CN101704470A - Automatic leveling and adjusting lifting appliance and control method thereof - Google Patents
Automatic leveling and adjusting lifting appliance and control method thereof Download PDFInfo
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- CN101704470A CN101704470A CN200910075855A CN200910075855A CN101704470A CN 101704470 A CN101704470 A CN 101704470A CN 200910075855 A CN200910075855 A CN 200910075855A CN 200910075855 A CN200910075855 A CN 200910075855A CN 101704470 A CN101704470 A CN 101704470A
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- hanger
- system controller
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Abstract
The invention provides an automatic leveling and adjusting lifting appliance and a control method thereof. The lifting appliance comprises the main technical characteristics that: a y-axis guide rail arranged on the upper part of a frame is provided with a sliding device which moves a lifting device in an x axis, and a y-axis driving mechanism of the sliding device; a lifting device is arranged on the upper part of the sliding device; the frame is also provided with an inclination sensor, a system controller and a drive motor circuit device; and the system controller reads inclination data sent by the inclination sensor, carries out calculation according to the read inclination data, and outputs a control signal required by leveling and adjusting the lifting appliance to the drive motor circuit device so as to drive an X-axis motor and a Y-axis motor to do cyclic action until the inclination data read by the system controller meets the requirements of leveling and adjusting. The lifting appliance and the control method thereof have the advantages of high automation degree, accurate leveling and adjusting, convenient operation and flexible use.
Description
Technical field
The invention belongs to lifting carrying suspender technical field, specifically a kind of can be with the automatic leveling of hanging object and posture adjustment suspender and control method thereof.
Background technology
At key areas such as logistics, machinery, chemical industry, metallurgy, weapons, space flight and aviations, suspender is essential tool or an equipment commonly used in lifting, carrying and the lifting operation.At some special dimensions, the hoisting and hanging action need of hanging object is kept the level of degree of precision or keeps certain predetermined angle of inclination in lifting and hoisting process.Because traditional suspender does not possess self-levelling function, usually in order in the lifting process, to keep the balance of hanging object, the centroid position that usually needs the calculated in advance hanging object, determine the position, Heave Here according to centroid position, again according to Heave Here choice of location suspender or the position of adjustment suspender hook and the length of hoist cable, with reach make hanging object level or keep the purpose at certain predetermined angle of inclination, so just need expend a large amount of time, and in the lifting process of reality, on the basis of above calculating adjustment, need repeatedly try to hang adjustment and just can guarantee safety toward contact.Therefore, whole hoisting process is not only wasted time and energy, and has deviation just might cause overthrow accident slightly, causes the loss of personnel and equipment, and this way also has following shortcoming simultaneously:
(1) calculated amount is bigger, also more complicated;
(2) Mismachining tolerance of hanging object, assembly error, calculation error and measured error combined action make that the horizontality after the lifting requires to depart from bigger with imagination;
(3) owing to aforesaid departing from, suspension centre and sling length often need to adjust repeatedly, and be time-consuming, inefficiency;
(4) because aforesaid departing from, even the situation of damage can appear bringing to hanging object.
Summary of the invention
Purpose of the present invention is intended to overcome the shortcoming of above-mentioned prior art, provide a kind of degree of automation height, leveling and posture adjustment accurate, easy to operate, use flexibly leveling posture adjustment suspender automatically, automatic leveling of this suspender and posture adjustment control method also are provided simultaneously.
The present invention realizes by following technology contents:
A kind of automatic leveling and posture adjustment suspender comprise frame 1, are used to hang the erecting by overhang 2 and lifting appliance 7-5 of hanging object, it is characterized in that:
A. y is housed to guide rail 11 on the described frame, is equipped with one on the guide rail at the move up carriage 7 of lifting appliance of x; The y that carriage is housed on the frame is to driver train;
B. described lifting appliance 7-5 is contained on the carriage;
The drive motor circuit arrangement 10 that inclination sensor 8, system controller 9 also is housed on the c. described frame and forms by two frequency converters;
D. described y to driver train have on frame y to motor 12 with support the bearing seat of y to leading screw, y is to leading screw 6, the nut seat 7-1 that matches to leading screw with y; Described y connects y to leading screw to the output shaft of motor by coupler, and nut seat is fixed on the bottom of carriage 7.
Described carriage has slide plate 7-2, is contained in x on the slide plate to guide rail 7-3, and the suspension ring device and the x that are contained on the guide rail move up suspension ring device x to driver train; Described x to driver train contain be contained in x on the slide plate to motor 7-7 with support the bearing seat of x to leading screw, an x is to leading screw 7-4, lifting appliance 7-5 and slide block 7-6; Described slide plate be loaded on the frame on guide rail 11; Described lifting appliance is by upwards having a ring frame 7-5-1 who has an internal thread hole at x, being contained in the suspension ring 7-5-2 on ring frame top and being contained on the ring frame base and carrying and form to slide block 7-5-3 at the x of x on guide rail; Described x is connected to leading screw 7-4 with x to coupler by x to the output shaft of motor.
Described erecting by overhang by upwards have a hanger frame 2-1 who has an internal thread hole at y, be contained in hanger frame bottom hanger 2-2, be contained on the hanger frame and the hanger slide block 2-3 and the hanger leading screw 2-4 that have an internal thread hole forms; Be installed with a hanger x who matches with it in the hole of described hanger slide block 2-3 to leading screw 4, an end of described hanger leading screw is fixed on the hanger lead screw shaft bearing of frame, and the other end is connected with handwheel 3; Described hanger leading screw 2-4 passes and is contained in the hanger lead screw shaft bearing from the hole of the hanger frame that matches with it.
Another object of the present invention is that a kind of control method that is used for automatic leveling and posture adjustment suspender also is provided, and this method comprises following controlled step:
At first, system controller read that inclination sensor sends its at x to, y tilt data to two mutually perpendicular directions and horizontal surface, that is to say suspender bevelled data;
Secondly, system controller is divided into according to the different conditions of leveling of suspender needs or posture adjustment:
A, system controller calculate and export the required control signal of suspender leveling according to the suspender inclination current information data that read and give the drive motor circuit arrangement, finish corresponding action to motor and Y to the motor matched orders to drive X, above actuation cycle is carried out the requirement of the suspender bevelled data fit leveling of reading until system controller;
B, operating personal send to system controller with the angle-data of pre-posture adjustment by the wireless transceiving component that is contained in industrial computer top by being positioned at ground-surface industrial computer; System controller calculates and exports the required control signal of suspender posture adjustment to the drive motor circuit arrangement according to the suspender inclination current information data that the inclination sensor that reads sends, finish corresponding action to motor and Y to the motor matched orders to drive X, above actuation cycle is carried out the predefined posture adjustment angle of the suspender bevelled data fit requirement of reading until system controller.
The present invention compared with prior art has following substantive distinguishing features and significant beneficial effect:
1, tilts current angle-data information to system controller by the inclination sensor transmission suspender that is contained on the suspender frame, by system controller calculate and output command to the drive motor circuit arrangement, by the drive motor circuit arrangement adjust x to, y to motor action, and then adjust suspension ring to the position that meets suspender leveling requirement.
2, preestablish suspender posture adjustment angle-data by being positioned at ground-surface industrial computer manual operation, these data are sent to system controller by the wireless transceiving component that is contained on the industrial computer, system controller calculate and output command to the drive motor circuit arrangement, by the drive motor circuit arrangement adjust x to, y to motor action, and then adjust suspension ring to the position that meets suspender posture adjustment requirement.
3, leveling and the posture adjustment to the hoisting and hanging article realized automation control, easy to operate, the flexible and leveling precision height of adjustment attitude.
The present invention can use the lifting and the lifting of hanging article to special, can be widely used in fields such as logistics, machinery, chemical industry, metallurgy, weapons, space flight and aviation.
Description of drawings
Fig. 1 is the topside scheme drawing of suspender of the present invention.
Fig. 2 is the bottom section scheme drawing of suspender of the present invention.
Fig. 3 is the structural representation of carriage.
Fig. 4 is the structural representation of lifting appliance.
Fig. 5 is the structural representation of erecting by overhang.
Fig. 6 is the structural representation of system controller of the present invention.
Fig. 7 is an information transmit-receive transmission course block diagram of the present invention.
Fig. 8 is the diagram of circuit of control method step of the present invention.
The specific embodiment
The present invention is further detailed explanation below in conjunction with description of drawings and the specific embodiment.
As shown in Figure 1 and Figure 2, a kind of automatic leveling and posture adjustment suspender, comprise: be bolted to connection the frame 1 of the plane shaped as frame of forming by four long two short six roots of sensation crossbeams, be contained in being used on four angles of suspender frame to hang the erecting by overhang 2 and lifting appliance 7-5 of hanging object;
A. y is housed to guide rail 11 on the described frame, is equipped with one on the guide rail at the move up carriage 7 of lifting appliance 7-5 of x; The y that carriage is housed on the frame is to driver train;
B. described lifting appliance 7-5 is contained on the carriage;
The drive motor circuit arrangement 10 that XW-TS1100 model inclination sensor 8, system controller 9 also is housed on the c. described frame and forms by two 3.7KW frequency converters; Described two frequency converters be respectively applied for drive x to, y to motor action.
D. described y to driver train have on frame y to motor 12 with support the bearing seat of y to leading screw, y is to leading screw 6, the nut seat 7-1 that matches to leading screw with y; Described y connects y to leading screw to the output shaft of motor by coupler, and nut seat is fixed on the bottom of carriage 7.
The structure of above-mentioned suspender frame can also have a variety of forms, is not limited in the square structure in this specific embodiment, also belongs to protection scope of the present invention for the suspender frame of other version.
As shown in Figure 3, carriage by slide plate 7-2, be contained in slide plate top x to guide rail 7-3, be contained in a kind of slide mechanism that an x on two side shaft holders of slide plate top forms to motor 7-7 to leading screw 7-4, lifting appliance 7-5, the slide block 7-6 that is contained in the slide plate two ends and x;
As shown in Figure 4, lifting appliance is formed to slide block 7-5-3 at the x of x on guide rail by upwards having a ring frame 7-5-1 who has an internal thread hole at x, be contained in the suspension ring 7-5-2 on ring frame top and be contained in ring frame base top and carrying; Described x stretches out with an x from the hole of the ring frame that matches with it to leading screw captives joint to coupler by x to the output shaft of motor.
As shown in Figure 5, erecting by overhang by upwards have a hanger frame 2-1 who has an internal thread hole at y, be contained in hanger frame bottom hanger 2-2, be contained in hanger frame top and upwards have a hanger slide block 2-3 and a hanger y who has internal thread hole and form to leading screw 2-4 at x; Be installed with a hanger x who matches with it in the hole of described hanger slide block 2-3 to leading screw 4, described hanger x is fixed on the bearing seat of frame to an end of leading screw, and the other end and handwheel 3 flexibly connect; Described hanger y passes from the hole of the hanger frame that matches with it and its two ends are fixed on the described hanger slide block to leading screw 2-4.
As shown in Figure 6, system controller comprises: power unit, signal conditioning calculating section and transporting part; The function of described each several part is respectively:
Power unit: be used for to each the element power supply on the system controller internal circuit board, so that system controller work;
The signal conditioning calculating section comprises: CPU and ROM, connect by circuit card between the two, and be used for handling to the received signal calculating and sending and go out instruction;
Transporting part comprises: serial ports expansion, two as the RS485 of signal conditioning, two RS232 as signal conditioning, be used for sending or the data port of the information of reception, the data port that is used to send or receive wireless transceiving component information, two data port and wireless transceiving component that are used for the information that sends to the frequency converter of actuating device to inclination sensor; One side of described serial ports expansion is connected by circuit card with the CPU of signal conditioning calculating section, and its opposite side is connected respectively by circuit card with two RS485 and two RS232; Described two RS485 are connected respectively with described four data port by circuit card with the opposite side of two RS232; Also be provided with wireless transceiving component at the described opposite position that is used to send or receive the data port of wireless transceiving component.
The said system controller is that those skilled in the art can make according to its know-how.
Shown in Figure 7, a kind of control method that is used for described automatic leveling of claim 1 and posture adjustment suspender, this method comprises following controlled step:
At first, system controller read that inclination sensor sends its at x to, y tilt data to two mutually perpendicular directions and horizontal surface, that is to say suspender bevelled data;
Secondly, system controller is divided into according to the different conditions of leveling of suspender needs or posture adjustment:
A, system controller calculate and export the required control signal of suspender leveling according to the suspender inclination current information data that read and give the drive motor circuit arrangement, finish corresponding action to motor and Y to the motor matched orders to drive X, above actuation cycle is carried out the requirement of the suspender bevelled data fit leveling of reading until system controller;
B, operating personal send to system controller with the angle-data of pre-posture adjustment by the wireless transceiving component that is contained in industrial computer top by being positioned at ground-surface industrial computer, like this, the data that just have the angle of inclination of a predefined required posture adjustment in the system controller; System controller calculates and exports the required control signal of suspender posture adjustment to the drive motor circuit arrangement according to the suspender inclination current information data that the inclination sensor that reads sends, finish corresponding action to motor and Y to the motor matched orders to drive X, above actuation cycle is carried out the predefined posture adjustment angle of the suspender bevelled data fit requirement of reading until system controller.The aforesaid operations process is easily to control suspender on ground by industrial computer by the suspender operating personal to move arbitrarily in ± 45 ° of scopes.
In the real-world operation of above-mentioned steps, x works to motor simultaneously to motor and y.
Principle of work of the present invention:
At first, the hoist cable 13 that is fixedly connected on the suspension ring 7-5-2 is hung on driving or the hoisting crane, simultaneously, also general supply is suspended on the suspender, driving or hoisting crane rise certain altitude by hoist cable 13 with suspender frame 1;
Then, adjust hanger X to leading screw 4, hanger slide block 2-3 is moved up at x by rotation hand wheel 3, with adjust hanger 2-2 at x to the position; Again handwheel 3 is taken off and change the outfit at hanger Y on leading screw 2-4, hanger slide block 2-3 is moved up at y, with adjust hanger 2-2 at y to the position, adjust hanger x to, y to the position so that the hoist cable 14 that is fixedly connected on hanger 2-2 is under hung different big or small suspended objects;
At last, open the power unit switch of total power switch and system controller 9, system controller 9 is started working, carry out initialization earlier, control of access flow process again, inclination sensor data port by system controller 9 transporting parts sends instruction to inclination sensor 8, inclination sensor 8 receives instruction and sends current suspender angle of inclination data by this data port to the signal conditioning calculating section of system controller 9, these data are through the processing of signal conditioning calculating section, verification, confirm that the data that receive are accurate, data and the algorithm in the memory device that receives according to the signal conditioning calculating section generates the motor rotation instruction again, and two RS485 data of frequency converter mouths by system controller 9 transporting parts send to control command respectively in two frequency converters in the drive motor circuit arrangement 10, with drive x to, Y finishes the automatic leveling or the posture adjustment of suspender to motor action.
Claims (4)
1. automatic leveling and posture adjustment suspender comprise frame (1), are used to hang the erecting by overhang (2) and lifting appliance (7-5) of hanging object, it is characterized in that:
Y is housed to guide rail (11) on a. described frame, is equipped with one on the guide rail at the move up carriage (7) of lifting appliance of x; The y that carriage is housed on the frame is to driver train;
B. described lifting appliance (7-5) is contained on the carriage;
The drive motor circuit arrangement (10) that inclination sensor (8), system controller (9) also is housed on the c. described frame and forms by two frequency converters;
D. described y to driver train have on frame y to motor (12) with support the bearing seat of y to leading screw, y is to leading screw (6), the nut seat (7-1) that matches to leading screw with y; Described y connects y to leading screw to the output shaft of motor by coupler, and nut seat is fixed on the bottom of carriage (7).
2. a kind of automatic leveling according to claim 1 and posture adjustment suspender is characterized in that: described carriage has slide plate (7-2), is contained in x on the slide plate to guide rail (7-3), and the suspension ring device and the x that are contained on the guide rail move up suspension ring device x to driver train; Described x to driver train contain be contained in x on the slide plate to motor (7-7) with support the bearing seat of x to leading screw, an x is to leading screw (7-4), lifting appliance (7-5) and slide block (7-6); Described slide plate be loaded on the frame on guide rail (11); Described lifting appliance is by upwards having a ring frame (7-5-1) that has an internal thread hole at x, being contained in the suspension ring (7-5-2) on ring frame top and being contained on the ring frame base and carrying and form to slide block (7-5-3) at the x of x on guide rail; Described x is connected to leading screw (7-4) with x to coupler by x to the output shaft of motor.
3. a kind of automatic leveling according to claim 1 and posture adjustment suspender is characterized in that: described erecting by overhang by upwards have a hanger frame (2-1) that has an internal thread hole at y, be contained in hanger frame bottom hanger (2-2), be contained on the hanger frame and the hanger slide block (2-3) and the hanger leading screw (2-4) that have an internal thread hole formed; Be installed with a hanger x who matches with it in the hole of described hanger slide block (2-3) to leading screw (4), an end of described hanger leading screw is fixed on the hanger lead screw shaft bearing of frame, and the other end is connected with handwheel (3); Described hanger leading screw (2-4) passes and is contained in the hanger lead screw shaft bearing from the hole of the hanger frame that matches with it.
4. control method that is used for described automatic leveling of claim 1 and posture adjustment suspender, it is characterized in that: this method comprises following controlled step:
At first, system controller read that inclination sensor sends its at x to, y tilt data to two mutually perpendicular directions and horizontal surface, that is to say suspender bevelled data;
Secondly, system controller is divided into according to the different conditions of leveling of suspender needs or posture adjustment:
(1), system controller calculates and exports the required control signal of suspender leveling according to the suspender inclination current information data that read and gives the drive motor circuit arrangement, finish corresponding action to motor and Y to the motor matched orders to drive X, above actuation cycle is carried out the requirement of the suspender bevelled data fit leveling of reading until system controller;
(2), operating personal sends to system controller with the angle-data of pre-posture adjustment by the wireless transceiving component that is contained in industrial computer top by being positioned at ground-surface industrial computer; System controller calculates and exports the required control signal of suspender posture adjustment to the drive motor circuit arrangement according to the suspender inclination current information data that the inclination sensor that reads sends, finish corresponding action to motor and Y to the motor matched orders to drive X, above actuation cycle is carried out the predefined posture adjustment angle of the suspender bevelled data fit requirement of reading until system controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910075855XA CN101704470B (en) | 2009-10-28 | 2009-10-28 | Automatic leveling and adjusting lifting appliance and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910075855XA CN101704470B (en) | 2009-10-28 | 2009-10-28 | Automatic leveling and adjusting lifting appliance and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101704470A true CN101704470A (en) | 2010-05-12 |
| CN101704470B CN101704470B (en) | 2011-09-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910075855XA Expired - Fee Related CN101704470B (en) | 2009-10-28 | 2009-10-28 | Automatic leveling and adjusting lifting appliance and control method thereof |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102183241A (en) * | 2011-02-21 | 2011-09-14 | 葛洲坝集团第一工程有限公司 | Automatic level gauge and leveling method thereof |
| CN102363499A (en) * | 2011-06-20 | 2012-02-29 | 安徽省银锐玻璃机械有限公司 | Hoisting device of glass loading machine |
| CN102530726A (en) * | 2011-12-20 | 2012-07-04 | 北京卫星环境工程研究所 | Adjusting method for level adjustment of hanging tool for spacecraft |
| CN102556831A (en) * | 2011-12-20 | 2012-07-11 | 北京卫星环境工程研究所 | Horizontal adjusting sling for spacecraft |
| CN104058334A (en) * | 2014-06-05 | 2014-09-24 | 上海卫星装备研究所 | Automatic leveling type lifting appliance device |
| CN104355157A (en) * | 2014-11-04 | 2015-02-18 | 浙江大港印染有限公司 | Hanging assembly |
| CN104401774A (en) * | 2014-11-04 | 2015-03-11 | 浙江大港印染有限公司 | Movable connecting structure used for fixed installation |
| CN106429803A (en) * | 2016-09-28 | 2017-02-22 | 中国航空工业集团公司北京航空精密机械研究所 | Automatic overturning intelligent lifter |
| CN106744251A (en) * | 2017-03-21 | 2017-05-31 | 沈阳建筑大学 | A kind of hanging apparatus for steel structure modularization unit |
| CN107673205A (en) * | 2017-09-30 | 2018-02-09 | 上海建工五建集团有限公司 | The component gravity center posture automatic regulating apparatus and method of prefabricated part hanging |
| CN107934772A (en) * | 2017-11-30 | 2018-04-20 | 无锡翔煌电气有限公司 | A kind of gantry crane roller locking system |
| CN110333731A (en) * | 2019-07-01 | 2019-10-15 | 中煤第五建设有限公司 | A kind of sinking platform suspending system intelligent balance control device and method |
| CN111071919A (en) * | 2019-12-06 | 2020-04-28 | 芜湖职业技术学院 | Inner wallboard mounting tool and hoisting method |
| CN112125162A (en) * | 2020-09-29 | 2020-12-25 | 中国航发动力股份有限公司 | Multi-degree-of-freedom hoisting posture adjusting device and working method |
| CN113720642A (en) * | 2021-11-01 | 2021-11-30 | 深圳市勘察研究院有限公司 | Geotechnical engineering soil sampling device |
| CN114803813A (en) * | 2021-01-29 | 2022-07-29 | 广东金风科技有限公司 | Lifting appliance |
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| CN102530786B (en) * | 2011-12-31 | 2015-02-04 | 长沙中联消防机械有限公司 | Control method, control device and control system for automatic leveling of operation platform |
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2009
- 2009-10-28 CN CN200910075855XA patent/CN101704470B/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102183241A (en) * | 2011-02-21 | 2011-09-14 | 葛洲坝集团第一工程有限公司 | Automatic level gauge and leveling method thereof |
| CN102183241B (en) * | 2011-02-21 | 2012-09-26 | 葛洲坝集团第一工程有限公司 | Automatic level gauge and leveling method thereof |
| CN102363499A (en) * | 2011-06-20 | 2012-02-29 | 安徽省银锐玻璃机械有限公司 | Hoisting device of glass loading machine |
| CN102530726A (en) * | 2011-12-20 | 2012-07-04 | 北京卫星环境工程研究所 | Adjusting method for level adjustment of hanging tool for spacecraft |
| CN102556831A (en) * | 2011-12-20 | 2012-07-11 | 北京卫星环境工程研究所 | Horizontal adjusting sling for spacecraft |
| CN102530726B (en) * | 2011-12-20 | 2014-04-16 | 北京卫星环境工程研究所 | Adjusting method for level adjustment of hanging tool for spacecraft |
| CN102556831B (en) * | 2011-12-20 | 2014-05-07 | 北京卫星环境工程研究所 | Horizontal adjusting sling for spacecraft |
| CN104058334A (en) * | 2014-06-05 | 2014-09-24 | 上海卫星装备研究所 | Automatic leveling type lifting appliance device |
| CN104355157A (en) * | 2014-11-04 | 2015-02-18 | 浙江大港印染有限公司 | Hanging assembly |
| CN104401774A (en) * | 2014-11-04 | 2015-03-11 | 浙江大港印染有限公司 | Movable connecting structure used for fixed installation |
| CN106429803A (en) * | 2016-09-28 | 2017-02-22 | 中国航空工业集团公司北京航空精密机械研究所 | Automatic overturning intelligent lifter |
| CN106744251A (en) * | 2017-03-21 | 2017-05-31 | 沈阳建筑大学 | A kind of hanging apparatus for steel structure modularization unit |
| CN107673205A (en) * | 2017-09-30 | 2018-02-09 | 上海建工五建集团有限公司 | The component gravity center posture automatic regulating apparatus and method of prefabricated part hanging |
| CN107934772A (en) * | 2017-11-30 | 2018-04-20 | 无锡翔煌电气有限公司 | A kind of gantry crane roller locking system |
| CN110333731A (en) * | 2019-07-01 | 2019-10-15 | 中煤第五建设有限公司 | A kind of sinking platform suspending system intelligent balance control device and method |
| CN111071919A (en) * | 2019-12-06 | 2020-04-28 | 芜湖职业技术学院 | Inner wallboard mounting tool and hoisting method |
| CN112125162A (en) * | 2020-09-29 | 2020-12-25 | 中国航发动力股份有限公司 | Multi-degree-of-freedom hoisting posture adjusting device and working method |
| CN114803813A (en) * | 2021-01-29 | 2022-07-29 | 广东金风科技有限公司 | Lifting appliance |
| CN113720642A (en) * | 2021-11-01 | 2021-11-30 | 深圳市勘察研究院有限公司 | Geotechnical engineering soil sampling device |
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| Publication number | Publication date |
|---|---|
| CN101704470B (en) | 2011-09-28 |
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