CN107176547A - A kind of electronic slidingtype suspension transferring machine - Google Patents

A kind of electronic slidingtype suspension transferring machine Download PDF

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Publication number
CN107176547A
CN107176547A CN201710541772.XA CN201710541772A CN107176547A CN 107176547 A CN107176547 A CN 107176547A CN 201710541772 A CN201710541772 A CN 201710541772A CN 107176547 A CN107176547 A CN 107176547A
Authority
CN
China
Prior art keywords
slidingtype
guide rail
lifting rope
walking dolly
rotary shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710541772.XA
Other languages
Chinese (zh)
Inventor
董庆伟
李兵阳
宋晓勇
盛青山
冯佩佩
赵广东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Henan University of Science and Technology
Original Assignee
Henan University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Henan University of Science and Technology filed Critical Henan University of Science and Technology
Priority to CN201710541772.XA priority Critical patent/CN107176547A/en
Publication of CN107176547A publication Critical patent/CN107176547A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C5/00Base supporting structures with legs
    • B66C5/02Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
    • B66C5/04Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods with runways or tracks supported for movements relative to bridge or gantry
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/14Trolley or crane travel drives

Abstract

A kind of electronic slidingtype suspension transferring machine, the suspension transferring machine includes switch board, handling machine support and lifting rope walking dolly, lifting rope walking dolly, which coordinates, to be slidably mounted on the guide rail set on handling machine support, the suspension transferring machine also includes that the horizontal drive mechanism that lifting rope walking dolly is slided on guide rail can be driven, lifting motor provided with driving spool turns in lifting rope walking dolly, when switch board control lifting motor driving spool turns, wire sling winds or loosened on reel, realizes lifting of the suspension hook in vertical direction;Described horizontal drive mechanism includes chain sprocket mechanism and drives the electric rotating machine of chain sprocket mechanism work, described lifting rope walking dolly is fixedly connected with chain sprocket mechanism, switch board makes chain sprocket mechanism drive lifting rope walking dolly to be moved back and forth on guide rail by controlling electric rotating machine to work.The invention provides a kind of electronic slidingtype suspension transferring machine, suspension transferring machine can easily be realized and moved horizontally and elevating movement, meet the multi-faceted requirement for taking thing.

Description

A kind of electronic slidingtype suspension transferring machine
Technical field
The present invention relates to suspension transferring machine technical field, specifically a kind of electronic slidingtype suspension transferring machine.
Background technology
At present, with the high speed development of Chinese industrial, each industrial machinery is diversified to require more and more higher, due to place The particularity of work, the cost for installing hanging is too high, wastes time and energy, inconvenient operation, and crane cannot be introduced into work.Mesh Before, conventional suspension transferring machine is generally single-arm rotary type suspension transferring machine, there is radius of turn greatly, is not suitable for the small occasion in place, work Intelligence is not, it is necessary to which personnel station is in the operation of eaves side, more dangerous, the defect such as operation handle inconvenience, therefore, we provide one kind Electronic slidingtype suspension transferring machine.
The content of the invention
The invention provides a kind of electronic slidingtype suspension transferring machine, the suspension transferring machine floor space is small, and automaticity is high, operation Simply, it is easy to use, it is safe and reliable, it is easy to accomplish to automatically control.
The present invention be solve the technical scheme that uses of above-mentioned technical problem for:A kind of electronic slidingtype suspension transferring machine, the handling Machine includes switch board, handling machine support and lifting rope walking dolly, and lifting rope walking dolly, which coordinates, to be slidably mounted on handling machine support On the guide rail of setting, the suspension transferring machine also includes that the horizontal drive mechanism that lifting rope walking dolly is slided on guide rail can be driven, and hangs It is arranged with wire sling, wire sling and is arranged with the interior lifting motor provided with driving spool turns of walking dolly of restricting, reel The suspension hook of article to be shipped is taken for hanging, when switch board control lifting motor driving spool turns, wire sling is twined on reel Around or loosen, realize lifting of the suspension hook in vertical direction;
Described horizontal drive mechanism includes chain sprocket mechanism and drives the electric rotating machine of chain sprocket mechanism work, described Lifting rope walking dolly be fixedly connected with chain sprocket mechanism, switch board makes chain sprocket machine by controlling electric rotating machine to work Structure drives lifting rope walking dolly to be moved back and forth on guide rail.
As a kind of preferred scheme, the handling machine support above guide rail is rotated provided with the first rotary shaft and second Axle, the two ends of the first rotary shaft and the second rotary shaft respectively with guide rail are correspondingly arranged, and the first rotary shaft and the second rotary shaft are being led Projection on rail is vertically arranged with guide rail;
Described chain sprocket mechanism include drive sprocket, the driven sprocket that is fixedly mounted in the first rotary shaft and several First side chain wheel, several second side chain wheels for being fixedly mounted in the second rotary shaft and being correspondingly arranged with the first side chain wheel, it is main The active chain of closed ring set is installed, on the first side chain wheel and the second side chain wheel being correspondingly arranged on movable sprocket and driven sprocket The driven chain of closed ring set is installed, electric rotating machine is connected by electric rotating machine decelerator with drive sprocket, close to lifting rope row Walk and snap ring is equipped with the driven chain of dolly, snap ring is fixedly connected with the lifting rope walking dolly.
As a kind of preferred scheme, the first side chain wheel and the second side chain wheel are two, two the first side chain wheels relative to Driven sprocket is symmetrical arranged.
As a kind of preferred scheme, described handling machine support includes a horizontally disposed rectangle frame, rectangle frame The two ends being oppositely arranged are respectively equipped with two the first supporting mechanisms and the second supporting mechanism, and guide rail is arranged on two of rectangle frame On long side;Electric rotating machine is located at one end of rectangle frame, and the upper end of two the second supporting mechanisms, which is each provided with one, to be used to rotate It is supported on the rolling bearing units at the first rotary shaft two ends.
As a kind of preferred scheme, the first supporting mechanism includes two first support bars and two vertically set with guide rail It is fixedly installed on rectangle frame in the middle part of individual second support bar, the lower end of first support bar and second support bar, the second support The lower end of bar is fixed on the ground, and a horizontal support bar is fixedly installed between first support bar and the upper end of second support bar, Two horizontal support bars are provided with the rolling bearing units for being used for rotating support at the second rotary shaft two ends.
As a kind of preferred scheme, the second supporting mechanism include be vertically set on the support bar of two ends of rectangle frame with And the triangle support frame above support bar, first rotary shaft is arranged on the top of triangle support frame.
As a kind of preferred scheme, triangle support frame is right angled triangle support frame.
As a kind of preferred scheme, lifting motor is connected by lifting motor decelerator with reel.
As a kind of preferred scheme, one end of reel is provided with rope guide.
As a kind of preferred scheme, tension, pressure and weighting transducers are provided between wire sling and suspension hook.
Compared with prior art, the invention has the advantages that:
(1)The invention provides a kind of electronic slidingtype suspension transferring machine, walked by switch board, lifting motor, electric rotating machine, lifting rope The mechanisms such as dolly, chain, snap ring are used cooperatively so that suspension transferring machine can easily be realized and moved horizontally and elevating movement, meet multi-party Position takes the requirement of thing, and can be widely applied to agricultural production, construction site, logistics etc. needs to hang the place for taking small-sized weight, has Compact conformation, simple to operate, esy to use, safe and reliable, floor space is small, the advantages of automatically controlling is easily achieved, before Jing Hao;
(2)The invention provides a kind of electronic slidingtype suspension transferring machine, lifting rope walking dolly is driven to lead by chain sprocket mechanism Moved back and forth on rail, not only enable whole suspension transferring machine to move horizontally apart from farther, but also can ensured in heavy duty, high Steady operation in temperature, the adverse circumstances such as stir up a cloud of dust;In weight moving process, double guide rails can simultaneously be carried to come from and moved horizontally The power of dolly and handling object, improve equipment safety performance, can be widely used in that place is small, and particularly working environment is dangerous Occasion;Switch board, lifting motor and electric rotating machine are used cooperatively, it is easy to accomplish automatically controlled, mitigated user's labor intensity, carry High workload efficiency;Overall architecture designs relatively reasonable, hommization, easy to disassemble, carrying or installation and express transportation.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention;
Fig. 2 is lifting device structure schematic diagram of the present invention;
Fig. 3 is translating device structural representation of the present invention;
Reference:1st, switch board, 2, guide rail, 3, pulley, 4, lifting rope walking dolly, 5, handling machine support, 501, rectangle frame, 502nd, the first supporting mechanism, 5021, first support bar, 5022, second support bar, 5023, horizontal support bar, the 503, second support Mechanism, 6, snap ring, 7, lifting motor, 8, suspension hook, 9, wire sling, 10, tension, pressure and weighting transducers, 11, rope guide, 12, rise Motor reducer drops, and 13, reel, 14, rolling bearing units, 15, electric rotating machine, 16, electric rotating machine decelerator, 17, drive sprocket, 18th, driven chain, the 19, first rotary shaft, the 20, first side chain wheel, 21, driven sprocket, the 22, second rotary shaft, the 23, second side chain Wheel, 24, active chain.
Embodiment
Embodiments of the invention are elaborated below in conjunction with the accompanying drawings, the present embodiment is using technical solution of the present invention before Carry, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following embodiments.
A kind of electronic slidingtype suspension transferring machine, the suspension transferring machine includes switch board 1, handling machine support 5 and lifting rope walking dolly 4, Lifting rope walking dolly 4, which coordinates, to be slidably mounted on the guide rail 2 set on handling machine support 5, i.e., described lifting rope walking dolly 4 passes through Pulley 3 is slidably arranged on guide rail 2, and the suspension transferring machine also includes that the level that lifting rope walking dolly 4 is slided on guide rail 2 can be driven Wire sling is arranged with the lifting motor 7 rotated in drive mechanism, lifting rope walking dolly 4 provided with driving reel 13, reel 13 9, the suspension hook 8 that article to be shipped is taken for hanging is arranged with wire sling 9, when control 13 turns of the reel of driving of lifting motor 7 of switch board 1 When dynamic, wire sling 9 winds or loosened on reel 13, realizes lifting of the suspension hook 8 in vertical direction;
Described horizontal drive mechanism includes chain sprocket mechanism and drives the electric rotating machine 15 of chain sprocket mechanism work, institute The lifting rope walking dolly 4 stated is fixedly connected with chain sprocket mechanism, and switch board 1 makes chain by controlling electric rotating machine 15 to work Chain-wheel mechanism drives lifting rope walking dolly 4 to be moved back and forth on guide rail 2.
Above for the present invention basic embodiment, can more than on the basis of be improved further, optimize or limit.
Further, the handling machine support 5 positioned at the top of guide rail 2 is provided with the first rotary shaft 19 and the second rotary shaft 22, The two ends of first rotary shaft 19 and the second rotary shaft 22 respectively with guide rail 2 are correspondingly arranged, the first rotary shaft 19 and the second rotary shaft 22 projection on guide rail 2 is vertically arranged with guide rail 2;
Described chain sprocket mechanism includes drive sprocket 17, the and of driven sprocket 21 being fixedly mounted in the first rotary shaft 19 Several the first side chain wheels 20, several be fixedly mounted in the second rotary shaft 22 and be correspondingly arranged with the first side chain wheel 20 The active chain 24 of closed ring set, first be correspondingly arranged are installed on two side chain wheels 23, drive sprocket 17 and driven sprocket 21 The driven chain 18 of closed ring set is installed, electric rotating machine 15 is slowed down by electric rotating machine on the side chain wheel 23 of side chain wheel 20 and second Device 16 is connected with drive sprocket 17, is equipped with snap ring 6 on the driven chain 25 of lifting rope walking dolly 4, snap ring 6 is hung with described Rope walking dolly 4 is fixedly connected, and as preferred, snap ring 6 is connected with lifting rope walking dolly 4 by pin.
Further, the first side chain wheel 20 and the second side chain wheel 23 are two, two the first side chain wheels 20 relative to from Movable sprocket 21 is symmetrical arranged.
Further, described handling machine support 5 includes a horizontally disposed rectangle frame 501, the phase of rectangle frame 501 Two the first supporting mechanisms 502 and the second supporting mechanism 503 are respectively equipped with to the two ends of setting, guide rail 2 is arranged on rectangle frame On 501 two long sides;Electric rotating machine 15 is located at one end of rectangle frame 501, and the upper end of two the second supporting mechanisms 503 is respectively set Being equipped with one is used for rolling bearing units of the rotating support at the two ends of the first rotary shaft 19.
Further, the first supporting mechanism 502 includes two first support bars 5021 and two vertically set with guide rail 2 Individual second support bar 5022, the lower end and the middle part of second support bar 5022 of first support bar 5021 are fixedly installed on rectangle frame On 501, the lower end of second support bar 5022 is fixed on the ground, the upper end of first support bar 5021 and second support bar 5022 it Between be fixedly installed a horizontal support bar 5023, two horizontal support bars 5023, which are provided with, is used for rotating support in the second rotary shaft The rolling bearing units at 22 two ends.
Further, the second supporting mechanism 503 include be vertically set on 501 two ends of rectangle frame support bar and Triangle support frame above support bar, first rotary shaft 19 is arranged on the top of triangle support frame.
Further, triangle support frame is right angled triangle support frame.
Further, lifting motor 7 is connected by lifting motor decelerator 12 with reel 13.
Further, one end of reel 13 is provided with rope guide 11.
Further, tension, pressure and weighting transducers 10 are provided between wire sling 9 and suspension hook 8.
The present invention operation principle be:As shown in Figure 1, Figure 2 and Figure 3, weight is hung on suspension hook 8, general supply is opened, control Cabinet 1 processed sends order, and lifting motor 7 rotates according to setting speed and drives reel 13 and wire sling 9, when hanging on suspension hook 8 Weight rise or drop to after predeterminated position, switch board 1 sends order, and lifting motor 7 is stopped, and electric rotating machine 15 is opened Beginning work;After electric rotating machine 15 starts rotation, driven by a series of transmission of chain sprocket mechanisms on driven chain 18 Two snap rings 6 move horizontally, because the snap ring 6 and lifting rope walking dolly 4 are linked together by pin, i.e., with driven chain The transmission of bar 18, weight can be moved horizontally along the direction of guide rail 2, be reached after predeterminated position, and electric rotating machine 15 is automatically stopped work Make, weight is removed.

Claims (10)

1. a kind of electronic slidingtype suspension transferring machine, the suspension transferring machine includes switch board(1), handling machine support(5)With lifting rope walking dolly (4), lifting rope walking dolly(4)Cooperation is slidably mounted on handling machine support(5)The guide rail of upper setting(2)On, the suspension transferring machine is also wrapped Lifting rope walking dolly can be driven by including(4)In guide rail(2)On the horizontal drive mechanism that slides, it is characterised in that:Lifting rope walking is small Car(4)It is interior to be provided with driving reel(13)The lifting motor of rotation(7), reel(13)On be arranged with wire sling(9), wire sling (9)On be arranged with the suspension hook that article to be shipped is taken for hanging(8), work as switch board(1)Control lifting motor(7)Drive reel(13)Turn When dynamic, wire sling(9)In reel(13)Upper winding is loosened, and realizes suspension hook(8)In the lifting of vertical direction;
Described horizontal drive mechanism includes chain sprocket mechanism and drives the electric rotating machine of chain sprocket mechanism work(15), Described lifting rope walking dolly(4)Mechanism is fixedly connected with chain sprocket, switch board(1)By controlling electric rotating machine(15)Work Make, chain sprocket mechanism is driven lifting rope walking dolly(4)In guide rail(2)On move back and forth.
2. a kind of electronic slidingtype suspension transferring machine according to claim 1, it is characterised in that:Positioned at guide rail(2)Top is hung Transport machine support(5)It is provided with the first rotary shaft(19)With the second rotary shaft(22), the first rotary shaft(19)With the second rotary shaft (22)Respectively with guide rail(2)Two ends be correspondingly arranged, the first rotary shaft(19)With the second rotary shaft(22)In guide rail(2)On throwing Shadow and guide rail(2)It is vertically arranged;
Described chain sprocket mechanism includes drive sprocket(17), be fixedly mounted on the first rotary shaft(19)On driven sprocket (21)With several the first side chain wheels(20), several be fixedly mounted on the second rotary shaft(22)It is upper and with the first side chain wheel(20) The second side chain wheel being correspondingly arranged(23), drive sprocket(17)And driven sprocket(21)On the active chain of closed ring set is installed (24), the first side chain wheel being correspondingly arranged(20)With the second side chain wheel(23)On the driven chain of closed ring set is installed(18), Electric rotating machine(15)Pass through electric rotating machine decelerator(16)With drive sprocket(17)Connection, close to lifting rope walking dolly(4)From Dynamic chain(25)On be equipped with snap ring(6), snap ring(6)With the lifting rope walking dolly(4)It is fixedly connected.
3. a kind of electronic slidingtype suspension transferring machine according to claim 2, it is characterised in that:First side chain wheel(20)With second Side chain wheel(23)It is two, two the first side chain wheels(20)Relative to driven sprocket(21)It is symmetrical arranged.
4. a kind of electronic slidingtype suspension transferring machine according to claim 1, it is characterised in that:Described handling machine support(5) Including a horizontally disposed rectangle frame(501), rectangle frame(501)The two ends being oppositely arranged are respectively equipped with two first Support mechanism(502)With the second supporting mechanism(503), guide rail(2)It is arranged on rectangle frame(501)Two long sides on;Electric rotating Machine(15)It is located at rectangle frame(501)One end, two the second supporting mechanisms(503)Upper end be each provided with one be used for rotate It is supported on the first rotary shaft(19)The rolling bearing units at two ends.
5. a kind of electronic slidingtype suspension transferring machine according to claim 4, it is characterised in that:First supporting mechanism(502)Bag Include vertically and guide rail(2)Two first support bars set(5021)With two second support bars(5022), first support bar (5021)Lower end and second support bar(5022)Middle part is fixedly installed on rectangle frame(501)On, second support bar (5022)Lower end fix on the ground, first support bar(5021)And second support bar(5022)Upper end between be fixedly installed One horizontal support bar(5023), two horizontal support bars(5023)Being provided with is used for rotating support in the second rotary shaft(22)Two The rolling bearing units at end.
6. a kind of electronic slidingtype suspension transferring machine according to claim 4, it is characterised in that:Second supporting mechanism(503)Bag Include and be vertically set on rectangle frame(501)The support bar and the triangle support frame above support bar of two ends, institute State the first rotary shaft(19)It is arranged on the top of triangle support frame.
7. a kind of electronic slidingtype suspension transferring machine according to claim 6, it is characterised in that:Triangle support frame is right angle three Angular support frame.
8. a kind of electronic slidingtype suspension transferring machine according to claim 1, it is characterised in that:Lifting motor(7)Pass through lifting Motor reducer(12)With reel(13)Connection.
9. a kind of electronic slidingtype suspension transferring machine according to claim 1 or 8, it is characterised in that:Reel(13)One end set There is rope guide(11).
10. a kind of electronic slidingtype suspension transferring machine according to claim 1, it is characterised in that:Wire sling(9)And suspension hook (8)Between be provided with tension, pressure and weighting transducers(10).
CN201710541772.XA 2017-07-05 2017-07-05 A kind of electronic slidingtype suspension transferring machine Pending CN107176547A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710541772.XA CN107176547A (en) 2017-07-05 2017-07-05 A kind of electronic slidingtype suspension transferring machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710541772.XA CN107176547A (en) 2017-07-05 2017-07-05 A kind of electronic slidingtype suspension transferring machine

Publications (1)

Publication Number Publication Date
CN107176547A true CN107176547A (en) 2017-09-19

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CN201710541772.XA Pending CN107176547A (en) 2017-07-05 2017-07-05 A kind of electronic slidingtype suspension transferring machine

Country Status (1)

Country Link
CN (1) CN107176547A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109081184A (en) * 2018-08-01 2018-12-25 张祖红 For the automatic packaging equipment of conducting wire production
CN110255385A (en) * 2019-05-13 2019-09-20 广东博智林机器人有限公司 Tackling system
CN110498350A (en) * 2019-08-30 2019-11-26 石家庄建工集团有限公司 A kind of multifunctional safe building tower crane
CN112265917A (en) * 2020-10-14 2021-01-26 山东大学 Suspension type manipulator hoisting device
CN112551344A (en) * 2020-12-21 2021-03-26 山东中清智能科技股份有限公司 Lifting mechanism of ice block gripping apparatus

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CN203624874U (en) * 2013-12-27 2014-06-04 大连华锐重工集团股份有限公司 Special crane for transporting fan blade
CN204079280U (en) * 2014-09-29 2015-01-07 河南东起机械有限公司 The hoisting crane crane carriage of easy access
CN204079282U (en) * 2014-04-13 2015-01-07 河南江河起重机有限公司 A kind of engineering gauntry crane dolly chain drive
CN204310700U (en) * 2014-12-10 2015-05-06 李爱国 A kind of indoor hoisting crane
CN204872632U (en) * 2015-07-14 2015-12-16 青岛莱弗特机械有限公司 Steel pipe translation device
CN204980884U (en) * 2015-07-24 2016-01-20 上海宝松盐城重型机械工程有限公司 Lifting mechanism

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203545497U (en) * 2013-09-09 2014-04-16 天津市福臻机电工程有限公司 Horizontal travelling trolley device
CN203624874U (en) * 2013-12-27 2014-06-04 大连华锐重工集团股份有限公司 Special crane for transporting fan blade
CN204079282U (en) * 2014-04-13 2015-01-07 河南江河起重机有限公司 A kind of engineering gauntry crane dolly chain drive
CN204079280U (en) * 2014-09-29 2015-01-07 河南东起机械有限公司 The hoisting crane crane carriage of easy access
CN204310700U (en) * 2014-12-10 2015-05-06 李爱国 A kind of indoor hoisting crane
CN204872632U (en) * 2015-07-14 2015-12-16 青岛莱弗特机械有限公司 Steel pipe translation device
CN204980884U (en) * 2015-07-24 2016-01-20 上海宝松盐城重型机械工程有限公司 Lifting mechanism

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109081184A (en) * 2018-08-01 2018-12-25 张祖红 For the automatic packaging equipment of conducting wire production
CN110255385A (en) * 2019-05-13 2019-09-20 广东博智林机器人有限公司 Tackling system
CN110498350A (en) * 2019-08-30 2019-11-26 石家庄建工集团有限公司 A kind of multifunctional safe building tower crane
CN112265917A (en) * 2020-10-14 2021-01-26 山东大学 Suspension type manipulator hoisting device
CN112551344A (en) * 2020-12-21 2021-03-26 山东中清智能科技股份有限公司 Lifting mechanism of ice block gripping apparatus

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Application publication date: 20170919

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