CN105971299A - Automatic crawling robot for elevator shaft and safety protection platform mechanism - Google Patents
Automatic crawling robot for elevator shaft and safety protection platform mechanism Download PDFInfo
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- CN105971299A CN105971299A CN201610513430.2A CN201610513430A CN105971299A CN 105971299 A CN105971299 A CN 105971299A CN 201610513430 A CN201610513430 A CN 201610513430A CN 105971299 A CN105971299 A CN 105971299A
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- lower limb
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/32—Safety or protective measures for persons during the construction of buildings
- E04G21/3204—Safety or protective measures for persons during the construction of buildings against falling down
- E04G21/3219—Means supported by the building wall, e.g. security consoles
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- Civil Engineering (AREA)
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- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention relates to an automatic crawling robot for an elevator shaft and a safety protection platform mechanism carried by the robot. The robot mainly comprises upper and lower leg assemblies, a body telescoping oil cylinder, an oil tank, a control box, a guide sleeve and other mechanisms, wherein the platform mechanism mainly comprises a fixing plate, length and width extension boards, an ejection mechanism and other components; the robot carries a safety protection platform, can climb with rise of floors under construction and can be fixed in any position in the elevator shaft, and the safety protection function is realized; after completion of a building, the robot carries the safety protection platform to climb to the first floor, and recycling is facilitated. With the application of the robot carrying the safety protection platform system, the building cost can be saved, the construction efficiency is improved, and the safety of the elevator shaft under construction is improved.
Description
Technical field
The present invention relates to a kind of elevator automatic creeping robot and security protection platform mechanism, belong to mechanical design field.
Background technology
For guaranteeing the safety of elevator in construction, reducing casualty accident, domestic industry widespread practice is, steel pipe, fastener is utilized to set up into derrick type frame body, support body, along with the most upwards setting up building the rising of floor, is the operating platform of workman above support body, below operation safety protection.The subject matter that this measure exists includes:
Steel pipe, fastener is utilized to set up into well network structure, relatively costly.Needed for setting up support body, steel pipe, fastener typically require lease, and erection of frames, dismounting and transport of materials etc. also will produce bigger expense；
Support body build with demolition expense time, laborious.First, support body sets up the materials such as needs substantial amounts of steel pipe, fastener, and greatly, subsidiary operation time is longer for the transport of material, handling workload；Secondly as hoistway space is narrow and small, support body takes, it is relatively big to tear task difficulty open, and therefore, support body takes, tear open and typically require many people and coordinate, from being transported to framework, it usually needs consume a longer time；It addition, along with building the rising of floor, elevator inner frame body and protective equipment need constantly follow-up, the seriality that support body sets up work is not strong, and efficiency of construction is relatively low, and construction manpower is relatively costly；
There is bigger potential safety hazard in support body pattern.Mainly show themselves in that support body is taken, torn operation itself open and there is certain danger, there is personnel's landing, the risk of the aspects such as steel pipe, fastener, rubble, instrument landing；The steadiness of frame structure depends primarily on the aspects such as the working experience of operating personnel, working attitude, and its safety is difficult to control to；Owing to support body scaffolding height is higher, steel pipe collapses after being susceptible to unstability, the most once has object or person person to fall, below protective action typically cannot ensure, be susceptible to high falling injury accident.
The present invention relates to a kind of can in elevator the robot of automatic creeping and security protection platform mechanism, robot with building the rising of floor and automatic climbing, and can be fixed in any position, and entrained platform mechanism plays safety protection function.System is saving building cost, improves building efficiency, improves and have great importance at aspects such as the safeties building elevator.
Summary of the invention
Robot involved in the present invention with the rising in building in elevator automatic climbing, and can fix optional position in elevator, entrained platform mechanism plays safety protection function.When, after building completion, robot carries platform mechanism and drops to bottom recovery.
For realizing above-mentioned target, the present invention by the following technical solutions:
Elevator automatic creeping robot and security protection platform mechanism are mainly by self extending formula landing slab assembly (1), platform frame (2), jacking assembly (3), the mechanism such as jacking hydraulic cylinder (4), upper lower limb assembly (5), main body telescopic hydraulic cylinder (8), lower lower limb assembly (9) composition.
Self extending formula landing slab assembly (1) includes that fixed plate (18), width expand plate (19), length expands the parts compositions such as plate (20), quiet slideway (15), sliding way (16).Fixed plate (18) is main protective platform, and for tower structure, upper surface is plank embedded structure.Quiet slideway (15) cross section is I-shaped structure, four quiet slideways (15) in front and back, symmetrical distribution, and being fixed by screws on the gusset of fixed plate (18).Sliding way (16) is coordinated with quiet slideway (15) by chute, and can slide axially on quiet slideway (15).Protective platform width expanding body is expanded plate (19) constituted by two sliding ways (16) and four pieces of width.Two pieces of width are expanded plate (19) and are fixed by screws on the sliding way (16) of a width, and symmetrical in both wings formula.Protective platform length direction expanding body is expanded plate (20) by two sliding ways (16) and four block lengths and is constituted.Two block lengths are expanded plate (20) and are fixed by screws on the sliding way (16) of a length direction, and symmetrical in both wings formula.Four push rod upper hinge supports (17) are fixed by screws on four sliding way (16) bottom surfaces respectively.
Jacking assembly (3) is mainly made up of parts such as push rod (22), jacking seat (23), piston rod hinged-support (24), jacking hydraulic cylinders (4).Push rod (22) one end is hinged with upper hinge support (17) by push rod bearing pin (21), push rod (22) other end is hinged with lower hinge support (27) by push rod bearing pin (26), four lower hinge supports (27) are symmetrically fixed in the upper plane of jacking seat (23) by bolt respectively, piston rod hinged-support (24) is secured by bolts in the lower plane central authorities of jacking seat (23), the piston rod of jacking hydraulic cylinder (4) is hinged with piston rod hinged-support (24) by piston rod bearing pin (25), jacking hydraulic cylinder (4) base is secured by bolts in the central authorities of lower limb group (5) base plate (41).
Platform frame (2) is whole welding type structure, and top board and base plate are tower structure, and four root posts are steel angle structure.Platform frame (2) top board is connected with the gusset of fixed plate (18) by screw.The base plate of platform frame (2) is fixed by the limiting plate (38) of screw with upper lower limb group (5).
Two control chambers (4) are symmetrically fixed on the both sides of the upper plane of upper lower limb group (5) base plate (41) by screw, and fuel tank (13) is fixed on the bottom surface of upper lower limb group (5) base plate (41) by screw.
In robot, lower limb group (5) is identical with the structure of lower lower limb group (9) and size, is mainly made up of fixed mechanism, leg mechanism and telescoping mechanism.
Fixed mechanism includes that base plate (41), slideway (40), oil cylinder hinged-support (31), limiting plate (38) form.Slideway (40) is slot type structure, and four sections of slideways (40) are divided into two groups, and symmetry is placed in the both sides of base plate (41), and is fixed with base plate (41) by sunk screw.Two oil cylinder hinged-supports (31) are symmetrically fixed on the two ends of base plate (41) by bolt.Two limiting plates (38) are symmetrically fixed on the two ends of base plate (41) respectively by bolt.
Leg mechanism is made up of parts such as pushing up foot (35), lower limb bar (37), oil cylinder push rod hinged-support (30), lower limb shaft bar (36).Lower limb bar (37) is elongated plank frame, and two lower limb bars (37) are symmetrically installed, and are secured by bolts in the both sides of lower limb shaft bar (36).Oil cylinder push rod hinged-support (30) is fixed on the inner side of lower limb shaft bar (36) by king-bolt (34) and big nut (33).Two tops foot (35) are secured by bolts in the end of lower limb bar (37) respectively.Each top foot (35) outer rim is fixing has certain thickness abrasive rubber set (32).Two groups of leg mechanisms are the most reversely placed in the slideway (40) on base plate (41) Nei, and its lower limb bar (37) can longitudinal sliding motion in the chute of slideway (40).
Leg telescoping mechanism is two identical three grade telescopic oil cylinder (28).The bottom of telescopic oil cylinder (28) is connected with left and right oil cylinder hinged-support (31) by oil cylinder bearing pin (39) respectively.The push rod of telescopic oil cylinder (28) is through the through hole on lower limb shaft bar (36), and is connected with oil cylinder push rod hinged-support (30) by push rod bearing pin (29).
In robot, lower limb group (5) and lower lower limb group (9) are held together by body telescopic oil cylinder (8) and upper pilot sleeve (7), lower pilot sleeve (12).Body telescopic oil cylinder (8) cylinder base is connected with oil cylinder upper hinge support (6) by bearing pin (14), and upper hinge support (6) is secured by bolts on the bottom surface of lower limb group (5) base plate (41).Body telescopic oil cylinder (8) piston rod is connected with lower hinge support (11) by bearing pin (10), and lower hinge support (11) is secured by bolts on the restriction plate (38) of lower lower limb group (9).The base through screws of upper pilot sleeve (7) is fixed on the bottom surface of lower limb group (5) base plate (41).The base through screws of lower pilot sleeve (12) is fixed on the restriction plate (38) of lower lower limb group (9).Upper pilot sleeve (7) and lower pilot sleeve (12) are rhs-structure.
Compared with prior art, the invention have the advantages that
1, robot carry platform can be with building increasing and climbing of floor, platform plays safety protection function.After building completion, robot portability platform mechanism is creeped to bottom, and recycles.
2, platform freely can stretch in the range of certain size in length and width, can the elevator of self adaptation different cross section size.
3, on the premise of guaranteeing that system consolidates stop in elevator, robot leg is adjustable with the adhesive force of elevator wall, does not injure elevator wall.
4, platform is flexible rear adjustable with the contact force of elevator wall in length and width, does not injure newly-built elevator wall.
Accompanying drawing explanation
Fig. 1 robot and security protection platform integral installation figure
Fig. 2 security protection platform and telescoping mechanism installation diagram thereof
Fig. 3 leg mechanism of robot installation diagram
nullIn figure: 1、Self extending formula landing slab assembly，2、Platform frame，3、Jacking assembly，4、Jacking hydraulic cylinder，5、Upper lower limb assembly，6、Hinged-support，7、Upper pilot sleeve，8、Main body telescopic hydraulic cylinder，9、Lower lower limb assembly，10、Bearing pin，11、Lower hinge support，12、Lower pilot sleeve，13、Fuel tank，14、Bearing pin，15、Quiet slideway，16、Sliding way，17、Push rod upper hinge support，18、Fixed plate，19、Width expands plate，20、Length expands plate，21、Push rod bearing pin，22、Main by push rod，23、Jacking seat，24、Piston rod hinged-support， 25、Piston rod bearing pin，26、Push rod bearing pin，27、Lower hinge support， 28、Telescopic oil cylinder，29、Push rod bearing pin，30、Oil cylinder push rod hinged-support， 31、Oil cylinder hinged-support，32、Abrasive rubber set，33、Big nut， 34、King-bolt，35、Top foot， 36、Lower limb shaft bar，37、Lower limb bar，38、Limiting plate，39、Oil cylinder bearing pin，40、Slideway，41、Base plate.
Detailed description of the invention
Elevator automatic creeping robot and security protection platform mechanism are mainly by self extending formula landing slab assembly (1), platform frame (2), jacking assembly (3), the mechanism such as jacking hydraulic cylinder (4), upper lower limb assembly (5), main body telescopic hydraulic cylinder (8), lower lower limb assembly (9) composition.
Self extending formula landing slab assembly (1) includes that fixed plate (18), width expand plate (19), length expands the parts compositions such as plate (20), quiet slideway (15), sliding way (16).Fixed plate (18) is main protective platform, and for tower structure, upper surface is plank embedded structure.Quiet slideway (15) cross section is I-shaped structure, four quiet slideways (15) in front and back, symmetrical distribution, and being fixed by screws on the gusset of fixed plate (18).Sliding way (16) is coordinated with quiet slideway (15) by chute, and can slide axially on quiet slideway (15).Protective platform width expanding body is expanded plate (19) constituted by two sliding ways (16) and four pieces of width.Two pieces of width are expanded plate (19) and are fixed by screws on the sliding way (16) of a width, and symmetrical in both wings formula.Protective platform length direction expanding body is expanded plate (20) by two sliding ways (16) and four block lengths and is constituted.Two block lengths are expanded plate (20) and are fixed by screws on the sliding way (16) of a length direction, and symmetrical in both wings formula.Four push rod upper hinge supports (17) are fixed by screws on four sliding way (16) bottom surfaces respectively.
Jacking assembly (3) is mainly made up of parts such as push rod (22), jacking seat (23), piston rod hinged-support (24), jacking hydraulic cylinders (4).Push rod (22) one end is hinged with upper hinge support (17) by push rod bearing pin (21), push rod (22) other end is hinged with lower hinge support (27) by push rod bearing pin (26), four lower hinge supports (27) are symmetrically fixed in the upper plane of jacking seat (23) by bolt respectively, piston rod hinged-support (24) is secured by bolts in the lower plane central authorities of jacking seat (23), the piston rod of jacking hydraulic cylinder (4) is hinged with piston rod hinged-support (24) by piston rod bearing pin (25), jacking hydraulic cylinder (4) base is secured by bolts in the central authorities of lower limb group (5) base plate (41).
Platform frame (2) is whole welding type structure, and top board and base plate are tower structure, and four root posts are steel angle structure.Platform frame (2) top board is connected with the gusset of fixed plate (18) by screw.The base plate of platform frame (2) is fixed by the limiting plate (38) of screw with upper lower limb group (5).
Two control chambers (4) are symmetrically fixed on the both sides of the upper plane of upper lower limb group (5) base plate (41) by screw, and fuel tank (13) is fixed on the bottom surface of upper lower limb group (5) base plate (41) by screw.
In robot, lower limb group (5) is identical with the structure of lower lower limb group (9) and size, is mainly made up of fixed mechanism, leg mechanism and telescoping mechanism.
Fixed mechanism includes that base plate (41), slideway (40), oil cylinder hinged-support (31), limiting plate (38) form.Slideway (40) is slot type structure, and four sections of slideways (40) are divided into two groups, and symmetry is placed in the both sides of base plate (41), and is fixed with base plate (41) by sunk screw.Two oil cylinder hinged-supports (31) are symmetrically fixed on the two ends of base plate (41) by bolt.Two limiting plates (38) are symmetrically fixed on the two ends of base plate (41) respectively by bolt.
Leg mechanism is made up of parts such as pushing up foot (35), lower limb bar (37), oil cylinder push rod hinged-support (30), lower limb shaft bar (36).Lower limb bar (37) is elongated plank frame, and two lower limb bars (37) are symmetrically installed, and are secured by bolts in the both sides of lower limb shaft bar (36).Oil cylinder push rod hinged-support (30) is fixed on the inner side of lower limb shaft bar (36) by king-bolt (34) and big nut (33).Two tops foot (35) are secured by bolts in the end of lower limb bar (37) respectively.Each top foot (35) outer rim is fixing has certain thickness abrasive rubber set (32).Two groups of leg mechanisms are the most reversely placed in the slideway (40) on base plate (41) Nei, and its lower limb bar (37) can longitudinal sliding motion in the chute of slideway (40).
Leg telescoping mechanism is two identical three grade telescopic oil cylinder (28).The bottom of telescopic oil cylinder (28) is connected with left and right oil cylinder hinged-support (31) by oil cylinder bearing pin (39) respectively.The push rod of telescopic oil cylinder (28) is through the through hole on lower limb shaft bar (36), and is connected with oil cylinder push rod hinged-support (30) by push rod bearing pin (29).
In robot, lower limb group (5) and lower lower limb group (9) are held together by body telescopic oil cylinder (8) and upper pilot sleeve (7), lower pilot sleeve (12).Body telescopic oil cylinder (8) cylinder base is connected with oil cylinder upper hinge support (6) by bearing pin (14), and upper hinge support (6) is secured by bolts on the bottom surface of lower limb group (5) base plate (41).Body telescopic oil cylinder (8) piston rod is connected with lower hinge support (11) by bearing pin (10), and lower hinge support (11) is secured by bolts on the restriction plate (38) of lower lower limb group (9).The base through screws of upper pilot sleeve (7) is fixed on the bottom surface of lower limb group (5) base plate (41).The base through screws of lower pilot sleeve (12) is fixed on the restriction plate (38) of lower lower limb group (9).Upper pilot sleeve (7) and lower pilot sleeve (12) are rhs-structure.
The above is an example of the present invention, and we also can carry out some conversion to its frame for movement, to be applied to creeping of other tubular type interior wall construction.As long as the Design of Mechanical Structure thought of its platform and robot with the present invention described consistent, be regarded as the scope included by the present invention.
Claims (1)
1. an elevator automatic creeping robot and security protection platform mechanism, it is characterized in that: mechanism is overall main by self extending formula landing slab assembly (1), platform frame (2), jacking assembly (3), the mechanism such as jacking hydraulic cylinder (4), upper lower limb assembly (5), main body telescopic hydraulic cylinder (8), lower lower limb assembly (9) composition；
Self extending formula landing slab assembly (1) includes that fixed plate (18), width expand plate (19), length expands the parts compositions such as plate (20), quiet slideway (15), sliding way (16)；Fixed plate (18) is main protective platform, and for tower structure, upper surface is plank embedded structure；Quiet slideway (15) cross section is I-shaped structure, four quiet slideways (15) in front and back, symmetrical distribution, and being fixed by screws on the gusset of fixed plate (18)；Sliding way (16) is coordinated with quiet slideway (15) by chute, and can slide axially on quiet slideway (15)；Protective platform width expanding body is expanded plate (19) constituted by two sliding ways (16) and four pieces of width；Two pieces of width are expanded plate (19) and are fixed by screws on the sliding way (16) of a width, and symmetrical in both wings formula；Protective platform length direction expanding body is expanded plate (20) by two sliding ways (16) and four block lengths and is constituted；Two block lengths are expanded plate (20) and are fixed by screws on the sliding way (16) of a length direction, and symmetrical in both wings formula；Four push rod upper hinge supports (17) are fixed by screws on four sliding way (16) bottom surfaces respectively；
Jacking assembly (3) is mainly made up of parts such as push rod (22), jacking seat (23), piston rod hinged-support (24), jacking hydraulic cylinders (4)；Push rod (22) one end is hinged with upper hinge support (17) by push rod bearing pin (21), push rod (22) other end is hinged with lower hinge support (27) by push rod bearing pin (26), four lower hinge supports (27) are symmetrically fixed in the upper plane of jacking seat (23) by bolt respectively, piston rod hinged-support (24) is secured by bolts in the lower plane central authorities of jacking seat (23), the piston rod of jacking hydraulic cylinder (4) is hinged with piston rod hinged-support (24) by piston rod bearing pin (25), jacking hydraulic cylinder (4) base is secured by bolts in the central authorities of lower limb group (5) base plate (41)；
Platform frame (2) is whole welding type structure, and top board and base plate are tower structure, and four root posts are steel angle structure；Platform frame (2) top board is connected with the gusset of fixed plate (18) by screw；The base plate of platform frame (2) is fixed by the limiting plate (38) of screw with upper lower limb group (5)；
Two control chambers (4) are symmetrically fixed on the both sides of the upper plane of upper lower limb group (5) base plate (41) by screw, and fuel tank (13) is fixed on the bottom surface of upper lower limb group (5) base plate (41) by screw；
In robot, lower limb group (5) is identical with the structure of lower lower limb group (9) and size, is mainly made up of fixed mechanism, leg mechanism and telescoping mechanism；
Fixed mechanism includes that base plate (41), slideway (40), oil cylinder hinged-support (31), limiting plate (38) form；Slideway (40) is slot type structure, and four sections of slideways (40) are divided into two groups, and symmetry is placed in the both sides of base plate (41), and is fixed with base plate (41) by sunk screw；Two oil cylinder hinged-supports (31) are symmetrically fixed on the two ends of base plate (41) by bolt；Two limiting plates (38) are symmetrically fixed on the two ends of base plate (41) respectively by bolt；
Leg mechanism is made up of parts such as pushing up foot (35), lower limb bar (37), oil cylinder push rod hinged-support (30), lower limb shaft bar (36)；Lower limb bar (37) is elongated plank frame, and two lower limb bars (37) are symmetrically installed, and are secured by bolts in the both sides of lower limb shaft bar (36)；Oil cylinder push rod hinged-support (30) is fixed on the inner side of lower limb shaft bar (36) by king-bolt (34) and big nut (33)；Two tops foot (35) are secured by bolts in the end of lower limb bar (37) respectively；Each top foot (35) outer rim is fixing has certain thickness abrasive rubber set (32)；Two groups of leg mechanisms are the most reversely placed in the slideway (40) on base plate (41) Nei, and its lower limb bar (37) can longitudinal sliding motion in the chute of slideway (40)；
Leg telescoping mechanism is two identical three grade telescopic oil cylinder (28)；The bottom of telescopic oil cylinder (28) is connected with left and right oil cylinder hinged-support (31) by oil cylinder bearing pin (39) respectively；The push rod of telescopic oil cylinder (28) is through the through hole on lower limb shaft bar (36), and is connected with oil cylinder push rod hinged-support (30) by push rod bearing pin (29)；
In robot, lower limb group (5) and lower lower limb group (9) are held together by body telescopic oil cylinder (8) and upper pilot sleeve (7), lower pilot sleeve (12)；Body telescopic oil cylinder (8) cylinder base is connected with oil cylinder upper hinge support (6) by bearing pin (14), and upper hinge support (6) is secured by bolts on the bottom surface of lower limb group (5) base plate (41)；Body telescopic oil cylinder (8) piston rod is connected with lower hinge support (11) by bearing pin (10), and lower hinge support (11) is secured by bolts on the restriction plate (38) of lower lower limb group (9)；The base through screws of upper pilot sleeve (7) is fixed on the bottom surface of lower limb group (5) base plate (41)；The base through screws of lower pilot sleeve (12) is fixed on the restriction plate (38) of lower lower limb group (9)；Upper pilot sleeve (7) and lower pilot sleeve (12) are rhs-structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610513430.2A CN105971299A (en) | 2016-07-04 | 2016-07-04 | Automatic crawling robot for elevator shaft and safety protection platform mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610513430.2A CN105971299A (en) | 2016-07-04 | 2016-07-04 | Automatic crawling robot for elevator shaft and safety protection platform mechanism |
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| Publication Number | Publication Date |
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| CN105971299A true CN105971299A (en) | 2016-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610513430.2A Pending CN105971299A (en) | 2016-07-04 | 2016-07-04 | Automatic crawling robot for elevator shaft and safety protection platform mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109650235A (en) * | 2019-01-19 | 2019-04-19 | 南京高等职业技术学校（江苏联合职业技术学院南京分院） | A kind of mine cage climbs wall method with saving oneself to climb wall device and save oneself |
| CN112479094A (en) * | 2020-11-26 | 2021-03-12 | 安徽信息工程学院 | Large-load electric remote control carrying platform |
| CN115233633A (en) * | 2022-07-26 | 2022-10-25 | 中国电建集团华东勘测设计研究院有限公司 | Climbing mechanism of steel tile in inclined shaft |
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| CN109650235B (en) * | 2019-01-19 | 2020-10-09 | 南京高等职业技术学校（江苏联合职业技术学院南京分院） | Self-rescue wall climbing device and self-rescue wall climbing method for mine cage |
| CN112479094A (en) * | 2020-11-26 | 2021-03-12 | 安徽信息工程学院 | Large-load electric remote control carrying platform |
| CN115233633A (en) * | 2022-07-26 | 2022-10-25 | 中国电建集团华东勘测设计研究院有限公司 | Climbing mechanism of steel tile in inclined shaft |
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Application publication date: 20160928 |