21083 results about "Wire rope" patented technology

The invention discloses a hanging basket transportation safety management method and system, and relates to the field of damage detection. Collecting weight data of the hanging basket; establishing a steel wire rope health state prediction model by using a multi-layer perceptron (MLP) algorithm, predicting the damage degree of the steel wire rope, and obtaining a health state prediction result of the steel wire rope; according to the health state prediction result of the steel wire rope, a bidirectional long-short-term memory neural network BiLSTM is used for prediction, and a damage trend prediction result of the steel wire rope in a future period of time is obtained; comparing the collected weight data of the hanging basket with a preset safety weight range to obtain a judgment result of whether the weight of the hanging basket exceeds the limit or not; according to the health state prediction result of the steel wire rope, the damage trend prediction result and the judgment result of whether the weight of the hanging basket exceeds the limit or not, a decision tree algorithm is adopted to generate a hanging basket operation control scheme; aiming at low safety of a hanging basket in the prior art, the safety of the hanging basket is improved.

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 discloses a flaw detection method and system for alloy steel wire rope production, and relates to the technical field of steel wire rope flaw detection, and the flaw detection method comprises the following steps: heating and cooling an alloy steel wire rope, and collecting a thermal imaging image of the alloy steel wire rope to obtain first thermal imaging sample data; performing image cutting processing and image feature processing on the first thermal imaging sample data to obtain second thermal imaging sample data; constructing an original detection model, and training by using the second thermal imaging sample data to obtain an alloy steel wire rope detection model; performing flaw detection on the alloy steel wire rope based on the alloy steel wire rope detection model; the method is used for solving the problems that in the existing steel wire rope flaw detection technology, when flaw detection is carried out through a thermal imaging image of a steel wire rope, only a static thermal imaging image is relied on, dynamic characteristic information existing in the temperature change process of the steel wire rope is ignored, and some tiny defects of the steel wire rope are difficult to find.

According to the bridge crane intelligent safety monitoring method and device based on multi-source data fusion, by integrating the lateral pressure type pressure sensor, the intelligent camera, the displacement sensor and the electromagnetic sensor, multi-dimensional collection of weight, image, position and broken wire data is achieved. A multi-source data stream is processed by adopting frequency division sampling and a time synchronization mechanism, and accurate detection of personnel in a dangerous area is realized by combining a convolutional neural network configured by a self-adaptive residual block. The system monitors multi-dimensional safety risks such as weight overrun of a hoisted object, breakage of a steel wire rope and deviation of a lifting hook track at the same time, and all-dimensional intelligent monitoring of the operation process of the crane is achieved. The problem that a traditional single monitoring scheme is insufficient in perception capability is effectively solved, and the accuracy of safety early warning is improved.

The invention provides an on-site rapid calibration combined device and method for a multi-dimensional force sensor, and the device comprises a workbench and a top plate, the top of the workbench and the bottom of the top plate are provided with connecting assemblies, the connecting assemblies are connected with standard force sensors, the standard force sensors are connected with steel wire ropes, and the two steel wire ropes are jointly connected with a loading assembly. When the tail end of the tested industrial robot moves in the X-axis direction or the Y-axis direction or the tail end of the tested industrial robot rotates, an included angle exists between the loaded steel wire rope and the steel wire rope before loading, and the device further comprises an angle recognition assembly. Through movement of the tail end of the tested industrial robot, loading and calibration of a multi-dimensional force sensor of the tested industrial robot are realized. Compared with an existing multi-dimensional force sensor calibration device, the device has the advantages that the multi-dimensional force sensor does not need to be dismounted from the tested industrial robot, and artificial installation errors are prevented from being introduced. Moreover, the calibration work of the multi-dimensional force sensor is simplified, and the influence on industrial production is reduced.

The invention discloses a multi-stage layered frozen soil sampling device, and particularly relates to the technical field of soil sampling, the multi-stage layered frozen soil sampling device comprises a mounting disc, a plurality of sealing plates on the surfaces of a plurality of sampling covers can be opened under the action of centrifugal force, and then scrapers in two sealing plates can scrape soil and make the soil enter the sampling covers, so that the soil can be sampled; then, a rubber sealing cover extruded by the soil moves downwards to drive a sleeve to enable a plurality of first connecting columns to extrude a plurality of third springs, meanwhile, the sleeve moves downwards to drive two steel wire ropes to pull two sealing plates, and at the moment, under the resilience force action of the two steel wire ropes and reset springs, the two sealing plates can reset to the initial positions; the sampling covers are arranged on the upper portion of the soil sampling device, the sampling covers on the upper portion can repeat the steps to collect the soil, the phenomenon of soil layer channeling in the soil sampling process can be prevented, and meanwhile due to the fact that the multiple sampling covers are independent individuals, the multi-stage stratified sampling effect can be achieved in the sampling process.

A system for performing a mechanical operation on a wireline is described including: a motor; a gear train coupled to the motor, the gear train including a first and a second rotational output, the first and second rotational outputs having different rotational speeds relative to each other; a fluid pump coupled to both the first and second rotational outputs, the fluid pump including: a pump housing coupled to the first rotational output, and a pump input coupled to the second rotational output; and a milling bailer coupled to the housing of the fluid pump and configured to rotate with the fluid pump housing, the milling bailer including: a bailer portion shaped to intake fluid and allow the fluid to flow through a filter and the fluid pump; and a milling face including a bit and configured to perform a milling operation while fluid is flowing through the bailer portion.

The invention relates to a steel wire rope surface damage detection method and detection device.The steel wire rope surface damage detection method comprises the following steps that a binocular vision detection device is arranged, the binocular vision detection device comprises two cameras, and the positions of the cameras and a light source are adjusted so that the surface of a steel wire rope can be clearly shot; acquiring an image of the surface of the steel wire rope through a camera, and transmitting the image to a computer; preprocessing the image to at least improve the quality and contrast of the image; feature extraction is carried out on the preprocessed image to extract the features of the surface damage of the steel wire rope, and feature extraction comprises edge detection, contour extraction and texture analysis; analyzing the extracted features by adopting a damage identification algorithm, and judging whether the surface of the steel wire rope is damaged or not; outputting a detection result of the surface damage of the steel wire rope, wherein the detection result comprises damage types, damage positions and damage degrees. The detection method can automatically identify the surface damage of the steel wire rope, reduces manual intervention, and improves the detection efficiency and accuracy.

The embodiment of the invention relates to the technical field of information, in particular to an elevator steel wire rope fault diagnosis and fatigue prediction method and system. The method comprises the following steps: collecting operation data when a single elevator normally operates, wherein the operation data comprises sound data and vibration data; according to the operation data during normal operation of the single ladder, establishing a fatigue baseline of the single ladder; collecting operation data when the elevator runs under the fault, and associating the operation data with a corresponding fault type; establishing a fault diagnosis model according to the operation data of the associated fault; acquiring operation data of a single ladder, and comparing the operation data with the fault diagnosis model to obtain a single ladder fault diagnosis result; and comparing the operation data with the single-ladder fatigue baseline to obtain a single-ladder fatigue prediction result.

The invention relates to the field of diameter measurement, in particular to a steel wire rope infrared laser diameter detection device and method, and the device comprises an installation seat which is connected with a measurement assembly used for measuring the diameter of a steel wire rope. According to the invention, through cooperation between the two mounting ring plates and the limiting rollers correspondingly limited on the two mounting ring plates, a steel wire rope to be measured is supported and limited, and then through cooperation between the laser emitting end and the laser receiving end correspondingly connected in the two mounting ring plates, the steel wire rope to be measured is measured. The steel wire rope diameter measuring device achieves the effect of measuring the diameter of a steel wire rope in a non-contact mode, effectively reduces friction and vibration during relative sliding of the steel wire rope and the shell through cooperation of a limiting roller and a buffer spring, and improves the measuring precision.

The invention discloses a BIM-based hoisting construction supervision optimization management system. The system comprises a sensing layer which collects multi-source heterogeneous data in real time; according to the decision-making layer, a bottom layer utilizes an incremental RRT # algorithm to generate candidate paths meeting crane kinematics constraints, a distributed Q-learning framework is embedded in an upper layer, all cranes serve as independent agents, collaborative learning is carried out through a shared experience pool, a path planning strategy is dynamically optimized according to environment sensing data and construction progress requirements, and a path planning strategy is established. Meanwhile, a fuzzy sliding mode control algorithm is developed to be combined with an LSTM-Transformer crane cart and trolley walking speed, a hook crane cart and trolley walking speed, a hook lifting speed and a steel wire rope disturbance prediction model to calculate crane motion compensation parameters, and an optimal control instruction is generated in advance based on predicted crane moving walking and lifting data; the execution layer is used for issuing the instruction generated by the decision-making layer to construction equipment; and the optimization layer is used for constructing a BIM model and feeding back an equipment execution result and structure safety monitoring data to the decision-making layer.

The utility model relates to the field of semiconductor processing equipment, and discloses a dispensing device for semiconductor packaging, which comprises a working table, and is characterized in that the front end and the rear end of the upper surface of the working table are respectively provided with a first sliding chute, and a sliding rod is fixedly connected in the first sliding chute at the front end of the upper surface of the working table; according to the dispensing device for semiconductor packaging, compared with most traditional dispensing devices for semiconductor packaging, the first protective shell is arranged on the connecting block, and the supporting block is arranged in the first sliding groove; a user can control the movement of a steel wire rope through a third electric telescopic rod so as to control the angle of a second protective shell relative to a first protective shell, so that the angle of a liquid outlet head arranged in the second protective shell is adjusted, and the trouble that some special positions cannot be aligned during vertical dispensing is reduced; and the device can accurately inject the glue solution to a required position, so that the dispensing efficiency of the device is improved.

The invention discloses a construction technology and construction equipment for a green building outer wall with a waterproof effect. The construction technology comprises the following steps that S1, a coating which is green, environmentally friendly, high in adhesion and good in waterproof, mildew-proof and anti-cracking effect is selected; s2, special building outer wall construction equipment and a coating spraying device are selected, and the building outer wall construction equipment is installed on a building facility top plate; the building outer wall construction equipment comprises a hanging basket, a steel wire rope used for hanging the hanging basket, a winding assembly used for controlling winding of the steel wire rope and a stabilizing assembly used for maintaining stable lifting of the hanging basket. And S3, a worker stands in the hanging basket, the winding assembly controls the hanging basket to ascend and descend, the coating can be evenly sprayed to the building outer wall through the coating spraying device, and the building outer wall has the good waterproof, mildewproof and anti-cracking effects. The stability of the winding assembly in the lifting process of the hanging basket can be kept, and the coating spraying effect is improved.

The invention discloses a crane steel wire rope flaw detection device and a flaw detection method, and belongs to the technical field of nondestructive flaw detection. The device comprises a magnetic memory flaw detection module and a wheel type rope climbing robot device for driving the magnetic memory flaw detection module to move along a crane steel wire rope, the magnetic memory flaw detection module comprises a hollow flaw detection shell, the flaw detection shell is longitudinally provided with a central through hole for a crane steel wire rope to penetrate through, and a plurality of giant magneto-impedance effect magnetic sensors are evenly arranged in the flaw detection shell in the circumferential direction of the central through hole. Therefore, a sensor array used for detecting the leakage magnetic field intensity of the crane steel wire rope is formed, and the giant magneto-impedance effect magnetic sensors are arranged in a coplanar mode. The device is mainly based on the giant magneto-impedance effect magnetic sensor and the metal magnetic memory principle, extremely weak magnetic nondestructive testing is conducted on the crane steel wire rope, and the device is convenient to use, high in detection precision, simple in structure and suitable for various steel wire rope detection environments.

The invention discloses a steel wire rope derailment early warning method and system for a container crane pulley block, and the method comprises the steps: collecting real-time images of the pulley block and a steel wire rope, and achieving the automatic monitoring of the operation state of the steel wire rope through feature point detection and geometric transformation estimation; and by utilizing the structural knowledge of the pulley block, accurate derailment detection is carried out under the condition of a small number of samples or even almost no samples, so that the cost of data preparation and model training is reduced. The method is easy to control, a user only needs to manually specify masks of a pulley area, a cross beam area and a steel wire rope area and mark key structure feature points, the system can automatically extract features and perform subsequent automatic detection, and the method has good user friendliness and adaptability.

The invention discloses a defect detection method and device for a steel wire rope, a storage medium, equipment and a system, relates to the technical field of magnetic flux leakage detection, and mainly aims to solve the problems of unbalanced detection capability and poor environment adaptability of magnetic flux leakage nondestructive detection of the steel wire rope in the prior art for defects of different scales. Comprising the following steps: acquiring magnetic flux leakage detection signals of a plurality of detection channels, and performing signal fusion processing on the plurality of magnetic flux leakage detection signals to obtain a multi-channel fusion feature vector; the detection channels are uniformly distributed along the circumference of the steel wire rope; performing multi-scale decomposition processing on the multi-channel fusion feature vector to obtain a multi-scale decomposition result; performing defect detection on each scale component in the multi-scale decomposition result by adopting a self-adaptive threshold strategy to obtain a self-adaptive detection result corresponding to each scale component; and performing multi-scale feature fusion processing based on the self-adaptive detection result to obtain a comprehensive abnormal score, so that defect classification is performed based on the comprehensive abnormal score.

The invention provides an elevator steel wire rope detection method and device, equipment and a storage medium, and belongs to the technical field of automatic monitoring. The method comprises the steps that electromagnetic signal data in a steel wire rope and vibration signal data of the end of the steel wire rope are obtained; performing feature extraction on the electromagnetic signal data and the vibration signal data to obtain electromagnetic noise features and vibration noise features; performing cross fusion on the electromagnetic noise feature and the vibration noise feature to obtain a first joint noise feature; performing denoising processing on the electromagnetic signal data and the vibration signal data based on the first joint noise feature to obtain denoised electromagnetic signal data and denoised vibration signal data; and performing fault prediction based on the denoised electromagnetic signal data and the denoised vibration signal data to obtain fault information of the steel wire rope. According to the elevator steel wire rope detection method and device, the equipment and the storage medium, the elevator steel wire rope fault detection precision can be improved.

The invention discloses an elevator steel wire rope detection device and method, and the device comprises the following steps: firstly, carrying out the pre-scanning of an initial magnetic field, then carrying out the magnetization of a steel wire rope through a multi-stage adjustable electromagnet, and controlling the magnetization intensity through a current; the method comprises the following steps: firstly, pre-scanning a magnetic field, then, carrying out real-time monitoring and feedback control on the magnetized magnetic field, carrying out synchronous acquisition through a multi-modal sensor, then, extracting multi-domain features, receiving a feature vector set by a model, carrying out dynamic weighting operation on the feature vector set, and finally, outputting a task. The problem that initial magnetic fields of the steel wire ropes are inconsistent can be effectively solved, data are synchronously collected through the multi-mode sensor, effective distinguishing and quantitative evaluation of different types of defects such as wire breakage, abrasion, corrosion and fatigue damage are achieved, and the defects of an existing detection mode in defect subdivision and quantification are overcome.

The invention discloses an oil pumping unit transmission flexible connection fault diagnosis method based on big data and artificial intelligence. The oil pumping unit transmission flexible connection fault diagnosis method sequentially comprises the following steps of S1, collecting monitoring data related to oil pumping unit transmission flexible connection; s2, preprocessing the collected monitoring data; s3, a traditional machine learning method and a deep learning technology are fused, and an oil pumping unit transmission flexible connection fault early warning model is established; s4, analyzing the real-time monitoring data of the flexible connection by using the fault early-warning model, quickly judging abnormal conditions in the real-time monitoring data, making a fault early-warning and analysis report, and providing the fault early-warning and analysis report to a manager; and S5, continuously monitoring and optimizing the early warning model. According to the fault diagnosis method, through data management, an intelligent algorithm and model analysis, the transmission flexible connection state of the oil pumping unit is monitored in real time, potential faults are predicted and diagnosed in advance, and an alarm is given in time when a belt of the oil pumping unit or a steel wire rope of a beam hanger is broken, so that the production efficiency and safety of an oil well are improved, and construction of an intelligent oil field is assisted.

The invention discloses an elevator steel wire rope defect detection device and method combining AR coding and magnetic flux leakage. The elevator steel wire rope defect detection device comprises a magnetic flux leakage detection sensor array device and a steel wire rope movement robot. The magnetic flux leakage detection sensor array device is installed on the steel wire rope movement robot and used for obtaining magnetic flux leakage signals of a steel wire rope in real time. And the steel wire rope movement robot is used for carrying the high-precision industrial camera and the magnetic flux leakage detection sensor array and moving along the steel wire rope to realize full-coverage detection of the steel wire rope. According to the invention, through excessive sensor data fusion, a deep learning algorithm and a virtual information generation technology, high-precision and real-time detection and positioning of elevator steel wire rope defects are realized, and the detection efficiency is remarkably improved. The device not only can detect the broken wire of the elevator steel wire rope, but also can detect the crack and stress change conditions of the steel wire rope, and gives an early warning for the safety condition of the elevator steel wire rope.

The invention discloses an anti-pulling protection mechanism for a charging pile, and belongs to the technical field of charging equipment, and the anti-pulling protection mechanism comprises the charging pile which is used for providing electric quantity; the charging head is connected with the charging pile through a charging wire and used for charging the vehicle; the separating mechanism comprises a steel wire rope arranged on the charging head and is used for separating the charging head from a charging hole in the vehicle; the separating mechanism is further provided with a releasing assembly which comprises a pressing rod arranged on the charging head handle and a buckle component used for releasing the charging head handle. In the invention, when a user does not pull out a charging head after charging and drives a vehicle to be pulled, a steel wire rope is tensioned to trigger a separation mechanism, a hydraulic system transmits pressure to a handle buckle through an oil cavity and a sliding rod to unlock, and meanwhile, a rack I, a rack II and a circular gear are linked to push a push rod to push out the charging head, so that the charging head is separated from a charging interface; the mechanical damage caused by accidental pulling of the charging wire and the charging pile is effectively avoided, and the equipment safety is remarkably improved.

The invention belongs to the technical field of soft robots, and particularly relates to a modularized paper folding soft mechanical arm. Comprising a rope driving module, a fluid driving module and a paper folding module, the paper folding module is installed on the rope driving module, the fluid driving module is connected with the paper folding module, the fluid driving module is used for generating positive pressure or negative pressure on the paper folding module to enable the paper folding module to stretch out and draw back, and the rope driving module is used for fixing the paper folding module after contraction. The paper folding module comprises a steering engine fixing frame connecting plate and a plurality of paper folding units which are mounted below the steering engine fixing frame connecting plate and are sequentially connected in series, and the steering engine fixing frame connecting plate is connected with the rope driving module; and the lower ends of the paper folding units are connected with the end effector connecting plate. Through cooperative arrangement of inner fluid and rope drive, the paper folding module can rotate in the circumferential direction while stretching out and drawing back in the axial direction, and the problem that object grabbing fails due to the fact that the angle of an end effector is not suitable is solved.

The invention relates to the technical field of crane equipment health monitoring, in particular to a crane running state health monitoring system and method. A sensing data acquisition unit is used for acquiring a winding drum vibration harmonic component, a steel wire rope leakage magnetic field gradient and a pulley block real-time load; the data analysis unit performs rotating speed synchronous variational mode decomposition on the vibration component to extract resonance characteristics, performs temperature and stress double-compensation correction on a leakage magnetic field gradient, quantifies an energy entropy attenuation rate through wavelet packet decomposition, constructs a phase difference model of a load and vibration to output a slip risk phase offset, calculates a load spectrum damage cumulant, and calculates a load spectrum damage cumulant; and after the four heterogeneous features are fused, a residual life coefficient is output through a dual-channel convolution-long and short-term memory hybrid neural network, and an execution unit triggers crane speed reduction control when the residual life coefficient is lower than a threshold value, so that the problems of insufficient multi-source data fusion and lack of dynamic compensation in the traditional technology are solved, and the fault early warning accuracy is improved.

A compact anti-falling high-stability dual-steel-wire lamp lifter. By providing a wire arrangement assembly, steel wire ropes (4) can be wound in a dual-groove steel wire reel (3) in an orderly manner in the winding process of the steel wire ropes (4), avoiding the occurrence of disorderly winding of the steel wire ropes (4). A lamp holder (2) can be locked by means of a mechanical self-locking and self-releasing hook mechanism, so that accidental falling of the lamp holder (2) can be avoided, greatly improving the safety of the lamp during use; and when the lamp holder (2) needs to be lowered, the mechanical self-locking and self-releasing hook mechanism can automatically unlock the lamp holder (2) mechanically, ensuring normal ascent and descent of the lamp holder (2). By providing a first transmission mechanism and a second transmission mechanism, the dual-groove steel wire reel (3), the wire arrangement assembly and the mechanical self-locking and self-releasing hook mechanism can be simultaneously driven by one motor (5) to operate, reducing manufacturing costs, and realizing high energy efficiency; moreover, reasonable space utilization can be achieved, allowing for a more compact structure.

The invention discloses an elevator steel wire rope wear real-time monitoring system and equipment thereof, and relates to the technical field of safety monitoring, the elevator steel wire rope wear real-time monitoring system comprises an acquisition and extraction module which acquires real-time surface image data and vibration signal data of a steel wire rope through a sensor array, extracts surface damage features and vibration spectrum features by adopting an image processing algorithm, and sends the surface damage features and the vibration spectrum features to a server; fusing kernel function selection and hyperplane separation to process the preliminary wear feature set; the crack identification module is used for fusing tensile strength and corrosion resistance data in the material characteristic database according to the initial wear characteristic set, classifying potential fatigue crack types through support vector identification and crack morphological characteristics by adopting a support vector machine algorithm, and determining a fatigue crack distribution diagram; according to the elevator steel wire rope abrasion real-time monitoring system and equipment thereof, accurate abrasion evaluation and dynamic maintenance optimization are achieved, the safety of the steel wire rope is improved, and the service life of the steel wire rope is prolonged.

The invention discloses a static pressure pile sinking construction method for a high-strength concrete pipe pile under a complex soil foundation condition, and relates to the technical field of static pressure pile construction. Measuring a pile position; pile position numbering: numbering the measured and positioned pile foundations, carrying out regional division, and numbering each region according to parity; a pile machine is in place; a steel wire rope and a rigging for hoisting are tied firstly, and then the upper portion of the pile is bound through the rigging; hoisting the precast pile to a pile machine clamp, and enabling the clamp to tightly hold the pile body; then the position of the pile foundation is adjusted, and the prefabricated pile tip is vertically aligned with the pile position center and slowly inserted into soil; after the prefabricated pile tip is inserted into the pile position, the perpendicularity of the pile is measured, and the vertical deviation of the prefabricated pile does not exceed 0.5%; static pressure pile sinking; after the precast pile body is centered, a pile pressing oil cylinder is started, and the precast pile is slowly pressed down; when it is determined that the final pressure condition is met, the pressure should be stabilized immediately; and pile pressing is stopped after pressure stabilization. The technical problem that in the prior art, the state of a soil body is changed due to soil squeezing of a tubular pile is solved.

The invention belongs to the field of lattice tower prestressed cable construction, and particularly relates to a lattice tower prestressed cable penetrating method which is characterized in that an anchorage device support is arranged on a construction platform at the top of a lattice tower, an anchor ring, a backing ring and a steering wheel are sequentially arranged on the anchorage device support from top to bottom, and through holes in one-to-one correspondence with cable penetrating holes in the anchor ring are formed in the steering wheel; the through hole is a variable-diameter hole with the two ends large in hole diameter and the middle small in hole diameter, the inner hole wall of the through hole smoothly extends in the hole core direction, the first steel wire rope is restrained at the tower top and slowly droops, and a worker at the tower top pulls the first steel wire rope to control the steering wheel to move downwards to the corner position of the latticed column in a pipe cavity of the latticed column. The steel strand is matched with the hole wall or the hole edge of the through hole in the steering wheel in a surface contact mode, the situation that protruding radial shear force point positions exist due to point contact or line contact between the steel strand and the steering wheel is effectively avoided, and the steel strand is prevented from being fractured due to the influence of radial shear force.

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 relates to the technical field of tunnel engineering, and particularly discloses a trolley loading device and method for tunnel lining splicing, the trolley loading device comprises a hoisting transfer mechanism, bearing turnover mechanisms are arranged on the two sides of the hoisting transfer mechanism, and transfer feeding mechanisms are further arranged at the lower ends of the two sides of the hoisting transfer mechanism; the hoisting and transferring mechanism comprises a supporting frame, a guide rail pair sliding rail I, a guide rail pair sliding seat I, a supporting plate, a motor I, a winding roller and a steel wire rope I; the bearing turnover mechanism comprises a first bearing, a first shaft rod, a rope wheel, a second steel wire rope, a second bearing, a second shaft rod, a second motor and a bearing plate. According to the scheme, efficient hoisting and accurate positioning of the duct piece are achieved through the hoisting and transferring mechanism, the arch structure design of the supporting frame provides a stable supporting foundation, the duct piece can stably move left and right through cooperation of a guide rail pair sliding rail and a sliding base, a motor drives a winding roller to wind and unwind a steel wire rope, and the hanging design of a hook is combined; and vertical lifting of the duct piece is achieved.

The invention relates to the technical field of robots, and discloses a humanoid robot lower limb system, comprising: a crotch portion comprising a rope-driven motor; the thighs are installed at the two ends of the crotch respectively and can rotate along a pitch axis and a roll axis; the shanks are installed at the lower ends of the two thighs respectively, a knee joint motor is installed on the upper portion of each thigh, and the shanks are driven to rotate relative to the thighs through the knee joint motors and the synchronous belts; the ankles are mounted at the lower ends of the two shanks respectively; the rope drive motor drives the shank opposite to the ankle to rotate through the steel wire rope. The synchronous belt has the characteristics of high transmission precision and strong anti-interference capability in a non-severe environment, the rope drive has the characteristic of high sensitivity, and all motors are intensively arranged at the uppermost end of the leg structure, so that the center of gravity is concentrated on the upper part, the inertia of leg movement is reduced, and the movement control is facilitated. Meanwhile, the principle that the left leg and the right leg are designed into blocks is adopted, so that the left leg and the right leg can rotate independently, and walking in multiple terrains is facilitated.