US3653518A - Stabilized reeving for cranes - Google Patents

Stabilized reeving for cranes Download PDF

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Publication number
US3653518A
US3653518A US2256A US3653518DA US3653518A US 3653518 A US3653518 A US 3653518A US 2256 A US2256 A US 2256A US 3653518D A US3653518D A US 3653518DA US 3653518 A US3653518 A US 3653518A
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sheaves
crane
stabilized
cable
reeving
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US2256A
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Karl L Polen
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Alliance Machine Co
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Alliance Machine Co
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads

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  • SHEET 2 [1F 2 Fig INVENTOR Karl L. Polen STABILIZED REEVING FOR CRANES This invention relates to stabilized reeving for cranes and particularly to a crane structure and reeving which permits a load suspended on the crane to be trimmed or stabilized for tilt or list.
  • a common problem in many types of crane operations and particularly in shipboard container cranes is that of maintaining trim on the object being handled such as a container.
  • trim For example the list of a ships deck on which a container crane is operated creates a problem of tilting of the containers being handled.
  • Various devices have been used to assist in stabilizing this load without total success.
  • a trolley operating on an overhead track system, a cable drum on said trolley having at least one pair of depending cables for extension and contraction by rotation of the drum, a pair of sheaves spaced on either side of the drum on the trolley on axis parallel to the drum axis and substantially equally distant from the base line of the depending cables, a lift beam suspended below said trolley on said cables, said beam having a pair of spaced apart sheaves geared together so as to rotate in opposite directions, each of said cablespassing from the cable drum around one of the sheaves on the beam then around the sheave on the trolley and being dead ended on'the beam intermediate the axes of the sheaves on the beam and trim actuator means acting on one of the cable ends and the trolley mounted sheaves whereby the load angle is adjusted.
  • the trim actuator means is a hydraulic cylinder, however it may be an electrical or mechanical adjusting means such as an electrical driven screw.
  • the beam sheaves may be geared directly together
  • FIG. 1 is an isometric view of a trolley crane embodying one form of this invention
  • FIG. 2 is a schematic illustration of the reeving of FIG. 1;
  • FIG. 3 is a schematic illustration of a reeving according to a second embodiment of this invention.
  • FIG. 4 is a schematic illustration of a reeving according to a third embodiment of this invention.
  • FIG. 5 is a schematic illustration of a fourth embodiment of this invention.
  • Trolley 11 carries a cable drum 12 on which at least one pair of cables 13 and 14 is mounted at each end.
  • One end of each of cables 13 and 14 is fixed or dead ended on the drum 12.
  • the other end of cable 13 passes downwardly around a sheave 16 on a lift beam then upwardly over a sheave 17 on trolley 11 and then back down to a trim actuator 18 fixed to the center point of beam 15.
  • the other end of cable 14 passes downwardly around a sheave 19 on lift beam 15 then upwardly and over a sheave 20 on trolley 11 and then down to a trim actuator 21 fixed to the center point of beam 15.
  • Each of sheaves 16 and 19 are provided with gears 26 and 29 respectively which engage each other so that rotation of one sheave induces rotation of the other.
  • the operation of the devices is as follows.
  • the appropriate trim actuator 18 or 21 is actuated by the operator of the crane. This changes the length of the corresponding cable and causes the corresponding sheave to rotate which rotates the other sheave through its geared connection. This shifts the position of beam 15 and the load carried by it into trim for raising and lowering into a ships hold.
  • FIG. 3 The structure of the second embodiment, shown in FIG. 3, is essentially the same as that of FIGS. 1 and 2 and like pans bear like numbers with the suffix a. The only difference is the introduction of a pair of intermediate gears 27 and 28 between gears 26a and 29a thus permitting the axes of sheaves 16a and 19a to be spaced further apart on the beam 15a. The operation of the system is the same as in FIGS. 1 and 2.
  • FIG. 4 IS again essentially the same as that of FIGS. 1 and 2 and like parts bear like numbers with the suffix b.
  • the only difference between the structure of FIGS. 1 and 2 lies in the placement of the trim actuators 24 and on the axes of sheaves 17b and 20b and the dead ending of the ends of cables 13b and 14b onto the center of the beam 15b and the omission of trim actuators l8 and 21 on the beam.
  • the system of FIG. 4 operates the same as in FIGS. 1 and 2.
  • FIG. 5 I have illustrated a fonn of my invention generally the same as FIG. 2 but with the trolley sheaves 17c and 20c mounted in bearing blocks 50 and 51 slidable in guide slots 52 and 53 in the trolley frame.
  • the bearing blocks are threaded on opposite ends of a shaft 54 threaded with opposite threads at the two ends and driven by a drive motor 55 so as to move the sheaves apart or together as desired. This provides a broad base when moving rapidly above the ship hold and a narrow base when the container and frame is in the ships hold. This reduces the problem of swaying.
  • the bearing blocks could be moved by a fluid cylinder and piston or any other known means.
  • a stabilized reeving system for overhead cranes comprising a cable drum mounted for rotation on said crane, at least one pair of cables having one end fixed to said drum and the other ends depending therefrom, a lift beam spaced below said crane, a pair of sheaves spaced on either side of said cable drum on said crane and substantially equidistant from the base line of the depending cables, a pair of spaced apart sheaves on the beam geared together to rotate only in opposite directions, the other ends of said cables passing from the cable drum around one of the sheaves on the beam then around a sheave on the crane and being dead ended on the beam intermediate the axes of the sheaves on the beam and trim actuator means for adjusting the length of the cable acting on one of the cable dead ends and the crane mounted sheaves whereby the beam angle is adjusted.
  • a stabilized reeving system for overhead cranes as claimed in claim 1 wherein the crane sheaves are mounted for movement toward and away from each other and means are provided for simultaneously moving said sheaves.
  • a stabilized reeving system as claimed in claim 4 wherein the means for simultaneously moving said sheaves in a shaft having opposite threads at its two ends threaded through a carrier for said sheaves whereby rotation of the shaft moves the sheaves simultaneously toward or away from each other.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Combined Means For Separation Of Solids (AREA)

Abstract

A stabilized reeving system is provided for crane loading and unloading wherein the load suspended from the crane may be trimmed or stabilized for tilt or list.

Description

United States Patent Polen 51 Apr. 4, 1972 STABILIZED REEVING FOR CRANES Karl L. Polen, Alliance, Ohio 7 Assignee: The Alliance Machine Company Filed: Jan. 12, 1970 Appl. No.: 2,256
Inventor:
U.S. Cl ..212/125, 294/67, 294/81 SE Int. Cl. ..B66c 19/00 Field oiSearch ..212/11, 14, 125; 187/1;
References Cited UNITED STATES PATENTS 2/1940 Bossart ..187/1 X FOREIGN PATENTS OR APPLICATlONS 189,998 5/1967 U.S.S.R. ..212/14 68,749 9/1969 Germany ..212/125 Komatsu et a1. ..2 1 2/14 Primary Examiner-Even C. Blunk Assistant Examiner-Mer1e F. Maffei Attorney-Buell, Blenko & Ziesenheim [57] ABSTRACT A stabilized reeving system is provided for crane loading and unloading wherein the load suspended from the crane may be trimmed or stabilized for tilt or list.
5 Claims, 5 Drawing Figures PATENTEB APR 4 I972 SHEET 1 BF 2 INVENTOR Karl L. Folen Xi/41 A114 Pmminm 4 I912 Fig.2.
SHEET 2 [1F 2 Fig INVENTOR Karl L. Polen STABILIZED REEVING FOR CRANES This invention relates to stabilized reeving for cranes and particularly to a crane structure and reeving which permits a load suspended on the crane to be trimmed or stabilized for tilt or list.
A common problem in many types of crane operations and particularly in shipboard container cranes is that of maintaining trim on the object being handled such as a container. For example the list of a ships deck on which a container crane is operated creates a problem of tilting of the containers being handled. Various devices have been used to assist in stabilizing this load without total success.
This invention provides a structure which makes stabilizing or trimming of the load much easier and more attainable. Preferably there is provided a trolley operating on an overhead track system, a cable drum on said trolley having at least one pair of depending cables for extension and contraction by rotation of the drum, a pair of sheaves spaced on either side of the drum on the trolley on axis parallel to the drum axis and substantially equally distant from the base line of the depending cables, a lift beam suspended below said trolley on said cables, said beam having a pair of spaced apart sheaves geared together so as to rotate in opposite directions, each of said cablespassing from the cable drum around one of the sheaves on the beam then around the sheave on the trolley and being dead ended on'the beam intermediate the axes of the sheaves on the beam and trim actuator means acting on one of the cable ends and the trolley mounted sheaves whereby the load angle is adjusted. Preferably, the trim actuator means is a hydraulic cylinder, however it may be an electrical or mechanical adjusting means such as an electrical driven screw. The beam sheaves may be geared directly together or they may be connected by an intermediate gear train.
In the foregoing general description, certain objects, purposes and advantages of this invention have been set out. Other objects, purposes and advantages of this invention will be apparent from a consideration of the following description and the accompanying drawings in which:
FIG. 1 is an isometric view of a trolley crane embodying one form of this invention;
FIG. 2 is a schematic illustration of the reeving of FIG. 1;
FIG. 3 is a schematic illustration of a reeving according to a second embodiment of this invention;
FIG. 4 is a schematic illustration of a reeving according to a third embodiment of this invention; and
FIG. 5 is a schematic illustration of a fourth embodiment of this invention.
Referring to the drawings, 1 have illustrated an overhead trackway carrying a trolley 11. Trolley 11 carries a cable drum 12 on which at least one pair of cables 13 and 14 is mounted at each end. One end of each of cables 13 and 14 is fixed or dead ended on the drum 12. The other end of cable 13 passes downwardly around a sheave 16 on a lift beam then upwardly over a sheave 17 on trolley 11 and then back down to a trim actuator 18 fixed to the center point of beam 15. The other end of cable 14 passes downwardly around a sheave 19 on lift beam 15 then upwardly and over a sheave 20 on trolley 11 and then down to a trim actuator 21 fixed to the center point of beam 15. Each of sheaves 16 and 19 are provided with gears 26 and 29 respectively which engage each other so that rotation of one sheave induces rotation of the other.
The operation of the devices is as follows. The appropriate trim actuator 18 or 21 is actuated by the operator of the crane. This changes the length of the corresponding cable and causes the corresponding sheave to rotate which rotates the other sheave through its geared connection. This shifts the position of beam 15 and the load carried by it into trim for raising and lowering into a ships hold.
The structure of the second embodiment, shown in FIG. 3, is essentially the same as that of FIGS. 1 and 2 and like pans bear like numbers with the suffix a. The only difference is the introduction of a pair of intermediate gears 27 and 28 between gears 26a and 29a thus permitting the axes of sheaves 16a and 19a to be spaced further apart on the beam 15a. The operation of the system is the same as in FIGS. 1 and 2.
The embodiment of FIG. 4 IS again essentially the same as that of FIGS. 1 and 2 and like parts bear like numbers with the suffix b. Here the only difference between the structure of FIGS. 1 and 2 lies in the placement of the trim actuators 24 and on the axes of sheaves 17b and 20b and the dead ending of the ends of cables 13b and 14b onto the center of the beam 15b and the omission of trim actuators l8 and 21 on the beam. The system of FIG. 4 operates the same as in FIGS. 1 and 2.
In FIG. 5 I have illustrated a fonn of my invention generally the same as FIG. 2 but with the trolley sheaves 17c and 20c mounted in bearing blocks 50 and 51 slidable in guide slots 52 and 53 in the trolley frame. The bearing blocks are threaded on opposite ends of a shaft 54 threaded with opposite threads at the two ends and driven by a drive motor 55 so as to move the sheaves apart or together as desired. This provides a broad base when moving rapidly above the ship hold and a narrow base when the container and frame is in the ships hold. This reduces the problem of swaying. The bearing blocks could be moved by a fluid cylinder and piston or any other known means.
While certain preferred embodiments of this invention have been illustrated and described in the foregoing specification it will be obvious that this invention may be otherwise embodied within the scope of the following claims.
I claim:
1. A stabilized reeving system for overhead cranes comprising a cable drum mounted for rotation on said crane, at least one pair of cables having one end fixed to said drum and the other ends depending therefrom, a lift beam spaced below said crane, a pair of sheaves spaced on either side of said cable drum on said crane and substantially equidistant from the base line of the depending cables, a pair of spaced apart sheaves on the beam geared together to rotate only in opposite directions, the other ends of said cables passing from the cable drum around one of the sheaves on the beam then around a sheave on the crane and being dead ended on the beam intermediate the axes of the sheaves on the beam and trim actuator means for adjusting the length of the cable acting on one of the cable dead ends and the crane mounted sheaves whereby the beam angle is adjusted.
2. A stabilized reeving system as claimed in claim 1 wherein the trim actuator means is connected between the cable dead ends and the center point of the beam.
3. A stabilized reeving system as claimed in claim 1 wherein the trim actuator means is mounted on the axes of the crane sheaves to move the sheaves vertically with respect to the crane.
4. A stabilized reeving system for overhead cranes as claimed in claim 1 wherein the crane sheaves are mounted for movement toward and away from each other and means are provided for simultaneously moving said sheaves.
5. A stabilized reeving system as claimed in claim 4 wherein the means for simultaneously moving said sheaves in a shaft having opposite threads at its two ends threaded through a carrier for said sheaves whereby rotation of the shaft moves the sheaves simultaneously toward or away from each other.

Claims (5)

1. A stabilized reeving system for overhead cranes comprising a cable drum mounted for rotation on said crane, at least one pair of cables having one end fixed to said drum and the other ends depending therefrom, a lift beam spaced below said crane, a pair of sheaves spaced on either side of said cable drum on said crane and substantially equidistant from the base line of the depending cables, a pair of spaced apart sheaves on the beam geared together to rotate only in opposite directions, the other ends of said cables passing from the cable drum around one of the sheaves on the beam then around a sheave on the crane and being dead ended on the beam intermediate the axes of the sheaves on the beam and trim actuator means for adjusting the length of the cable acting on one of the cable dead ends and the crane mounted sheaves whereby the beam angle is adjusted.
2. A stabilized reeving system as claimed in claim 1 wherein the trim actuator means is connected between the cable dead ends and the center point of the beam.
3. A stabilized reeving system as claimed in claim 1 wherein the trim actuator means is mounted on the axes of the crane sheaves to move the sheaves vertically with respect to the crane.
4. A stabilized reeving system for overhead cranes as claimed in claim 1 wherein the crane sheaves are mounted for movement toward and away from each other and means are provided for simultaneously moving said sheaves.
5. A stabilized reeving system as claimed in claim 4 wherein the means for simultAneously moving said sheaves in a shaft having opposite threads at its two ends threaded through a carrier for said sheaves whereby rotation of the shaft moves the sheaves simultaneously toward or away from each other.
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Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3746182A (en) * 1970-07-08 1973-07-17 H Tax Oscillation damping arrangement for the load carrier of a hoist
US3837503A (en) * 1971-04-27 1974-09-24 Ishikawajima Harima Heavy Ind Hoisting device for use with cranes
US3874516A (en) * 1972-12-29 1975-04-01 Ishikawajima Harima Heavy Ind Device for preventing the swaying of the suspending means in a crane
FR2295904A1 (en) * 1974-12-26 1976-07-23 Casteran Jean Load hoisting mechanism with anti-swinging device - has stabilisation ropes winding onto drum driven via differential
US4273242A (en) * 1979-05-18 1981-06-16 Marathon Letourneau Company Stabilizing device
DE3126205A1 (en) * 1981-07-03 1983-01-20 Fried. Krupp Gmbh, 4300 Essen Device for damping crane load oscillations
DE3241380A1 (en) * 1981-11-11 1983-05-19 Hitachi, Ltd., Tokyo Control apparatus for a crane attachment
US4531647A (en) * 1976-01-14 1985-07-30 Hitachi, Ltd. Device for stopping the swinging movement of a load hung by a crane
DE3830429A1 (en) * 1988-09-07 1990-03-15 Rexroth Mannesmann Gmbh LIFTING DEVICE FOR A LOAD HANGING ON SEVERAL LIFTING ROPES, IN PARTICULAR CONTAINER CRANE
US5240298A (en) * 1990-08-21 1993-08-31 Teaby Gregory W Load-lifting and orienting apparatus
US5257891A (en) * 1991-02-19 1993-11-02 Mi-Jack Products, Inc. Bi-planar cable cross reeving system
US5597080A (en) * 1994-08-02 1997-01-28 Kranco Crane Services, Inc. Snag load protection system for a crane
US5819962A (en) * 1993-03-05 1998-10-13 Mitsubishi Jukogyo Kabushiki Kaisha Apparatus for stopping the oscillation of hoisted cargo
WO2001058797A1 (en) * 2000-02-14 2001-08-16 Noell Crane Systems Gmbh Crane comprising lifting mechanisms having two drums
US6439407B1 (en) 1998-07-13 2002-08-27 The United States Of America As Represented By The Secretary Of Commerce System for stabilizing and controlling a hoisted load
EP1640309A1 (en) * 2004-08-20 2006-03-29 Gottwald Port Technology GmbH Hoisting gear, particularly the rope arrangement
WO2006047798A1 (en) * 2004-11-02 2006-05-11 Franz Ehrenleitner Hoist device
US7150366B1 (en) * 2004-07-29 2006-12-19 Mi-Jack Products, Inc. Hanger chain anti-sway device for gantry crane
AT502741B1 (en) * 2005-10-28 2008-06-15 Ehrenleitner Franz Gravity-inertia motor structure used in ships, has looped and cross-looped chains to transfer multi-directional momentum of mass to toothed wheels fixed on drive shafts, to impart uni-directional propulsive rotation to drive shafts
US20100043227A1 (en) * 2007-05-25 2010-02-25 Mitsubishi Heavy Industries, Ltd. Method for attaching rotor of wind turbine generator and method for constructing wind turbine generator
US20110315488A1 (en) * 2009-01-08 2011-12-29 Daifuku Co., Ltd. Vertically Moving Device
US20180193217A1 (en) * 2015-07-03 2018-07-12 Ecole Polytechnique Federale De Lausanne (Epfl) Apparatus to apply forces in a three-dimensional space
US20190092605A1 (en) * 2017-09-28 2019-03-28 Mohr Lizenz Verwaltungs Gmbh Lifting apparatus for raising and lowering heavy objects
US11672983B2 (en) 2018-11-13 2023-06-13 Onward Medical N.V. Sensor in clothing of limbs or footwear

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU189998A1 (en) * SUSPENSION OF CRANE CARGO ORGANIZATION
DE68749C (en) * Th. R. Mor Hydraulic device for raising gun platforms
US2190093A (en) * 1939-06-23 1940-02-13 Loew S Inc Suspension system for a camera and light stage
US3476263A (en) * 1966-08-02 1969-11-04 Ishikawajima Harima Heavy Ind Device for preventing the swaying of the suspending means in a crane

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU189998A1 (en) * SUSPENSION OF CRANE CARGO ORGANIZATION
DE68749C (en) * Th. R. Mor Hydraulic device for raising gun platforms
US2190093A (en) * 1939-06-23 1940-02-13 Loew S Inc Suspension system for a camera and light stage
US3476263A (en) * 1966-08-02 1969-11-04 Ishikawajima Harima Heavy Ind Device for preventing the swaying of the suspending means in a crane

Cited By (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3746182A (en) * 1970-07-08 1973-07-17 H Tax Oscillation damping arrangement for the load carrier of a hoist
US3837503A (en) * 1971-04-27 1974-09-24 Ishikawajima Harima Heavy Ind Hoisting device for use with cranes
US3874516A (en) * 1972-12-29 1975-04-01 Ishikawajima Harima Heavy Ind Device for preventing the swaying of the suspending means in a crane
FR2295904A1 (en) * 1974-12-26 1976-07-23 Casteran Jean Load hoisting mechanism with anti-swinging device - has stabilisation ropes winding onto drum driven via differential
US4531647A (en) * 1976-01-14 1985-07-30 Hitachi, Ltd. Device for stopping the swinging movement of a load hung by a crane
US4273242A (en) * 1979-05-18 1981-06-16 Marathon Letourneau Company Stabilizing device
DE3126205A1 (en) * 1981-07-03 1983-01-20 Fried. Krupp Gmbh, 4300 Essen Device for damping crane load oscillations
DE3241380A1 (en) * 1981-11-11 1983-05-19 Hitachi, Ltd., Tokyo Control apparatus for a crane attachment
DE3830429A1 (en) * 1988-09-07 1990-03-15 Rexroth Mannesmann Gmbh LIFTING DEVICE FOR A LOAD HANGING ON SEVERAL LIFTING ROPES, IN PARTICULAR CONTAINER CRANE
US5018631A (en) * 1988-09-07 1991-05-28 Mannesmann Rexroth Gmbh Hoist device for a load hanging on hoist ropes, in particular a container-crane
US5240298A (en) * 1990-08-21 1993-08-31 Teaby Gregory W Load-lifting and orienting apparatus
US5257891A (en) * 1991-02-19 1993-11-02 Mi-Jack Products, Inc. Bi-planar cable cross reeving system
US5819962A (en) * 1993-03-05 1998-10-13 Mitsubishi Jukogyo Kabushiki Kaisha Apparatus for stopping the oscillation of hoisted cargo
US5597080A (en) * 1994-08-02 1997-01-28 Kranco Crane Services, Inc. Snag load protection system for a crane
US6644486B2 (en) 1998-07-13 2003-11-11 The United States Of America As Represented By The Secretary Of Commerce System for stabilizing and controlling a hoisted load
US6439407B1 (en) 1998-07-13 2002-08-27 The United States Of America As Represented By The Secretary Of Commerce System for stabilizing and controlling a hoisted load
WO2001058797A1 (en) * 2000-02-14 2001-08-16 Noell Crane Systems Gmbh Crane comprising lifting mechanisms having two drums
US7150366B1 (en) * 2004-07-29 2006-12-19 Mi-Jack Products, Inc. Hanger chain anti-sway device for gantry crane
EP1640309A1 (en) * 2004-08-20 2006-03-29 Gottwald Port Technology GmbH Hoisting gear, particularly the rope arrangement
WO2006047798A1 (en) * 2004-11-02 2006-05-11 Franz Ehrenleitner Hoist device
US20080121601A1 (en) * 2004-11-02 2008-05-29 Franz Ehrenleitner Hoist Device
AT502741B1 (en) * 2005-10-28 2008-06-15 Ehrenleitner Franz Gravity-inertia motor structure used in ships, has looped and cross-looped chains to transfer multi-directional momentum of mass to toothed wheels fixed on drive shafts, to impart uni-directional propulsive rotation to drive shafts
US8631576B2 (en) * 2007-05-25 2014-01-21 Mitsubishi Heavy Industries, Ltd Method for attaching rotor of wind turbine generator and method for constructing wind turbine generator
US20100043227A1 (en) * 2007-05-25 2010-02-25 Mitsubishi Heavy Industries, Ltd. Method for attaching rotor of wind turbine generator and method for constructing wind turbine generator
US20110315488A1 (en) * 2009-01-08 2011-12-29 Daifuku Co., Ltd. Vertically Moving Device
US9272844B2 (en) * 2009-01-08 2016-03-01 Daifuku Co., Ltd. Vertically moving device
US20180193217A1 (en) * 2015-07-03 2018-07-12 Ecole Polytechnique Federale De Lausanne (Epfl) Apparatus to apply forces in a three-dimensional space
US11077009B2 (en) * 2015-07-03 2021-08-03 Ecole Polytechnique Federale De Lausanne (Epfl) Apparatus to apply forces in a three-dimensional space
US20190092605A1 (en) * 2017-09-28 2019-03-28 Mohr Lizenz Verwaltungs Gmbh Lifting apparatus for raising and lowering heavy objects
US10737915B2 (en) * 2017-09-28 2020-08-11 Mohr Lizenz Verwaltungs Gmbh Lifting apparatus for raising and lowering heavy objects
US11672983B2 (en) 2018-11-13 2023-06-13 Onward Medical N.V. Sensor in clothing of limbs or footwear

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