Multi-dimensional turning self-adaptive angle oblique window-cleaning machine

Abstract

This invention discloses a multi-dimensional turning adaptive angle inclined climbing window cleaning machine, comprising a traveling unit, a main slewing mechanism, and a window cleaning unit. The window cleaning unit is movably connected to the traveling unit via the main slewing mechanism. The traveling unit includes a track frame and a chassis traveling mechanism. The track frame is contoured and erected on a curved rooftop, and the chassis traveling mechanism is movably mounted on the track frame. The main slewing mechanism includes a rotating column and a main slewing assembly. The rotating column is rotatably connected to the middle of the chassis traveling mechanism, and the main slewing assembly is installed at the top of the rotating column. The window cleaning unit includes a column, a main boom, a pitch cylinder, a secondary boom, a counterweight boom, a tie rod, a boom head, a main winch, a material winch, a basket, and a glass hook. This window cleaning machine achieves full-coverage operation while ensuring safety.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, specifically to a multi-dimensional turning adaptive angle inclined climbing window cleaning machine. Background Technology

[0002] With the development of urban modernization, the shapes of super high-rise buildings are becoming more and more novel and unique, and the roof structures are becoming more and more complex. This has brought new challenges to the layout and full coverage of window cleaning machines. In particular, for buildings with large structures and sloping roofs, it is impossible to install flat tracks on the roof. If a window cleaning machine with a fixed chassis that does not move is used, it may not be possible to achieve full coverage. Therefore, it is necessary to install inclined climbing tracks on the sloping roof structure and use inclined climbing window cleaning machines for operation.

[0003] Traditional inclined window cleaning machines are mostly fixed-angle straight-climbing or fixed-slope spiral-climbing machines. The machine's uprights are fixed and do not need to be adjusted to be perpendicular to the horizontal plane as the angle changes. Some inclined window cleaning machines with slight angle variations only change in one direction, with the uprights adjusting in one direction. However, if the roof structure is petal-shaped, the inclined climbing track must be arranged along the edge of the petal. This results in a multi-dimensional turning and multi-angle changing inclined climbing track pattern, involving climbing uphill, turning to a flat surface, turning on the flat surface, and finally turning downhill. Existing inclined window cleaning machines cannot meet this type of track movement, and they are even less capable of multi-dimensional turning and adaptive angle movement. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-dimensional turning adaptive angle inclined climbing window cleaning machine, which solves the problem of deploying a fully covered window cleaning machine on a complex rooftop.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A multi-dimensional turning adaptive angle inclined climbing window cleaning machine includes a walking unit, a main rotating mechanism and a window cleaning unit, wherein the window cleaning unit is movably connected to the walking unit through the main rotating mechanism;

[0007] The traveling unit includes a track frame and a chassis traveling mechanism. The track frame is mounted on the curved roof, and the chassis traveling mechanism is movably mounted on the track frame.

[0008] The main slewing mechanism includes a rotating column and a main slewing assembly. The rotating column is rotatably connected to the middle of the chassis walking mechanism, and the main slewing assembly is installed at the top of the rotating column.

[0009] The window cleaning unit includes a column, a main boom, a pitch cylinder, a small boom, a counterweight boom, a tie rod, a boom head, a main winch, a material winch, a basket, and a glass hook. A column is vertically mounted on the main slewing assembly, a counterweight boom is horizontally mounted at the top of the column, and the main boom is hinged to the counterweight boom. A pitch cylinder is diagonally supported between the column and the main boom. A small boom is hinged to the top of the main boom, and a tie rod is hinged between the counterweight boom and the small boom. The counterweight boom, main boom, small boom, and tie rod form a parallelogram structure. A boom head is located at one end of the small boom. The main winch and the material winch are mounted on the column. The wire rope of the main winch is guided to the front end of the boom head via pulleys and connected to the basket. The wire rope of the material winch is guided to the front end of the small boom via pulleys and connected to the glass hook.

[0010] Preferably, the track frame includes a support frame and two circular tube tracks. The support frame is adapted to the curved roof shape. The two circular tube tracks are installed on both sides of the top of the support frame. A rack is provided between the two circular tube tracks and on the top of the support frame.

[0011] Preferably, the chassis walking mechanism includes a chassis base, fixed legs, floating legs, swing legs, a walking wheel assembly, and a drive mechanism. The main structure of the chassis base is U-shaped. A fixed leg is installed on one side of the chassis base, and two floating legs are rotatably connected to the other side via floating pins. The fixed leg is located above one of the circular tube tracks, and the two floating legs are located above another circular tube track. A swing leg is connected to one end of each floating leg via a swing vertical shaft. A walking wheel assembly is connected to both ends of the fixed leg and one end of the swing leg via a rotary joint. The walking wheel assembly is anti-detached and mounted on the circular tube track. A connecting frame is connected to the front and rear sides of the chassis base via a rotating vertical shaft, and a drive mechanism is connected below the connecting frame via a rotating horizontal shaft.

[0012] Preferably, the rotating column is hinged to the U-shaped notch of the chassis base via a rotating shaft. An angle sensor and an adjusting cylinder for adjusting the angle of the rotating column are connected between the rotating column and the chassis base. The adjusting cylinder is connected to a hydraulic pump station via an oil pipe. A column fixing shaft is detachably connected between the rotating column and the chassis base. The column fixing shaft is in contact with a trigger-type limit switch.

[0013] Preferably, the main rotating assembly includes a drive motor, a pinion, and a large gear ring. The bottom of the column is rotatably mounted on the top of the rotating column. The large gear ring is mounted on the top of the rotating column. At least two drive motors are mounted on the bottom of the column. A pinion is mounted on the output end of the drive motor, and the pinion meshes with the large gear ring.

[0014] Preferably, the small boom includes an inclined arm and a horizontal arm, with the inclined arm disposed at one end of the horizontal arm, and one end of the pull rod hinged to the inclined arm.

[0015] Preferably, an electrical control box is also installed on the column, and the trigger limit switch, the main winch, the material winch, the geared motor, the backup brake, and the drive motor are all electrically connected to the electrical control box.

[0016] In this invention, the track frame is contoured and erected on a curved rooftop to achieve full coverage of the window cleaning machine. The traveling unit moves along the track frame and can be adjusted in multiple dimensions to adapt to the various curvature changes of the track frame.

[0017] The multi-dimensional angle adjustment of the traveling unit includes the up and down floating of the floating leg (floating pin), the horizontal swing of the floating leg on the circular tube track (swing vertical shaft and rotary joint), and the vertical swing (traveling wheel axle), as well as the horizontal swing of the fixed leg on the circular tube track (swing joint) and the vertical swing (traveling wheel axle). In order to cooperate with the multi-dimensional travel of the traveling unit, the drive mechanism installed on the traveling unit can also swing in the horizontal plane (rotating vertical shaft) and the vertical plane (rotating horizontal shaft).

[0018] The window cleaning unit is adjustablely mounted on the traveling unit via a main rotary mechanism. The main rotary mechanism not only allows the window cleaning unit to rotate but also keeps it within ±0.5° of the vertical plane, achieving full coverage operation while ensuring safety.

[0019] There is a pitch cylinder in the diagonal brace between the column and the main boom. When the hydraulic pump station is activated and the pitch cylinder is raised, the main boom is raised at a certain angle, so that the basket and glass hook are raised and pass over the outer wall of the building. When the machine stops, the basket and glass hook are retracted into the wall, the pitch cylinder is retracted, the main boom is horizontal, and the overall size of the window cleaning machine is minimized, making it easy to stop and hide.

[0020] The counterweight boom, main boom, jib boom, and tie rod form a parallelogram structure. When the main boom is lifted by the pitch cylinder, the jib boom always remains parallel to the counterweight boom, thus ensuring that the jib boom and boom head are always in a horizontal state during operation. Attached Figure Description

[0021] Figure 1 This is a partial structural diagram of the present invention;

[0022] Figure 2 This is a schematic diagram of another part of the structure of the present invention;

[0023] Figure 3 This is a schematic diagram of another part of the present invention;

[0024] Figure 4 This is another schematic diagram of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the walking unit of the present invention in the walking state on the track frame;

[0026] Figure 6 This is a top view of the traveling unit of the present invention traveling on the track frame;

[0027] Figure 7 This is a magnified view of part A of the present invention;

[0028] In the diagram: 1. Traveling section; 2. Main slewing mechanism; 3. Window cleaning section; 10. Track frame; 11. Chassis traveling mechanism; 20. Rotating column; 21. Main slewing assembly; 22. Rotating shaft; 23. Column fixing shaft; 24. Trigger-type limit switch; 25. Adjusting cylinder; 30. Column; 31. Main boom; 32. Pitch cylinder; 33. Small boom; 34. Counterweight boom; 35. Tie rod; 36. Boom head; 37. Main winch; 38. Material winch; 39. Suspended basket; 40. Glass hook; 41. Electrical control box; 100. Support frame; 101. Circular tube track; 102. Rack; 110. Chassis base; 111. Fixed leg. ; 112. Floating leg; 113. Swing leg; 114. Walking wheel assembly; 115. Drive mechanism; 116. Floating pin; 117. Swing vertical shaft; 118. Rotary pair; 119. Rotating vertical shaft; 120. Connecting frame; 121. Rotating horizontal shaft; 210. Drive motor; 211. Pinion; 212. Large gear ring; 330. Tilt arm; 331. Horizontal arm; 1140. Rotating frame; 1141. Anti-detachment frame; 1142. Walking wheel; 1143. Guide wheel; 1144. Guide wheel bracket; 1145. Walking wheel axle; 1150. Gear motor; 1151. Gear; 1152. Backup brake. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings:

[0030] like Figures 1 to 7 The multi-dimensional turning adaptive angle climbing window cleaning machine shown includes a walking unit 1, a main rotating mechanism 2 and a window cleaning unit 3. The window cleaning unit 3 is movably connected to the walking unit 1 through the main rotating mechanism 2.

[0031] The traveling unit 1 includes a track frame 10 and a chassis traveling mechanism 11. The track frame 10 is mounted on the curved roof, and the chassis traveling mechanism 11 is movably mounted on the track frame 10.

[0032] The track frame 10 includes a support frame 100 and two circular tube tracks 101. The support frame 100 is adapted to the curved roof shape. The two circular tube tracks 101 are installed on both sides of the top of the support frame 100. A rack 102 is provided between the two circular tube tracks 101 and on the top of the support frame 100.

[0033] The chassis traveling mechanism 11 includes a chassis base 110, fixed legs 111, floating legs 112, swing legs 113, a traveling wheel assembly 114, and a drive mechanism 115. The main structure of the chassis base 110 is U-shaped. Fixed legs 111 are bolted to one side of the chassis base 110, and two floating legs 112 are rotatably connected to the other side via floating pins 116. The fixed legs 111 are located above one circular tube track 101, and the two floating legs 112 are located above another circular tube track 101. The floating legs 112 can float up and down around the floating pins 116. A swing leg 113 is connected to one end of the floating leg 112 via a swing vertical shaft 117, and the swing leg 113 can swing horizontally around the swing vertical shaft 117.

[0034] A traveling wheel assembly 114 is connected to both ends of the fixed leg 111 and one end of the swing leg 113 via a slewing joint 118. The traveling wheel assembly 114 is anti-detached and mounted on the circular tube track 101. A connecting frame 120 is connected to the front and rear sides of the chassis base 110 via a rotating vertical shaft 119. A drive mechanism 115 is connected to the lower part of the connecting frame 120 via a rotating horizontal shaft 121. The horizontal and vertical rotation of the drive mechanism 115 is achieved by the hinge between the rotating vertical shaft 119 and the rotating horizontal shaft 121. The drive mechanism 115 drives the window cleaning part 3 to move along the track frame 10.

[0035] The drive mechanism 115 includes a geared motor 1150, a gear 1151, and a backup brake 1152. The geared motor 1150 is mounted on a motor bracket, which is connected to the lower part of the connecting frame 120 via a rotating horizontal shaft 121. The gear 1151 is mounted on the output end of the geared motor 1150 and meshes with the rack 102. The backup brake 1152 is electrically connected to the geared motor 1150. The backup brakes 1152 mounted on the front and rear sides of the chassis base 110 are in opposite directions. When the window cleaning machine shows a downward trend during the uphill process, the front backup brake 1152 is activated. When the speed of the window cleaning machine is higher than the driving speed during the downhill process, the rear backup brake 1152 is activated.

[0036] The traveling wheel assembly 114 includes a rotating frame 1140, an anti-slip frame 1141, traveling wheels 1142, and guide wheels 1143. The rotating frame 1140 is suspended from one end of the swing leg 113 via a slewing joint 118, allowing the rotating frame 1140 to rotate freely horizontally. The anti-slip frame 1141 is hinged below the rotating frame 1140 via a traveling wheel axle 1145, allowing the anti-slip frame 1141 to float up and down as it swings around the hinge axis. The anti-slip frame 1141 is wrapped around the circular tube track 101. Traveling wheels 1142 are rotatably mounted on both sides of the bottom of the anti-slip frame 1141. Guide wheels 1143 are provided on the sides of the anti-slip frame 1141, specifically at the entry and exit points of the circular tube track 101. In this example, the guide wheel 1143 is rotatably mounted on the guide wheel bracket 1144. One end of the guide wheel bracket 1144 is hinged to the anti-detachment frame 1141, and the other end is elastically hinged to the anti-detachment frame 1141. The elastic hinge is specifically formed by connecting the guide wheel bracket 1144 to the anti-detachment frame 1141 via a connecting pin, and a spring is sleeved on the connecting pin.

[0037] The main slewing mechanism 2 includes a rotating column 20 and a main slewing assembly 21. The rotating column 20 is rotatably connected to the middle of the chassis traveling mechanism 11, and can rotate relative to the chassis traveling mechanism 11 in a vertical plane. Specifically, the rotating column 20 is hinged to the U-shaped notch of the chassis base 110 via a rotating shaft 22. An angle sensor and an adjusting cylinder 25 for adjusting the angle of the rotating column 20 are connected between the rotating column 20 and the chassis base 110. The adjusting cylinder 25 is connected to a hydraulic pump station via an oil pipe. The angle sensor is used to detect the angle between the rotating column 20 and the vertical plane. When the rotating column 20 deviates from the vertical plane by ±0.5°, the adjusting cylinder 25 is triggered. By adjusting the lifting and retraction of the adjusting cylinder 25, the relative angle between the rotating column 20 and the chassis base 110 is adjusted, so that the rotating column 20 always remains in a vertical state. This allows the window cleaning machine to achieve adaptive angle shape on inclined tracks with multiple angle changes, such as climbing uphill to flat surfaces, traveling on flat surfaces, and descending flat surfaces.

[0038] like Figure 7 As shown, a column fixing shaft 23 is detachably connected between the rotating column 20 and the chassis base 110. The column fixing shaft 23 is in contact with the trigger-type limit switch 24. When the column fixing shaft 23 passes through the rotating column 20 and fixes its position, the window cleaning machine can operate normally. When the column fixing shaft 23 is pulled out, the trigger-type limit switch 24 is triggered to stop the window cleaning machine and prevent danger.

[0039] A main rotating assembly 21 is installed at the top of the rotating column 20. The main rotating assembly 21 includes a drive motor 210, a pinion 211, and a large gear ring 212. The bottom of the column 30 is rotatably mounted on the top of the rotating column 20. The large gear ring 212 is installed on the top of the rotating column 20, and at least two drive motors 210 are installed at the bottom of the column 30. The pinion 211 is installed at the output end of the drive motor 210. The pinion 211 meshes with the large gear ring 212, thereby driving the entire window cleaning section 3 to rotate to achieve full coverage of the exterior wall.

[0040] The window cleaning unit 3 includes a column 30, a main boom 31, a pitch cylinder 32, a small boom 33, a counterweight boom 34, a tie rod 35, a boom head 36, a main winch 37, a material winch 38, a basket 39, and a glass hook 40. The column 30 is vertically arranged on the main slewing assembly 21, and the counterweight boom 34 is horizontally arranged at the top of the column 30. A counterweight is provided at one end of the counterweight boom 34. The main boom 31 is hinged to the counterweight boom 34. A pitch cylinder 32 is diagonally supported between the column 30 and the main boom 31. The pitch cylinder 32 is connected to the hydraulic pump station through an oil pipe. When the hydraulic pump station is activated and the pitch cylinder 32 is raised, the main boom 31 is raised at a certain angle, so that the basket 39 and the glass hook 40 are raised and pass over the outer wall of the building. When the machine stops, the basket 39 and the glass hook 40 are retracted into the wall, the pitch cylinder 32 is retracted, and the main boom 31 is horizontal. The window cleaning machine has the smallest overall size and is easy to hide when stopped.

[0041] A small boom 33 is hinged to the top of the main boom 31. A tie rod 35 is hinged between the counterweight boom 34 and the small boom 33. In this example, the small boom 33 includes an inclined boom 330 and a horizontal boom 331. The inclined boom 330 is located at one end of the horizontal boom 331, and one end of the tie rod 35 is hinged to the inclined boom 330. A boom head 36 is provided at one end of the small boom 33. The counterweight boom 34, the main boom 31, the small boom 33, and the tie rod 35 form a parallelogram structure. When the main boom 31 is raised by the pitch cylinder 32, the small boom 33 always remains parallel to the counterweight boom 34, thereby ensuring that the small boom 33 and the boom head 36 are always in a horizontal state during operation.

[0042] A main winch 37 and a material winch 38 are installed on the column 30. The wire rope of the main winch 37 is guided to the front end of the boom 36 via pulleys and connected to the basket 39. The basket 39 is raised and lowered by the operation of the main winch 37. The wire rope of the material winch 38 is guided to the front end of the small boom 33 via pulleys and connected to the glass hook 40. The material hook 40 is lifted by the operation of the material winch 38.

[0043] An electrical control box 41 is also installed on the column 30. The trigger limit switch 24, the main winch 37, the material winch 38, the geared motor 1150, the backup brake 1152, and the drive motor 210 are all electrically connected to the electrical control box 41.

[0044] In specific implementation, when the traveling unit 1 turns from an incline to a plane on the track frame 10, the traveling wheel assemblies 114 mounted on the fixed leg 111 and the floating leg 112 are not on the same plane. The traveling wheel assembly 114 mounted on the fixed leg 111 adapts to the angle change of the track frame 10 by horizontal rotation through the revolute joint 118. The traveling wheel assembly 114 mounted on the floating leg 112 swings horizontally through the rotation of the swing leg 113 around the swing vertical axis 117, rotates horizontally through the revolute joint 118, and rotates vertically through the traveling wheel axle 1145, thereby ensuring that the traveling wheel assembly 114 mounted on the floating leg 112 is always in contact with the circular tube track 101.

[0045] When the traveling unit 1 turns from an uphill slope to a flat surface on the track frame 10, the two drive mechanisms 115 at the front and rear of the chassis base 110 are not on the same plane. By rotating the drive mechanism 115 vertically around the horizontal axis of rotation 121, the angle position of the gear 1151 is adjusted so that the gear 1151 and the rack 102 are always meshed, thus achieving vertical turning. The adjustment method is the same when turning from a flat surface to a downhill slope, and will not be described again.

[0046] When turning on the planar track, the swing leg 113 swings horizontally around the swing axis 117, and the traveling wheel assembly 114 rotates freely horizontally by means of the rotary joint 118, thereby adjusting the relative position and angle between the traveling wheel assembly 114 and the chassis base 110, so that the guide wheel 1143 is always in contact with the circular tube track 101; the drive mechanism 115 rotates horizontally around the rotation axis 119, adjusting the angle position of the gear 1151, so that the gear 1151 and the rack 102 are always meshed, realizing horizontal turning. In this way, the traveling unit 1 can smoothly turn and move on multi-dimensional turning inclined tracks, such as climbing uphill to plane, turning in plane, and turning in plane to downhill.

[0047] The above embodiments are merely illustrative of the concept and implementation of the present invention and are not intended to limit it. Under the concept of the present invention, technical solutions without substantial changes are still within the scope of protection.

Claims

1. A multi-dimensional adaptive angle climbing window cleaning machine, characterized in that: It includes a walking section (1), a main rotating mechanism (2) and a window cleaning section (3), wherein the window cleaning section (3) is movably connected to the walking section (1) via the main rotating mechanism (2); The walking part (1) includes a track frame (10) and a chassis walking mechanism (11). The track frame (10) is mounted on a curved roof. The roof structure is petal-shaped. The inclined climbing track is arranged along the edge of the petal. The chassis walking mechanism (11) is movably mounted on the track frame (10). The main slewing mechanism (2) includes a rotating column (20) and a main slewing assembly (21). The rotating column (20) is rotatably connected to the middle of the chassis walking mechanism (11), and the main slewing assembly (21) is installed at the top of the rotating column (20). The window cleaning unit (3) includes a column (30), a main boom (31), a pitch cylinder (32), a small boom (33), a counterweight boom (34), a tie rod (35), a boom head (36), a main winch (37), a material winch (38), a basket (39), and a glass hook (40). A column (30) is vertically arranged on the main slewing assembly (21). A counterweight boom (34) is horizontally arranged at the top of the column (30). The main boom (31) is hinged to the counterweight boom (34). A pitch cylinder (32) is diagonally supported between the column (30) and the main boom (31). A small boom (33) is hinged to the top of the main boom (31). A tie rod (35) is hinged between the counterweight arm (34), the main arm (31), the small arm (33), and the tie rod (35) to form a parallelogram structure to ensure that the small arm and the arm head are always in a horizontal state during operation; an arm head (36) is provided at one end of the small arm (33), and a main winch (37) and a material winch (38) are provided on the column (30). The wire rope of the main winch (37) is guided to the front end of the arm head (36) through pulleys and connected to the basket (39). The wire rope of the material winch (38) is guided to the front end of the small arm (33) through pulleys and connected to the glass hook (40). The track frame (10) includes a support frame (100) and two circular tube tracks (101). The chassis walking mechanism (11) includes a chassis base (110), fixed legs (111), floating legs (112), swing legs (113), a walking wheel assembly (114), and a drive mechanism (115). The main structure of the chassis base (110) is U-shaped. A fixed leg (111) is installed on one side of the chassis base (110), and two floating legs (112) are rotatably connected to the other side through a floating pin (116). The fixed leg (111) is located above one of the circular tube tracks (101), and the two floating legs (112) are located on another circular tube track (101). Above; a swing leg (113) is connected to one end of the floating leg (112) via a swing vertical shaft (117), and a walking wheel assembly (114) is connected to both ends of the fixed leg (111) and one end of the swing leg (113) via a rotary joint (118). The walking wheel assembly (114) is anti-detached and mounted on the circular tube track (101); a connecting frame (120) is connected to the front and rear sides of the chassis base (110) via a rotating vertical shaft (119), and a drive mechanism (115) is connected below the connecting frame (120) via a rotating horizontal shaft (121). The rotating column (20) is hinged to the U-shaped notch of the chassis base (110) via the rotating shaft (22). An angle sensor and an adjusting cylinder (25) for adjusting the angle of the rotating column (20) are connected between the rotating column (20) and the chassis base (110). The adjusting cylinder is connected to the hydraulic pump station via an oil pipe. A column fixing shaft (23) is detachably connected between the rotating column (20) and the chassis base (110). The column fixing shaft (23) is in contact with the trigger-type limit switch (24).

2. The multi-dimensional turning adaptive angle oblique climbing window cleaning machine according to claim 1, characterized in that: The support frame (100) is adapted to the curved roof. Two circular tube tracks (101) are installed on both sides of the top of the support frame (100). A rack (102) is provided between the two circular tube tracks (101) and on the top of the support frame (100).

3. The multi-dimensional turning adaptive angle oblique climbing window cleaning machine according to claim 1, characterized in that: The main rotating assembly (21) includes a drive motor (210), a pinion (211) and a large gear ring (212). The bottom of the column (30) is rotatably mounted on the top of the rotating column (20). The large gear ring (212) is mounted on the top of the rotating column (20). At least two drive motors (210) are mounted on the bottom of the column (30). The pinion (211) is mounted on the output end of the drive motor (210). The pinion (211) meshes with the large gear ring (212).

4. The multi-dimensional turning adaptive angle oblique climbing window cleaning machine according to claim 1, characterized in that: The small boom (33) includes an inclined arm (330) and a horizontal arm (331). The inclined arm (330) is located at one end of the horizontal arm (331), and one end of the pull rod (35) is hinged to the inclined arm (330).

5. The multi-dimensional turning adaptive angle oblique climbing window cleaning machine according to claim 3, characterized in that: An electrical control box (41) is also installed on the column (30). The trigger limit switch (24), the main winch (37), the material winch (38) and the drive motor (210) are all electrically connected to the electrical control box (41).

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