6686 results about "Winch" patented technology

The invention relates to the technical field of intelligent ship control, in particular to an intelligent ship moving control method and system based on a self-adaptive algorithm. The method comprises the following steps: acquiring hardware equipment data required by ship movement control; configuring a network topology structure of a computer network system, winch equipment and an encoder according to hardware equipment data, and constructing an electrical ring network; carrying out initialization setting and communication test on the electrical ring network, and establishing a data sharing mechanism between devices to obtain system initial configuration data; collecting the winding and unwinding length and tension parameters of a steel wire rope through a sensor of winch equipment based on initial configuration data of the system, and constructing a real-time monitoring model of the position and posture of the ship; and performing ship state monitoring by using the real-time monitoring model to generate ship real-time state data. According to the invention, the electrical ring network with a redundant backup mechanism is adopted, the communication real-time performance and reliability of the system are improved, and the stability of control signal transmission is ensured.

The invention relates to the technical field of underground casing monitoring, and discloses an injection well immovable string casing damage rapid detection device based on efficient testing and adjusting, the injection well immovable string casing damage rapid detection device comprises a testing vehicle, a top sheave and a casing, one side in the testing vehicle is provided with a ground control system, and the other side in the testing vehicle is provided with a double-roller winch; a cable is wound on the outer side of the double-roller winch, an electromagnetic flaw detection testing instrument is installed at one end of the cable, an oil pipe is arranged in the casing pipe in a sleeved mode, a plurality of packers are sequentially installed between the outer side of the oil pipe and the inner wall of the casing pipe from top to bottom, and a plurality of water distributors are sequentially distributed in the oil pipe from top to bottom. A water injection well efficient testing and adjusting technology and an electromagnetic flaw detection technology are combined, an electromagnetic flaw detection testing instrument is tripped in through a testing vehicle, cable power supply and communication are tested, a ground control system carries out signal acquisition and processing on the electromagnetic flaw detection instrument, and rapid detection of casing damage of a water injection well immovable string is achieved.

The present application relates to a pile driver and a pile driving method with less wear on drill rods, and relates to the technical field of building construction, and comprises a main frame, a winch is arranged on one side surface of the main frame, a steel cable is wound on the drum of the winch, a top frame is welded on the top of the drill rod bracket, one end of the steel cable extends upward through a pulley and is connected to a drive box through a lifting ring, a motor frame is arranged in the middle of the drive box, a drive motor is connected to the center of the motor frame through bolts, the bottom drive of the drive motor is connected to a reducer, and the bottom output end of the reducer is connected to a buffer mechanism through the drive box, and the buffer mechanism comprises a connecting tube, a rebound tube, a coupling joint, a strip groove, a slider, a damping rod, a support spring and an auxiliary spring; the present application significantly reduces the wear of the drill rod during the construction process by using a high-strength, wear-resistant alloy material to make the drill rod, performing special treatment, and arranging a buffer mechanism and a guide mechanism.

The invention relates to a water-drop-shaped captive balloon high-altitude wind power generation system. The water-drop-shaped captive balloon and kite cloth carried by the water-drop-shaped captive balloon are used for generating lift force to drive a ground power generator to generate power. The lift force generation mechanism is that the windward side and the wind resistance are increased by adjusting the pitch angles of the aerostat and the bearing kite cloth, and the wind resistance is converted into cable tension to drive power generation. A V-shaped pulley expansion mode is adopted to uniformly distribute tension of main and auxiliary cables, so that bag damage caused by non-uniform stress in a posture adjusting process is avoided; the captive balloon is provided with an attitude controller, communicates with a ground control system through wireless data transmission, adjusts the take-up and pay-off speed of a main cable and an auxiliary cable to control the pitching angle to achieve lift force control, and greatly improves the power generation efficiency. The main cable power output winch drives a generator to generate electricity through a one-way bearing, and the input end is connected with a motor through a clutch to achieve cable recovery. The backpack kite cloth can be controlled to open and close through a small winch to increase and decrease wind resistance; lift force and wind resistance control is optimized, the power generation efficiency is improved, safety is enhanced, operation is simplified, and maintenance is convenient.

Disclosed is a multifunctional stable winch hook guide rail system. The system includes: a storage buckle; a guiding groove, where the guiding groove is formed on a front face of the storage buckle, a movable opening is formed on a back face of an inner wall of the guiding groove, and a winch hook is arranged inside the guiding groove; a hanging opening, where the hanging opening is located at a top of the winch hook at a position close to one end thereof, a side of an inner wall of the hanging opening is fixedly connected to a connector, an outer surface of the connector, through an insertion pin, is rotatably connected to a movable buckle. The winch hook can be easily tightened and securely locked in the guiding groove. The winch hook has a uniform and clean appearance and is used for rescue and heavy-duty towing tasks.

The invention provides a high and steep slope hanging net anchoring device and a construction method thereof, the high and steep slope hanging net anchoring device comprises a winch and a device main body, and the winch is connected with the device main body through a pull rope on the winch; the device body comprises a frame body, moving wheels are arranged at the four corners of the frame body, a net roll in linkage with the moving wheels is arranged between the two moving wheels located on the rear row, and an anchoring mechanism is arranged at the top of the frame body and anchors the net roll from the front of the frame body. Through cooperative work of the winch and the device body, meanwhile, the net roll is arranged between the rear row of moving wheels, laying work of the net piece can be completed through lowering of the device body, the flatness is ensured, meanwhile, net piece tensile deformation caused by traditional manual dragging can be effectively avoided, and the laying efficiency is improved by pausing lowering in the laying process. The anchoring mechanism is used for completing anchoring work of the meshes, cooperative work of automatic mesh hanging and anchoring is achieved, then construction risks are reduced, and meanwhile construction efficiency is improved.

The invention belongs to the technical field of automatic sailing of unmanned ships, and particularly relates to an automatic sailing temperature-salinity-depth profile observation system and method for mesoscale eddy prediction, the system is arranged on an unmanned ship and connected with an automatic retractable winch, and the system comprises a temperature-salinity-depth probe device arranged at the tail end of an A frame of the automatic retractable winch and used for retracting through the automatic retractable winch; lifting is realized, so that temperature, salinity and depth parameters of seawater with different profiles are measured, and key ocean data are provided for mesoscale eddy prediction; the data is transmitted to a mother ship / shore base end through a remote intelligent navigation control system; and the remote intelligent navigation control system is used for receiving various data and sending the data to the mother ship / shore base end, and controlling the driving process or task process of the automatic winding and unwinding winch, the temperature-salinity-depth probe device and the unmanned ship according to the instruction of the mother ship / shore base end. According to the invention, the laying and recovery of the temperature-salinity-depth profile measuring equipment can be controlled when the ship is sailing, and the laying and recovery of the sailing type temperature-salinity-depth profile measuring equipment can be carried out on the unmanned ship after upgrading and reconstruction.

The invention provides an automatic speed changing assembly which comprises a planetary gear speed reducing mechanism, a first-stage speed changing mechanism and a second-stage speed changing mechanism. An inner rotation driving member; the outer element is movably connected with the inner rotation driving part, so that the outer element can be driven to rotate under the driving of the inner rotation driving part, and the outer element is allowed to axially move between a first position and a second position relative to the inner rotation driving part; the driving disc is movably connected with the outer element, so that the driving disc can be driven to rotate under the driving of the outer element, and the driving disc is configured to be capable of changing between a first state in which the driving disc is combined with the power output element and a second state in which the driving disc is separated from the power output element; the first stage sun gear is configured to disengage from the outer element in a first position of the outer element and to engage with the outer element in a second position of the outer element. According to the automatic speed changing assembly and the electric capstan with the automatic speed changing assembly, the automatic speed changing function can be achieved, and reliability is good.

The invention provides a quadrant switching smooth control method, device and equipment for an electro-hydrostatic system, and relates to the technical field of electro-hydraulic compound drive control. According to the method, sensor state information is acquired, a discretization state-space equation is established, a cost function is designed, improved sequential quadratic programming is called to solve the optimal control quantity, instructions are smoothly processed through a linear tracking differentiator, a reference value is calculated through a current distribution strategy and pressure feed-forward compensation, and cooperative impact resistance control is achieved through a PI controller and SVPWM. The response speed and stability of the electro-hydraulic compound system in the quadrant switching process can be remarkably improved, the problems of impact and torque overshoot are effectively restrained, the service life of equipment is prolonged, and the electro-hydraulic compound system is suitable for high-performance requirement scenes under complex working conditions such as electric loaders, excavators and winches.

The invention discloses a dual-mode dynamic cooperative control method and system based on pulling of a mooring line. The method comprises the steps that displacement electric signals are collected through double potentiometers; a Z-axis PWM signal is generated based on the displacement electric signal through a PWM signal generator; an XY-axis PWM signal is generated through the included angle difference between an XY rocker on the unmanned aerial vehicle and the mooring line; the Z-axis PWM signal is divided into two paths, one path is transmitted to a capstan electronic speed controller, and the other path is transmitted to the unmanned aerial vehicle and is combined with the X-axis PWM signal and the Y-axis PWM signal to form a three-dimensional control signal; setting a remote control signal and a winch potentiometer signal as well as a three-dimensional control signal and a winch manual signal as a first linkage group and a second linkage group respectively; when the first linkage group is switched on and the second linkage group is switched off, the unmanned aerial vehicle enters a first control mode; and when the second linkage group is switched on and the first linkage group is switched off, the unmanned aerial vehicle enters a second control mode. The method is used for solving the technical problems of single control mode, insufficient man-machine collaboration, poor environmental interference adaptability and limited control precision existing in traditional mooring unmanned aerial vehicle control.

The invention relates to a floating platform for mechanically cleaning marine organisms. The floating platform integrates a floating body platform, a crane, a net bag cleaning device, a flat net cleaning device, a garbage collecting net bag, a power device and the like. The net bag cleaning device and the flat net cleaning device are used for cleaning sundries of the intercepting net bag and the plane intercepting net respectively, the sundries are rapidly and effectively conveyed to the garbage collecting net bag in a suction mode, and follow-up unified treatment and transportation are facilitated. The platform is provided with a hydraulic winch and a cable, and movement flexibility and stability are enhanced. The hydraulic winch quickly adjusts the position of the platform by winding and unwinding the cable to adapt to different operation scenes, and the underwater anchor block provides a reliable anchoring point for the cable to prevent the platform from drifting. Besides, the platform is provided with a pipe reeling device, the releasing length of an operation pipeline can be accurately controlled, smooth extension and orderly retraction of the pipeline are ensured, adaptability and flexibility are enhanced, and the floating platform for mechanically cleaning the marine organisms has the advantages of being efficient, stable and flexible and can effectively meet various complex environments and cleaning requirements.

The utility model discloses a full-rotation hoisting pile driver for an offshore ship. The full-rotation hoisting pile driver comprises a full-rotation hoisting device and a pile driving device, the full-rotation lifting device comprises a base, a rotation bearing, a rotation chassis, a propeller strut and an arm support. The base is connected with the rotary chassis through the rotary bearing; the propeller strut is arranged on the rotary chassis; the lower end of the arm frame is movably connected with the propeller strut, and the propeller strut is wound with the arm frame through a steel wire rope; the piling device comprises a pile frame, a fork frame and a winding mechanism; the pile frame is connected with the upper end of the arm frame through a sliding shoe; one end of the fork frame is movably connected with the pile frame, and the other end of the fork frame is movably connected with the propeller strut; and the platform on the pile frame is connected with the corresponding winch in the machine room through the winding mechanism. According to the utility model, the full-circle slewing crane and the piling system are effectively combined, so that the piling requirements of straight piles and inclined piles can be met without frequent ship moving and positioning.

The invention belongs to the technical field of geothermal energy development and utilization, and particularly relates to a separated ultra-deep geothermal water extraction and utilization device which comprises a base, an adjustable supporting mechanism is arranged on the base, a winch is arranged on the adjustable supporting mechanism, a sliding rod piece is arranged in a closed mine, and the winch is used for conveying the sliding rod piece to the bottom of the closed mine. A clamping mechanism used for fixing the sliding rod piece is arranged on one side of the base. The sliding rod piece is vertically arranged, a plurality of supporting plate assemblies are connected to the sliding rod piece in a sliding mode, the other ends of the supporting plate assemblies are fixedly connected to a rope on the winch, a water pumping device is arranged on the lowest supporting plate assembly, transfer water pumping devices are arranged on the rest supporting plate assemblies, and the water pumping device is communicated with the transfer water pumping devices. The device is high in reliability, can be repeatedly used, is low in cost input, and can solve the problem that hot water is difficult to extract when a mine is closed in an ultra-deep manner.

The invention relates to a loading adjustment method, device and equipment of a railway intelligent loading system, and relates to the technical field of loading, the method, device and equipment combine a time sequence prediction model and PID control for the first time, update historical parameter data in real time, update a PID controller in real time, adjust the rotating speed of a winch so as to adjust the traction speed of a carriage, and improve the traction speed of the carriage. When it is predicted that the coal in the chute is reduced, the winch is controlled to decrease the rotating speed, the traction speed of the carriage is decreased, and thus the coal in the chute waits to be supplemented; when it is predicted that the coal in the chute is increased, it shows that the coal in the coal chute is supplemented, the winch is controlled to increase the rotating speed, and the carriage traction speed is increased; through real-time control, when the coal material is reduced, the traction speed of the carriage is reduced in advance, the phenomenon of frequent material shortage is avoided, secondary material supplementing is not needed, the loading continuity is improved, and the loading efficiency is guaranteed.

The utility model discloses a winch reduction motor, including a winch reduction motor, including a motor and a reduction gear housing, the reduction gear housing is fixedly installed at one end of the motor by bolts, the motor shaft rotates and extends into the reduction gear housing and is fixedly installed with a first gear, the reduction gear housing is rotatably installed with a rotating shaft, one end of the rotating shaft close to the motor is fixedly connected with a second gear, the other end of the rotating shaft is fixedly connected with a third gear, the side of the reduction gear housing away from the motor is rotatably installed with a main shaft, one end of the main shaft is fixedly installed with a fourth gear, the other end of the main shaft is fixedly connected with the rotating shaft of the capstan, a rope is wound around the capstan, the fourth gear is meshed with the third gear, the second gear is meshed with the first gear, and a ratchet is fixedly sleeved on the rotating shaft. The winch reduction motor of the utility model can effectively prevent the ratchet from reversing, thereby locking the position of the load.

The invention discloses a marine winch brake device, which relates to the technical field of winches, and comprises an outer shell, a movable shell, a brake mechanism, a pinion, a bull gear, a multi-stage buffer mechanism, a locking mechanism, a clamping mechanism and a connecting shaft, the piston is pushed through the oil cylinder, power is transmitted through hydraulic oil, the brake block is driven to brake the brake disc, primary braking of the winch main shaft is achieved, and the braking mode is efficient and reliable; the wear-resistant anti-skid layers are arranged on the opposite faces of the brake blocks, friction force is effectively increased, the braking effect is improved, and the stability of the braking process is guaranteed; the tooth grooves in the outer circle face of the movable shell are matched with the movable clamping teeth, when the braking resistance is increased, the movable clamping teeth and the tooth grooves are indirectly separated for braking, and the braking performance is further optimized; the large gear is used for driving the multi-stage buffering mechanism to work, oil in the oil storage cavity is pumped into the buffering oil cavity through the hydraulic pump for buffering and energy absorption, winch damage caused by braking is avoided, and the service life of the winch is prolonged.

The invention discloses a liftable floating bottom structure device suitable for a deepwater experiment, and relates to the technical field of deepwater experiment pools. Comprising a floating bottom body, a lifting mechanism, a jacking device and a distributed detachable platform, each lifting mechanism comprises a winch, a steering pulley and a steel wire rope, one end of the steel wire rope is connected with the winch, and the other end of the steel wire rope bypasses the steering pulley located at the bottom of the deepwater experiment pool and is connected with the floating bottom body; the jacking device comprises an air cylinder, a connecting shaft, a guide wheel and a base, the air cylinder located on the base is connected with the guide wheel through the connecting shaft, and the guide wheel is connected with the guide sliding groove of the floating bottom body in a clamped mode. The distributed detachable platform is laid on the floating bottom body through the connecting support. The floating bottom device has the capability of performing experimental simulation on deepwater, shallow water and land structures at the same time, the working efficiency is improved, the labor cost is reduced, and the experimental requirements of a deepwater experimental pool model are better met.

A prework manipulation or a post-work manipulation for a crane is facilitated. A controller executes a boom raising control in response to a first raising manipulation under a condition that a start mode is set. The controller executes a jib swing out control in response to a second raising manipulation. The boom raising control includes making the controller cause a second winch to wind up a second rope when a detection value from a jib tension force detector falls below a permissible range. The jib swing out control includes making the controller cause the second winch to wind up the second rope.

The invention relates to the technical field of bridge engineering construction, in particular to a bridge girder hoisting system and a positioning method.The system collects position information in real time through Beidou positioning terminals of all hoisting points on a hoisting frame, cable force is monitored through pin shaft type force sensors, and after the position information is processed through a Beidou differential service system and a control center, the cable force is transmitted to a main girder hoisting system; and the winch is regulated and controlled to act and early warn abnormity. The positioning method comprises the steps of equipment installation, data acquisition, coordinate calculation, data processing and intelligent regulation and control, millimeter-level positioning achieved through Beidou difference, and lifting point height difference control through double-cable force monitoring and closed-loop control. The invention aims to solve the problems of unbalanced components and potential safety hazards caused by low measurement precision, asynchronous hoisting point displacement and large cable force monitoring error in traditional bridge girder hoisting.

The utility model discloses an unmanned tower-climbing maintenance device for an overhead transmission line, which comprises an unmanned aerial vehicle, a pulley is hoisted below the unmanned aerial vehicle, the pulley is connected with a maintenance robot through a lifting rope, and the other end of the lifting rope is also connected with a winch fixed on the ground; the maintenance robot comprises a rack, a mechanical arm is arranged on the side face of the rack, a bolt screwing device is arranged at the end of the mechanical arm, and a detection sensor set is further arranged on the mechanical arm. A lifting rope fixing wheel is arranged in the middle of the upper surface of the rack; walking wheel assemblies are further arranged at the two ends of the upper surface of the rack, and a lifting type anti-falling frame is arranged below the walking wheel assemblies. According to the utility model, the purpose of power transmission line maintenance can be realized when no person climbs the tower.

The invention relates to a method for operating a grab system, comprising a carrier device and a cable grab arranged thereon, which cable grab comprises a grab frame, which is held by a retaining cable on the carrier device, at least two grab buckets, which are mounted on a lower end of the grab frame, so as to be able to swivel between a closed position and an open position, and an actuating device with an actuating cable for swivelling the grab buckets, wherein an actuating cable is guided from the carrier device to the actuating device, and the carrier device has a driven first cable winch for the retaining cable and a driven second cable winch for the actuating cable, wherein the carrier device has an undercarriage and an upper carriage, which is mounted thereon for rotation about a vertical axis and has a cantilever arm on which the cable grab is vertically adjustably mounted, wherein in a removal step, in order to form a trench in the ground, the cable grab is lowered into the ground by the retaining cable with the grab buckets open, the grab buckets are closed to remove and collect soil material, the cable grab is pulled out of the ground by the retaining cable and swiveled to an emptying position, in which the grab buckets are opened to discharge the collected soil material, by rotating the upper carriage, and then the cable grab is moved back into the ground trench to repeat the removal step. In accordance with the invention, a control device is provided with which a rotation of the upper carriage to the emptying position and an opening and closing of the grab buckets to discharge the soil material or a rotation of the upper carriage from the emptying position back to the ground trench are controlled automatically.

The invention relates to the technical field of fault diagnosis, and particularly provides a fault diagnosis model training and fault diagnosis method and device, and a medium, and the method comprises the steps: obtaining a sample data set, inputting the sample feature data into a first sub-model of a fault diagnosis model, obtaining a sample prediction fault mode, and obtaining a second sub-model of the fault diagnosis model; inputting the sample prediction fault mode into a second sub-model of the fault diagnosis model to obtain a sample motor internal and external leakage coefficient of the hydraulic winch, and inputting the sample motor internal and external leakage coefficient and the sample control state signal into a system model of the hydraulic winch to obtain a sample operation parameter prediction value of the hydraulic winch; and on the basis of the fault mode label, the sample prediction fault mode, the sample operation parameter value and the sample operation parameter prediction value, a trained fault diagnosis model is obtained under the condition that convergence of the fault diagnosis model is determined. The fault diagnosis accuracy of the hydraulic winch can be improved.

The invention discloses a system for lowering and recovering a hydraulic pipe of an underwater blowout preventer, which comprises a winch drum, a driving assembly and a bearing seat are respectively arranged on shafts at two ends of the winch drum, the driving assembly is used for driving the winch drum to rotate, and the bearing seat is used for supporting the winch drum; a replaceable chain wheel and a hydraulic slip ring are sequentially mounted on the projecting shaft on the other side of the bearing seat, and the replaceable chain wheel is connected with a cable arrangement device through a chain; a hydraulic pipe of the underwater blowout preventer is led into the winch roller through the hydraulic sliding ring, then led to the cable arrangement device through the winch roller and finally led to the underwater blowout preventer through the cable arrangement device, and the cable arrangement device is used for enabling the hydraulic pipe to be arranged in order along the winch roller. The driving assembly is connected with a pneumatic control system which is used for controlling the driving assembly to drive the winch drum. According to the system, hydraulic pipes with different diameters can be automatically collected and released, the heat dissipation effect is good in the collecting and releasing process, and serious heating of the hydraulic pipes cannot be caused.

The invention provides an intelligent emergency unmanned aerial vehicle logistics lifting device and method. The lifting device comprises a cable descending winch system and a damping balance frame. The damping balance frame comprises an upper mounting frame and a lower mounting frame which are oppositely arranged up and down, the upper mounting frame and the lower mounting frame are connected through a telescopic damping mechanism, the telescopic damping mechanism comprises at least three telescopic damping units, the three telescopic damping units are uniformly distributed, and the two ends of each telescopic damping unit are movably connected with the upper mounting frame and the lower mounting frame respectively; and the cable descending winch system is fixedly mounted on the lower mounting frame. The three telescopic damping units not only can bear the load of the suspended object, but also can enable the suspended object to be finally transmitted to the three telescopic damping units no matter which horizontal direction deflection force is applied to the suspended object, so that the suspended object is located on the course axis of the intelligent emergency unmanned aerial vehicle as far as possible and can better adapt to external disturbance; therefore, the self-balance of the hoisted object is realized, and the unmanned aerial vehicle is kept stable in the transportation operation process.

The utility model provides a control hydraulic system of a winch, which comprises a first cartridge valve and a second cartridge valve, an A port of the first cartridge valve is connected with a first oil return port of an oil tank, a B port of the first cartridge valve is connected with a second port of a motor, an A port of the second cartridge valve is connected with a second oil return port of the oil tank, and a B end of the second cartridge valve is connected with a second port of the motor; a first port of the motor is connected with a first oil outlet and a second oil outlet of the oil tank, the first oil outlet is further connected with the control end of the second cartridge valve, and the second oil outlet is further connected with the control end of the first cartridge valve. A first oil outlet of the oil tank is connected with the control end of the second cartridge valve, and a second oil outlet is connected with the control end of the first cartridge valve; the first oil return opening is further connected with the control end of the second cartridge valve, and the second oil return opening is further connected with the control end of the first cartridge valve. The oil way is simple in structure, and the speed of the motor can be adjusted only through a simple control valve.

A winch hydraulic control system includes a hydraulic oil tank, a hydraulic pump, and an electric motor. The hydraulic pump's oil inlet is connected to the hydraulic oil tank, the electric motor is connected to the hydraulic pump, and the hydraulic pump's oil outlet is connected to both port P of the main reversing valve assembly and port P of the control valve assembly. Ports A and B of the main reversing valve assembly are connected to port A of the first shuttle valve, port A of the balancing valve assembly, and port B of the control valve assembly, respectively. Port X is connected to port B of the second solenoid reversing valve. Ports B and C of the first shuttle valve are connected to port B of the balancing valve assembly and port B of the second shuttle valve, respectively. A third pressure reducing valve is connected in parallel with the second solenoid valve. Port P of the second solenoid reversing valve is connected to port X of the control valve assembly, port A of the second shuttle valve, and port SP of the balancing valve assembly. Port C of the second shuttle valve is connected to the rod chamber of the brake. The brake is connected to the hydraulic motor, and the oil outlet of the control valve assembly is connected to the oil inlet of the balancing valve assembly. This design can maintain constant wire rope tension and stable operation.

The invention discloses a self-climbing module of a specialized robot. The self-climbing module comprises an irradiation-resistant shell, an adsorption device and a rope climbing device, a propeller device is mounted on the outer side wall of the radiation-resistant shell; the adsorption device comprises a gas control system and a suction cup assembly, the suction cup assembly is installed on the outer side wall, away from the propeller device, of the irradiation-resistant shell, the gas control system is installed in the irradiation-resistant shell, and the gas control system communicates with the suction cup assembly; the rope climbing device comprises a driving assembly, a positioning guide wheel set and a rope coiling winch. The driving assembly is installed in the irradiation-resistant shell, the rope coiling winch is installed at the output end of the driving assembly, and the positioning guide wheel set is rotationally connected into the irradiation-resistant shell. Wherein a traction rope is wound on the rope coiling winch and the positioning guide wheel group. The robot can realize high-precision climbing, positioning and hovering capabilities, can be stably adsorbed on the surface of a wall body in a high-radiation and high-risk environment, and provides efficient and reliable technical support for wall body repairing operation in a nuclear environment.

The invention discloses a pneumatic horizontal dock gate untwisting maintenance method which comprises the following steps: S1, a preparation stage: a tidal bulkhead and a seaport seal hole form a closed left cabin and a closed right cabin, an air pipeline and a plurality of groups of bollards are connected to a B surface of a dock gate, two groups of floating cranes are prepared, and temporary winches are mounted at the head parts of the floating cranes; s2, degumming: utilizing two groups of floating cranes to hook the dock gate and take cables, enabling the floating cranes to abut against the dock gate in a T-shaped mode, injecting water into the dry dock to enable the dock gate to lie flat, and lifting the dock gate through the cooperation of the two groups of floating cranes to realize untwisting and floating; and S3, dock gate docking maintenance: two tugs are adopted to pull the front and back cables of the dock gate end to end, and the dock gate is dragged to be docked for maintenance. A sling and an air pipeline are installed at one end of the dock gate, the other end of the dock gate is connected with a tug, dock gate reinstallation is basically a twist-off reverse operation process, and the dock gate reinstallation comprises the steps of tidal bulkhead / seaport hole sealing, air pipeline connection and bollard installation on the B face of the dock gate. The safety of the dock gate in the dismantling and reinstalling process can be guaranteed.

A wireline derrick has a telescopically arranged frame, a sheave, a winch, and pressure control equipment. Pressure control equipment (PCE) is positioned within the frame. An upper section of the derrick can extend and retract relative to a lower section. When the wireline derrick is in the retracted position, an upper PCE assembly is positioned adjacent to the lower PCE assembly. The upper PCE assembly is laterally moveable, such that when the wireline derrick is in the extended position, the upper PCE assembly may be moved into and out of axial alignment with the lower PCE assembly. When in a fully deployed condition, the lower end of the upper PCE assembly is removably coupled to the upper end of the lower PCE assembly. A transport trailer is adapted to move the wireline derrick from a horizontal position to a vertical position and cause the upper section to extend and retract.

The utility model provides a manual overload protection system which comprises an oil tank, a pilot overflow valve, a first switch valve, a motor and a first control valve group, a hydraulic pump is arranged on the oil tank and connected with a first port of the motor through an oil inlet pipeline, and a second port of the motor is connected with the oil tank through an oil return pipeline. A pilot-operated overflow valve is arranged between the oil inlet pipeline and the oil return pipeline, the oil inlet end of the pilot-operated overflow valve is connected with the oil inlet pipeline, and the oil outlet end of the pilot-operated overflow valve is connected with the oil return pipeline; the first control valve group comprises a first control switch valve, a first control reversing valve and a first control overflow valve; by means of the structure, under the emergency condition, the adjusting pressure of the overflow valve can be adjusted and relieved, and therefore the winch is controlled to quickly loosen the steel wire rope to achieve emergency rope abandoning.