the reel operating to carry out drawing cable.
In one embodiment, further include send control signal control end device, it is described control end device with it is described micro-
Processor connects.
In one embodiment, further include communicator, the control end device by the communicator with it is described micro-
Processor connects.
In one embodiment, the control end device includes mobile terminal, and the mobile terminal includes mobile phone, tablet electricity
At least one of brain and personal digital assistant.
In one embodiment, the wire-arranging mechanism arranged on the reel one side is further included, the wire-arranging mechanism is used to adjust
Arrangement of the cable in folding and unfolding on the reel.
In one embodiment, the emergency switch being connected with the motor is further included, the emergency switch controls the electricity
Machine emergency braking.
In one embodiment, radiator is further included, the radiator is arranged on the one side of the reel.
In one embodiment, alarm device is further included, the warning device is connected with the microprocessor.
In one embodiment, pedestal is further included, the pedestal includes babinet, idler wheel and pull rod；
Wherein, the babinet is used to fix the microprocessor, the force snesor, the motor and the reel, institute
The bottom that idler wheel is arranged on the babinet is stated, the pull rod is arranged on the one side of the babinet.
Above-mentioned folding and unfolding thread control device and take-up and pay-off device, microprocessor and force snesor including interconnection, wherein,
Force snesor obtain cable by force parameter, and microprocessor will be sent to by force parameter, microprocessor is according to the outside of reception
Control signal and by force parameter, sends to control the rotary speed regulating signal of retractable cable, so as to fulfill the control to drawing cable.
When carrying out retractable cable operation, obtained in real time by force snesor cable by force parameter, microprocessor by force parameter according to should be sentenced
The matching degree of disconnected present cable folding and unfolding speed and another end equipment translational speed of cable, when mismatching, passes through rotating speed in time
Regulate signal adjusts the rotating speed of the motor of driving reel operating, so that can accurately export the electricity for needing length in unwrapping wire
Line, accuracy is high, is avoided that reel pulls the normal work for influencing another end equipment of cable in take-up, highly reliable.
Description of the drawings
Fig. 1 is the structure diagram of folding and unfolding thread control device in one embodiment of the application；
Fig. 2 is the structure diagram of take-up and pay-off device in one embodiment of the application；
Fig. 3 is the structure diagram of take-up and pay-off device in one embodiment of the application；
Fig. 4 is the structure diagram of take-up and pay-off device in one embodiment of the application；
Fig. 5 is the flow diagram that take-up and pay-off device carries out retractable cable operation in Fig. 4.
Specific embodiment
Object, technical solution and advantage to make the application are more clearly understood, with reference to the accompanying drawings and embodiments, to this
Application is described in further detail.It should be appreciated that the specific embodiments described herein are only used to explain the application,
The protection domain of the application is not limited.
Fig. 1 is the structure diagram of folding and unfolding thread control device in one embodiment of the application.As shown in Figure 1, folding and unfolding line traffic control
Device 100 includes the microprocessor 110 being connected with each other and force snesor 120；
The acquisition of force snesor 120 cable is sent to the microprocessor by force parameter, and by described by force parameter
110；The microprocessor 110 receives external control signal and described by force parameter, and sends rotary speed regulating signal, the rotating speed
Regulate signal controls for drawing cable.
Folding and unfolding thread control device 100 is for regulating and controlling drawing cable, including the microprocessor 110 being connected with each other and power sensing
Device 120.Wherein, force snesor 120 be used to obtaining cable by force parameter, passed specifically, force snesor 120 can include pulling force
Sensor, tension sensor and pressure sensor etc. can be used for detecting the mechanics parameters such as corresponding pulling force, tension and pressure in real time
Sensor.The cable obtained in real time is sent to microprocessor 110 by force snesor 120 by force parameter, and microprocessor 110 receives
External control signal and and rotary speed regulating signal should be sent by force parameter, the rotary speed regulating signal is for drawing cable control.Into
One step, microprocessor 110 can be microcontroller, FPGA (Field-Programmable Gate Array, field-programmable
Gate array) or DSP (Digital Signal Processor, digital signal processor).Microprocessor 110 is according to the outer of reception
Portion's control signal and force snesor 120 send by force parameter, and rotary speed regulating signal is sent, so as to fulfill to drawing cable
Control, so as to ensure cable not excessive tensile and overrelaxation.
Above-mentioned folding and unfolding thread control device, microprocessor and force snesor including interconnection, wherein, force snesor obtains
Cable by force parameter, and microprocessor will be sent to by force parameter, microprocessor according to the external control signal of reception and by
Force parameter sends to control the rotary speed regulating signal of retractable cable, so as to fulfill the control to drawing cable.Carrying out retractable cable
During operation, obtained in real time by force snesor cable by force parameter, microprocessor by force parameter according to should be judged present cable receipts
The matching degree of speed and another end equipment translational speed of cable is put, when mismatching, is adjusted in time by rotary speed regulating signal
The rotating speed of the motor of reel operating is driven, so that can accurately export the electric wire for needing length in unwrapping wire, accuracy is high,
It is avoided that reel pulls the normal work for influencing another end equipment of cable during take-up, it is highly reliable.
Based on above-mentioned folding and unfolding thread control device 100, the application also provides a kind of take-up and pay-off device.
Fig. 2 is the structure diagram of take-up and pay-off device in one embodiment of the application.As shown in Fig. 2, take-up and pay-off device includes
Motor 200, reel 300 and folding and unfolding thread control device 100 as described above, it is described micro- in the folding and unfolding thread control device 100
Processor 110 is connected with the motor 200, and the motor 200 is connected with the reel 300；
The rotary speed regulating signal is sent to the motor 200 to control 200 turns of the motor by the microprocessor 110
Dynamic, the motor 200 drives the operating of reel 300 to carry out drawing cable.
Take-up and pay-off device includes motor 200, reel 300 and folding and unfolding thread control device 100, wherein, folding and unfolding thread control device
100 control motors 200 rotate, and motor 200 drives reel 300 to operate, and reel 300 is rotated by forward and reverse and carries out cable receipts
It puts.Specifically, folding and unfolding thread control device 100 includes the microprocessor 110 being connected with each other and force snesor 120, microprocessor 110
It is connected with motor 200.The cable detected in real time is sent to microprocessor 110, microprocessor by force snesor 120 by force parameter
According to the external control signal of reception and force snesor 120 send by force parameter, and send rotary speed regulating signal and be sent to
Motor 200, motor 200 adjust rotating speed under rotary speed regulating signal control, and driving reel 300 changes running speed, so as to fulfill
Regulation and control to drawing cable speed.
Above-mentioned take-up and pay-off device, when carrying out retractable cable operation, obtained in real time by force snesor cable by force parameter, it is micro-
Processor is according to the matching journey being somebody's turn to do by force parameter multilevel iudge present cable folding and unfolding speed and another end equipment translational speed of cable
Degree when mismatching, adjusts the rotating speed for the motor that driving reel operates, so that in unwrapping wire by rotary speed regulating signal in time
When can accurately export the electric wire for needing length, accuracy is high, and being avoided that reel is pullled in take-up influences another end equipment of cable
Normal work, it is highly reliable.
Further, take-up and pay-off device further includes the control end device for sending control signal, the control end device and institute
State microprocessor connection.Control end device is connected with microprocessor 110, can external control signal directly be sent to microprocessor
Device, control take-up and pay-off device start or stop retractable cable operation and adjust the speed of retractable cable.In specific application, power senses
Device 120 in real time carries out motor speed by microprocessor 110 by force parameter according to this for detecting cable stress parameter in real time
Regulation and control；On the other hand, by the way that end device on/off device is controlled to work and adjust folding and unfolding linear velocity.In specific implementation, control
End device processed can include starting switch, speed-regulating switch and display device, by the startup and closing of starting switch realization device,
Such as after the switch button of unwrapping wire is opened, microprocessor sends unwrapping wire control signal and to motor reel is further driven to send automatically
Line；By speed-regulating switch regulating device folding and unfolding linear velocity, pass through the working condition of the real-time acquisition device of display device, such as retractable cable
The work state informations such as length, speed.
Further, take-up and pay-off device further includes communicator, and the control end device passes through the communicator and institute
Microprocessor 110 is stated to connect.Control end device is connected by communicator with microprocessor 110, control letter outside communicator
Number transmitting-receiving, the external control signal that sends of end device will be controlled to be transferred in microprocessor 110, while by microprocessor 110
The working state of device information of return is transferred to control end device.Specifically, communicator can include wire communication module or
Wireless communication module, wireless communication module can be bluetooth module, 3G/4G modules, WIFI module etc..
Further, the control end device includes mobile terminal, and the mobile terminal includes mobile phone, tablet computer and a
At least one of personal digital assistant.It can be mobile terminal to control end device, and mobile terminal is by communicator to microprocessor
Device sends control signal, so as to fulfill the control to device on/off and folding and unfolding linear velocity.Further, mobile terminal
It can be with reel running speed and take-up, the work state informations such as length of unwrapping wire that display microprocessor returns, to control
End device can understand device operating status in time.
Further, take-up and pay-off device further includes the wire-arranging mechanism arranged on 300 one side of reel, and the wire-arranging mechanism is used
Arrangement when cable is adjusted in folding and unfolding on the reel 300.Wire-arranging mechanism can be used for adjusting cable folding and unfolding on reel 300
When arrangement, it can be ensured that cable is uniformly distributed on reel 300, avoids situations such as cable is likely to occur juxtaposition, from
And harmful effect is led to the problem of to the operation of another end equipment of cable.During concrete application, wire-arranging mechanism can be leading screw, pass through
Cable can in an orderly manner, be equably arranged on reel by adjusting when leading screw is to drawing cable, effectively to solve existing folding and unfolding
The problems such as linear system, which is united, is unable to the line of folding and unfolding suitable length, and power cord arrangement is chaotic, work efficiency is low, and reliability is not high.
Further, take-up and pay-off device further includes the emergency switch being connected with the motor 200, the emergency switch control
200 emergency braking of motor.Emergency switch is connected with motor 200, when emergency occurs, as system breaks down or needs
When being stopped at once, motor 200 can be realized in time by emergency switch and braked, it is ensured that the safety stop of system.
Further, take-up and pay-off device further includes radiator, and the radiator is arranged on the one side of the reel 300.
When reel 300 carries out retractable cable, by 300 one side of reel radiator being set to carry out heat dissipation drop to cable and reel 300
Temperature, it is ensured that device stable operation in hot environment is also avoided that temperature is excessively high and is damaged to cable.In concrete application
When, radiator can be fan, can set the fan of certain angle on the periphery of reel, radiate to cable and reel
Cooling.
Further, take-up and pay-off device further includes alarm device, and the warning device is connected with the microprocessor 110.
Warning device is connected with microprocessor 110, and when drawing cable is completed, microprocessor 110 sends standby signal, by warning device
Alarm signal is sent after receiving the standby signal, take-up or unwrapping wire to be prompted to complete or broken down, so as to ensure to grasp
The working condition of device can be understood in time by making personnel.Further, warning device can be signal lamp, such as LED light or buzzing
Device etc..
Further, take-up and pay-off device further includes pedestal, and the pedestal includes babinet, idler wheel and pull rod；Wherein, the case
For fixing the microprocessor 110, the force snesor 120, the motor 200 and the reel 300, the idler wheel is set body
In the bottom of the babinet, the pull rod is arranged on the one side of the babinet.Pedestal is for fixing whole device, specifically, pedestal
Including babinet, idler wheel and pull rod.Wherein, the cavity structure of babinet, which is set, puts each module device, such as microprocessor, force snesor, electricity
Machine and reel further, can also set and put communicator, warning device, emergency switch, radiator and wire-arranging mechanism etc.；
Idler wheel is arranged on the bottom of box, and pull rod is located at the one side of babinet, convenient for the carrying and transport of entire take-up and pay-off device.
Fig. 3 is the structure diagram of take-up and pay-off device in one embodiment of the application.As shown in figure 3, take-up and pay-off device includes
Folding and unfolding thread control device 100, motor 200, reel 300, warning device, control end equipment, communicator, emergency switch, heat dissipation
Device and wire-arranging mechanism, wherein, folding and unfolding thread control device 100 includes the microprocessor 110 being connected with each other and force snesor 120；
Further, microprocessor 110 is also connected with warning device, communicator and motor 200, and control end device connects with communicator
It connects, motor 200 is connected with reel 300 and emergency switch, and radiator and wire-arranging mechanism are arranged on the one side of reel 300.
Above-mentioned take-up and pay-off device, microprocessor 110 receive control end device by control signal that communicator is sent with
And the cable of force snesor detection by force parameter, and send rotary speed regulating signal and be sent to motor 200, motor 200 is turning
Rotating speed is adjusted under the control of fast Regulate signal and reel 300 is driven to change rotating speed, so as to fulfill the reality to drawing cable linear velocity
When regulate and control.When carrying out retractable cable operation, obtained in real time by force snesor cable by force parameter, microprocessor is according to the stress
The matching degree of parameter multilevel iudge present cable folding and unfolding speed and another end equipment translational speed of cable, when mismatching and
When by rotary speed regulating signal adjust driving reel operate motor rotating speed so that can accurately export needs in unwrapping wire
The electric wire of length, accuracy is high, is avoided that reel pulls the normal work for influencing another end equipment of cable, reliability in take-up
By force.
In addition, device has orderly wire arrangement function, microprocessor 110 can be according to working state of device in the process of retractable cable
It is to drive the dealing campaign of wire-arranging mechanism in take-up or unwrapping wire state, it is ensured that electric wire is orderly on reel, avoids
Electric wire is likely to occur situations such as juxtaposition, so as to lead to the problem of harmful effect to the operation of unmanned plane；Warning device is timely
Send standby signal alarm set working condition；Emergency switch can be used for the emergency braking of motor；Radiator to cable and
The real-time radiating and cooling of reel；Ensure device stable operation in high temperature environments.
Fig. 4 is the structure diagram of take-up and pay-off device in one embodiment of the application.As shown in figure 4, in the present embodiment, folding and unfolding
Line apparatus includes microprocessor (not shown), force snesor 120, reel 200, motor 300, leading screw 400, fan 500, base disk
600.Wherein, motor 300 rotates driving reel 200 and operates, and is controlled by forward and reverse operating, realizes and the retractable cable of cable is twined
Around；Reel 200 is coaxially disposed with motor 300, and reel 200 is arranged on the outside of motor 300, for the winding of cable；Leading screw 400 is set
It above reel, is fixed on base disk 600, being uniformly distributed on reel 200 when being used to implement drawing cable；Force snesor
120 it is fixed with leading screw 400 on, for detect on cable by force parameter, can specifically, force snesor 120 is pulling force sensor
To detect the value of thrust on cable in real time；Fan 500 is fixedly arranged on the base disk 600 of 200 both sides of reel, for device radiation
Cooling；Base disk 600 fixes each several part device；Microprocessor (not shown) set put in base disk 600, specifically, microprocessor
Device is microcontroller.
Further, take-up and pay-off device further includes console module and bluetooth module, and console module is mobile terminal, such as
Mobile phone.Specifically, mobile phone is communicated by the realization of the bluetooth module and microprocessor, on the one hand, mobile phone is by bluetooth module to micro-
Processor sends control signal, such as starter or shutoff device and rotational speed regulation；On the other hand, microprocessor also returns in real time
The working condition of return device, such as the running speed of reel 200, take-up or unwrapping wire length work state information, so as to control terminal
Device working condition is grasped in real time.Above-mentioned take-up and pay-off device can independently take-up and unwrapping wire, cable drum can be according to unmanned planes
Flying height and speed actively adjust folding and unfolding speed, can accomplish the synchronous matching with unmanned plane, and can be filled by control terminal
Governing speed is put, speed maximum can reach 2 metre per second (m/s)s.
Fig. 5 is the flow diagram that retractable cable operation is carried out using take-up and pay-off device in Fig. 4.As shown in figure 5, device starts
After initialization, mobile terminal is connected with folding and unfolding thread control device by bluetooth module, and mobile terminal opens line retracting switch, and
Line retracting speed is set, generates control signal and the microprocessor being issued in folding and unfolding thread control device, i.e. microcontroller, monolithic
Machine controls motor positive/negative to rotation according to the control signal, realizes line retracting operation.While line retracting operates progress,
Pulling force sensor detects the value of thrust on cable and is sent to microcontroller in real time, and microcontroller judges present speed according to value of thrust
With situation, send to adjust the rotary speed regulating signal of folding and unfolding speed, motor is adjusted in real time according to the rotary speed regulating signal received
Rotating speed is saved, so as to which reel running speed be driven to adjust in real time, to match the current required receiving/releasing linear speed of cable other end equipment
Degree.It is possible to further record the work state information of last time device by memory, start initialization in device
Afterwards, last status information is read, carries out device configuration.Specifically, above-mentioned take-up and pay-off device is applied to be tethered at unmanned plane,
When the rate of climb of unmanned plane is more than the payingoff speed of reel, pulling force sensor is subject to outside pulling force, and will inspection
The value of thrust of survey gives microprocessor, i.e. microcontroller is handled, and microcontroller judges to need to add after collecting corresponding pressure value
Speed sends signal for faster to motor, so as to accelerate the rotating speed of motor, the rotating speed of reel is made to reach consistent with unmanned plane.At nobody
During machine declines, if the decrease speed of unmanned plane is less than the rotating speed of reel, pulling force sensor can be subject to outside pulling force,
Microcontroller needs to slow down according to value of thrust judgement at this time, sends reduce-speed sign, so as to reduce the rotating speed of motor automatically, makes to be reserved in
Line outside reel has sufficient surplus, ensure because of pullling for reel will not to make in take-up the flight of unmanned plane by
To influence.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the application, and description is more specific and detailed, but simultaneously
Cannot the limitation to utility model patent scope therefore be interpreted as.It should be pointed out that the ordinary skill people for this field
For member, on the premise of the application design is not departed from, various modifications and improvements can be made, these belong to the application's
Protection domain.Therefore, the protection domain of the application patent should be determined by the appended claims.
Claims (10)
1. a kind of folding and unfolding thread control device, which is characterized in that microprocessor and force snesor including interconnection；
The force snesor acquisition cable is sent to the microprocessor by force parameter, and by described by force parameter；It is described micro-
Processor receives external control signal and described by force parameter, and sends rotary speed regulating signal, and the rotary speed regulating signal is used for
Drawing cable controls.
2. a kind of take-up and pay-off device, which is characterized in that filled including motor, reel and folding and unfolding line traffic control as described in claim 1
It puts, the microprocessor in the folding and unfolding thread control device is connected with the motor, and the motor is connected with the reel；
The rotary speed regulating signal is sent to the motor so that the motor to be controlled to rotate by the microprocessor, and the motor drives
The dynamic reel operating carries out drawing cable.
3. take-up and pay-off device according to claim 2, which is characterized in that further include the control terminal dress for sending control signal
It puts, the control end device is connected with the microprocessor.
4. take-up and pay-off device according to claim 3, which is characterized in that further include communicator, the control end device
It is connected by the communicator with the microprocessor.
5. the take-up and pay-off device according to claim 3 or 4, which is characterized in that the control end device includes mobile terminal,
The mobile terminal includes at least one of mobile phone, tablet computer and personal digital assistant.
6. take-up and pay-off device according to claim 2, which is characterized in that further include the cable machine arranged on the reel one side
Structure, the wire-arranging mechanism are used to adjust arrangement of the cable in folding and unfolding on the reel.
7. the take-up and pay-off device according to claim 2 or 6, which is characterized in that further include be connected with the motor it is urgent
Switch, the emergency switch control the motor emergency braking.
8. take-up and pay-off device according to claim 2, which is characterized in that further include radiator, the radiator is set
In the one side of the reel.
9. take-up and pay-off device according to claim 2, which is characterized in that further include alarm device, the warning device with
The microprocessor connection.
10. take-up and pay-off device according to claim 2, which is characterized in that further include pedestal, the pedestal include babinet,
Idler wheel and pull rod；
Wherein, the babinet is used to fix the microprocessor, the force snesor, the motor and the reel, the rolling
Wheel is arranged on the one side of the babinet arranged on the bottom of the babinet, the pull rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721547366.6U CN207424603U (en) | 2017-11-17 | 2017-11-17 | Folding and unfolding thread control device and take-up and pay-off device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721547366.6U CN207424603U (en) | 2017-11-17 | 2017-11-17 | Folding and unfolding thread control device and take-up and pay-off device |
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| CN207424603U true CN207424603U (en) | 2018-05-29 |
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| CN201721547366.6U Expired - Fee Related CN207424603U (en) | 2017-11-17 | 2017-11-17 | Folding and unfolding thread control device and take-up and pay-off device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109335894A (en) * | 2018-07-30 | 2019-02-15 | 江苏政田重工股份有限公司 | A kind of towing winch with slipping device |
| TWI699310B (en) * | 2017-02-28 | 2020-07-21 | 美商洛伊馬汀公司 | Airborne payload control system |
| CN113321130A (en) * | 2021-06-11 | 2021-08-31 | 三一海洋重工有限公司 | Operating device and field bridge crane |
| US11230389B2 (en) | 2017-02-28 | 2022-01-25 | Lockheed Martin Corporation | System and method of blade-tip facilitated aircraft capture |
| CN114537253A (en) * | 2022-03-04 | 2022-05-27 | 国家电网有限公司 | Paying-off service vehicle and paying-off monitoring system |
-
2017
- 2017-11-17 CN CN201721547366.6U patent/CN207424603U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI699310B (en) * | 2017-02-28 | 2020-07-21 | 美商洛伊馬汀公司 | Airborne payload control system |
| US11230389B2 (en) | 2017-02-28 | 2022-01-25 | Lockheed Martin Corporation | System and method of blade-tip facilitated aircraft capture |
| US11667397B2 (en) | 2017-02-28 | 2023-06-06 | Lockheed Martin Corporation | System and method of blade-tip facilitated aircraft capture |
| CN109335894A (en) * | 2018-07-30 | 2019-02-15 | 江苏政田重工股份有限公司 | A kind of towing winch with slipping device |
| CN113321130A (en) * | 2021-06-11 | 2021-08-31 | 三一海洋重工有限公司 | Operating device and field bridge crane |
| CN114537253A (en) * | 2022-03-04 | 2022-05-27 | 国家电网有限公司 | Paying-off service vehicle and paying-off monitoring system |
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