CN108861962A - A kind of big distance adjusts the steel wire rope tension automatic equalization device of rope - Google Patents
A kind of big distance adjusts the steel wire rope tension automatic equalization device of rope Download PDFInfo
- Publication number
- CN108861962A CN108861962A CN201810735586.4A CN201810735586A CN108861962A CN 108861962 A CN108861962 A CN 108861962A CN 201810735586 A CN201810735586 A CN 201810735586A CN 108861962 A CN108861962 A CN 108861962A
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- CN
- China
- Prior art keywords
- rope
- bevel gear
- force transmission
- planet carrier
- roller
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/06—Arrangements of ropes or cables
- B66B7/10—Arrangements of ropes or cables for equalising rope or cable tension
Abstract
A kind of big distance adjusts the steel wire rope tension automatic equalization device of rope, mainly it is made of several basic installation modules by being mounted in force transmission rack after sleeve connection, it is basic that the bevel gear transmission that module includes two rollers storage rope devices, two planet carriers being arranged in inside roller storage rope device and four are mounted on roller storage rope device two sides is installed；Force transmission rack is mainly made of force transmission shaft, side girder, middle stringer, crossbeam, angle steel and column；Bevel gear transmission includes the engagement bevel gear set that crossed axis angle is 90 degree；Bevel pinion is installed by bearing in the circumferentially uniformly distributed branch of planet carrier, the end of branch is fixedly connected with the end cap of roller storage rope device, and the inside of planet carrier is mounted on force transmission shaft by bearing, is installed in planet carrier groove on the outside of planet carrier.The present invention can adjust rope capacity by the rotation of roll body, realize the dynamic equilibrium of tension, and structural reliability is high, stable working performance, and maintenance cost is low.
Description
Technical field
The present invention relates to the steel wire rope tension automatic equalization devices that a kind of distance greatly adjusts rope, and it is vertical to be particularly suitable for coal mine ultra-deep
The tension automatic equalization of boom hoist cable in the multi rope winding of well lifting system and super-high buildings express elevator.
Background technique
With the increasing of coal mining, vertical develops towards deeper direction, while the tonnage of hoisting container is not yet
Disconnected raising；Meanwhile with the raising of building height, the range of lift of elevator is continuously increased.Therefore to the safety of promotion and
Adjusting rope distance, more stringent requirements are proposed, and the equalization of strain of boom hoist cable becomes particularly significant.
Steel wire rope tension balancer to be applied is led currently on the market to design based on Pascal principle, it is hydraulic by being connected to
Cylinder realizes balance, and adjustment length is limited, and has leakage problem.There are also the balancing tensions based on the design of lever arm of force equilibrium principle
Device, adjustable range is short, artificial to participate in adjusting heavy workload.
Summary of the invention
In order to overcome, that there are adjustable ranges is short for steel wire rope tension balancer currently on the market, is no longer appropriate for extra deep shaft and mentions
The deficiency promoted with super-high buildings is risen, the present invention provides a kind of steel wire rope tension automatic equalization device of tune rope of distance greatly, can
Realize of boom hoist cable in the multi rope winding operational process of coal mine extra deep shaft lifting system and super-high buildings express elevator
Power automatic equalization keeps lifting process safe and reliable.
The technical solution used to solve the technical problems of the present invention is that：Mainly connected by several basic installation modules by sleeve
Composition in force transmission rack is mounted on after connecing, the basic installation module includes two roller storage rope devices, two settings in roller
It stores up the planet carrier inside rope device and four is mounted on the bevel gear transmission that roller stores up rope device two sides；The roller storage
Rope device includes roller wheel body, and the rim section of roller wheel body is disposed with spiral-shaped rope groove, each basic installation module
The wiring of wirerope is contrary on two roller storage rope devices, and the rope end of wirerope is fixed on the outside of wheel rim, roller wheel body
Inside is equipped with planet carrier groove, is equipped with end cap on the wheel hub of roller wheel body；The force transmission rack is mainly indulged by force transmission shaft, side
Beam, middle stringer, crossbeam, angle steel and column composition, are formed between side girder, middle stringer, crossbeam and column by Bolted angle connection more
The structure framework of the accommodation space of a size equalization, the quantity of accommodation space is consistent with the basic installation quantity of module, force transmission shaft
It is horizontally set at the middle part of structure framework, force transmission shaft passes through the accommodation space of multiple middle stringers and its two sides, and final both ends pass through
Bearing is installed on side girder, it is adjacent it is basic installation module force transmission shaft be mounted in same sleeve by bearing, column with mention
Container is risen to be connected；The bevel gear transmission includes the engagement bevel gear set that crossed axis angle is 90 degree, engages bevel gear set packet
Multiple bevel pinions and two bevel gear wheels positioned at its two sides are included, force transmission shaft passes through the inside of bevel gear wheel；Same basic peace
Bevel gear wheel between die-filling piece of two rollers storage rope device is connected directly back-to-back, and it is vertical that the bevel gear wheel at both ends is fixed on side
Liang Shang；Middle stringer and sleeve connection of the adjacent basic bevel gear wheel installed between module across force transmission rack；The planet carrier
With multiple circumferentially uniformly distributed branches, the bevel pinion of a bevel gear transmission is installed by bearing in each branch, point
The end of branch is fixedly connected with the end cap of roller storage rope device, and the inside of planet carrier is mounted on force transmission shaft by bearing, planet
It is installed on the outside of frame in the planet carrier groove of roller storage rope device.
Compared with prior art, one kind of the invention distance greatly adjusts the steel wire rope tension automatic equalization device of rope, passes through adjusting
Roller stores up the rotation angle of rope device, shrinks or the wirerope of release storage, the length for adjusting wirerope make on wirerope in turn
Tension is able to equilibrium, and Chu Shengliang is big, it can be achieved that big adjust rope distance, and structure is simple, it can be achieved that modularization is installed, and operational safety makes
Long with the service life, the steel wire rope tension especially suitable for extra deep shaft big load hoisting container and super-high buildings express elevator is equal
Weighing apparatus.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is planar structure schematic diagram of the invention by taking 2 basic installation modules as an example.
Fig. 2 is planar structure schematic diagram of the invention by taking 3 basic installation modules as an example.
Fig. 3 is the structural schematic diagram for installing module in the embodiment of the present invention substantially.
Fig. 4 is the cross-sectional view of A-A in Fig. 3.
Fig. 5 is the top view of the force transmission rack by taking two basic installation modules as an example.
Fig. 6 is the top view of the force transmission rack by taking three basic installation modules as an example.
Fig. 7 is the axonometric drawing of planet carrier in the embodiment of the present invention.
Fig. 8 a is the main view of roller wheel body in the embodiment of the present invention.
Fig. 8 b is the side view of roller wheel body in the embodiment of the present invention.
Fig. 9 is the construction of wire rope schematic diagram connected on roller storage rope device.
In figure：1, roller stores up rope device, and 1-1, roller wheel body, 1-1-1, planet carrier groove, 1-1-3,1-1-2, rope groove add
Strengthening tendons, 1-1-4, lightening hole, 1-1-5, through-hole, 2, bevel gear transmission, 2-1, bevel pinion, 2-2, planet carrier, 2-2-1,
Branch, 2-2-2, threaded hole, 2-3, bevel gear wheel, 2-4, sleeve, 3, force transmission rack, 3-1, force transmission shaft, 3-2, side girder, 3-3, in
Stringer, 3-4, angle steel, 3-5, column, 4, wirerope, 4-1, rope end.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, belongs to protection scope of the present invention.
Fig. 1 show one embodiment of tension balancer, passes through sleeve 2-4 connection group by two basic installation modules
At referring to Fig. 3, each basic installation module includes that two rollers store up rope device 1, two setting inside roller storage rope device 1
Planet carrier 2-2 and four be mounted on roller storage 1 two sides of rope device bevel gear transmission 2；Basic installation module is fixed on
On the force transmission shaft 3-1 of force transmission rack 3, force transmission shaft 3-1 is arranged with ladder in installation bearing portion, groove is opened up on ladder, to install
Circlip installs the finishing of bearing portion sublevel ladder with fixing bearing；Planet carrier 2-2 is fixed in the middle part of roller by end cap；Into one
Step ground, two rollers store up can between roller storage rope device 1 and side girder 3-2, the middle stringer 3-3 of force transmission rack 3 between rope devices 1
Dust cover is arranged.Fig. 4 is the cross-sectional view of A-A in Fig. 3, shows tension balancer in the disconnected of 1 middle part of roller storage rope device
Face figure, it is seen then that bevel gear transmission 2 includes the engagement bevel gear set that crossed axis angle is 90 degree, which engages bevel gear set
It is fixed on planet carrier 2-2's including multiple bevel pinion 2-1 and positioned at two bevel gear wheel 2-3 of its two sides, bevel pinion 2-1
On branch 2-2-1, it can be pivoted, but be not axially movable；Planet carrier 2-2 is inserted in the planet carrier groove of roller storage rope device 1
In 1-1-1, positioned by branch's 2-2-1 end flat；It is machined with keyway on the bevel gear wheel 2-3 of both ends, with being connected by key
Sleeve 2-4, two roller storage rope devices 1 are located in the middle bevel gear wheel 2-3 and are connected by high-strength bolts back-to-back, planet carrier
2-2 and bevel gear wheel 2-3 can be rotated freely around axis；Fluted installation circlip is opened up to fixation in the middle part of bevel gear wheel 2-3
Bearing is thinned in the middle part of bevel gear wheel 2-3 since this bevel gear wheel 2-3 is not subject to radial load, only retains a small amount of spoke.
Fig. 5 is the force transmission rack 3 of Fig. 1 embodiment, and the force transmission rack 3 is mainly by a force transmission shaft 3-1, two side girder 3-
2, a middle stringer 3-3, six crossbeams, several angle steel 3-4 and four column 3-5 compositions, side girder 3-2, middle stringer 3-3, cross
The structure framework to form the accommodation space of two size equalizations is connected between beam and column 3-5 by angle steel 3-4, accommodation space
Quantity be with substantially install module quantity Matching it is consistent, force transmission shaft 3-1 is horizontally set at the middle part of structure framework, force transmission shaft
3-1 passes through the accommodation space of middle stringer and its two sides, and final both ends are installed on side girder 3-2 by bearing, two neighboring base
Die-filling piece of intrinsic safety of force transmission shaft 3-1 is mounted in same sleeve 2-4 by bearing；Load reaches side girder 3-2 through force transmission shaft 3-1
On middle stringer 3-3, stringer is bolted through angle steel 3-4 by load transmission to column 3-5 again, column 3-5 directly with
Hoisting container is connected, by load transmission to hoisting container force part (such as skip bucket, carriage).
The planet carrier 2-2, the planet carrier 2-2 that Fig. 7 is shown in embodiment have four circumferentially uniformly distributed branches
Be multi-diameter shaft at 2-2-1, each branch 2-2-1 installation bevel gear, the end of branch 2-2-1 is equipped with threaded hole 2-2-2, to
The end cap of roller storage rope device 1 is fixedly connected, and installs a bevel gear transmission 2 by bearing on each branch 2-2-1
Bevel pinion 2-1, planet carrier 2-2 can change 2-2-1 number of branch of planet carrier 2-2, increase or decrease small according to the actual situation
2-1 number of bevel gear.The inside of the end planet carrier 2-2 of branch 2-2-1 is mounted on force transmission shaft 3-1 by bearing, planet carrier
It is installed on the outside of 2-2 in the planet carrier groove 1-1-1 of roller storage rope device 1.Peace is offered on the inside of the planet carrier 2-2
Fill the groove of circlip, and then fixing bearing.The branch 2-2-1 and grinding two end surfaces at the 1-1-1 cooperation of planet carrier groove,
Increase contact area.
Roller in Fig. 8 a and 8b illustrated embodiment stores up rope device 1, it includes roller wheel body 1-1, the wheel of roller wheel body 1-1
Edge distribution is equipped with spiral-shaped rope groove 1-1-2, wirerope 4 on two rollers storage rope device 1 of each basic installation module
Wiring it is contrary, 4 one end of wirerope is cast with rope end 4-1, be wrapped at rope groove 1-1-2 by canoe shown in Fig. 9,
The through-hole 1-1-5 that the rope end 4-1 of wirerope 4 passes through on spoke is fixed on the outside of wheel rim；The inside of roller wheel body 1-1 is equipped with planet
Frame groove 1-1-1 is equipped with end cap on the wheel hub of roller wheel body 1-1.Preferably, the spoke border of the roller wheel body 1-1 is set
It is equipped with reinforcing rib 1-1-3, lightening hole 1-1-4 is offered among reinforcing rib 1-1-3, to mitigate overall weight；Specifically, cylinder wheel
The screw hole for installing end cap is drilled on the wheel hub of body 1-1, with fixed carrier 2-2.
Bearing described in embodiment is needle bearing, and Internal and external cycle allows certain separation, and outer ring is fixed by circlip for hole,
Inner ring is fixed by circlip for shaft.
Fig. 1 embodiment is many-degrees of freedom system, and big distance adjusts the principle of the steel wire rope tension automatic equalization of rope as follows：
When for steel wire rope tension there are when unbalanced phenomena, roller storage rope device 1 makes wirerope 4 by rotation in lifting process
Length increase or decrease, and then change wirerope 4 on tension, after adjustment, roller storage rope device 1 no longer rotate；
It is balanced at this point, wirerope 4 acts on the torque on roller wheel body 1-1 by the both ends planet carrier 2-2 bevel gear wheel 2-3；Bevel gear wheel
The public hand hammer gear 2-1 of 2-3.Since bevel pinion 2-1 is static, torque balance, the bevel gear wheel 2- at the both ends planet carrier 2-2
3 offer torques are identical；Bevel gear wheel 2-3 between roller storage rope device 1 is bolted back-to-back, or passes through sleeve 2-
The mode of 4 plus keys connects, two bevel gear wheel 2-3 stress balances, opposite by the level of torque same direction.Therefore adjacent roller wheel
It is identical that body 1-1 bears level of torque；It is identical further as rope groove 1-1-2 diameter, so wirerope on adjacent roller wheel body 1-1
Tension is identical；Therefore four 4 tension of wirerope are all identical in Fig. 1.
Above-described embodiment is with two basic modules, for four wirerope 4, during actual use can be according to actual needs
Increase or decrease installation module.Fig. 2 show the tension automatic equalization device of installation three basic installation modules, working principle
It is identical as Fig. 1 embodiment.Fig. 6 show the force transmission rack of the tension automatic equalization device embodiment of installation three basic installation modules
3 structure chart, the structure difference with the force transmission rack 3 of Fig. 1 embodiment shown in fig. 5 are to increase an accommodation space.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is all according to
According to technical spirit of the invention, any simple modification and same variation are made to above embodiments, each fall within guarantor of the invention
Within the scope of shield.
Claims (9)
1. a kind of distance greatly adjusts the steel wire rope tension automatic equalization device of rope, it is characterized in that：Mainly by several basic installation modules
Composition in force transmission rack (3) is mounted on after connecting by sleeve (2-4), the basic installation module includes two roller storage rope dresses
It sets (1), two settings and is mounted on roller storage rope device (1) two in the internal planet carrier (2-2) of roller storage rope device (1) and four
The bevel gear transmission (2) of side；
Roller storage rope device (1) includes roller wheel body (1-1), and the rim section of roller wheel body (1-1) is disposed with spiral
Two rollers of the rope groove (1-1-2) of shape, each basic installation module store up the wiring direction of wirerope (4) on rope device (1)
On the contrary, the rope end (4-1) of wirerope (4) is fixed on the outside of wheel rim, the inside of roller wheel body (1-1) is equipped with planet carrier groove (1-
1-1), end cap is installed on the wheel hub of roller wheel body (1-1)；
The force transmission rack (3) mainly by force transmission shaft (3-1), side girder (3-2), middle stringer (3-3), crossbeam, angle steel (3-4) and
Column (3-5) composition, connects shape by angle steel (3-4) between side girder (3-2), middle stringer (3-3), crossbeam and column (3-5)
At the structure framework of the accommodation space of multiple size equalizations, the quantity of accommodation space is consistent with the basic installation quantity of module, passes
Power axis (3-1) is horizontally set at the middle part of structure framework, and force transmission shaft (3-1) passes through the appearance of multiple middle stringers (3-3) and its two sides
Receive space, final both ends are installed on side girder (3-2) by bearing, and the force transmission shaft (3-1) of adjacent basic installation module passes through
Bearing is mounted in same sleeve (2-4), and column (3-5) is connected with hoisting container；
The bevel gear transmission (2) includes the engagement bevel gear set that crossed axis angle is 90 degree, and engagement bevel gear set includes more
A bevel pinion (2-1) and two bevel gear wheels (2-3) positioned at its two sides, force transmission shaft (3-1) is across bevel gear wheel (2-3)
It is internal；Bevel gear wheel (2-3) between same basic two roller storages rope device (1) of installation module is connected directly back-to-back,
The bevel gear wheel (2-3) at both ends is fixed on side girder (3-2)；It is adjacent it is basic installation module between bevel gear wheel (2-3) across
The middle stringer (3-3) for crossing force transmission rack (3) is connect with sleeve (2-4)；
The planet carrier (2-2) has multiple circumferentially uniformly distributed branches (2-2-1), passes through bearing on each branch (2-2-1)
The bevel pinion (2-1) of one bevel gear transmission (2) is installed, the end of branch (2-2-1) and roller store up rope device (1)
End cap is fixedly connected, and the inside of planet carrier (2-2) is mounted on force transmission shaft (3-1) by bearing, the outside peace of planet carrier (2-2)
In planet carrier groove (1-1-1) loaded on roller storage rope device (1).
2. a kind of distance greatly according to claim 1 adjusts the steel wire rope tension automatic equalization device of rope, it is characterized in that：It is described
Bevel gear wheel (2-3) between adjacent basic installation module is fixed on sleeve (2-4) by key, on bevel gear wheel (2-3)
It is machined with keyway；The bevel gear wheel (2-3) at the same basic installation module both ends is fixed on by high-strength bolt back-to-back
On side girder (3-2), the groove of the circlip of installation fixing bearing is offered in the middle part of the bevel gear wheel (2-3).
3. a kind of distance greatly according to claim 1 adjusts the steel wire rope tension automatic equalization device of rope, it is characterized in that：It is described
The spoke border of roller wheel body (1-1) is provided with reinforcing rib (1-1-3), offers lightening hole (1-1- among reinforcing rib (1-1-3)
4) screw hole of installation end cap, is drilled on the wheel hub of roller wheel body (1-1).
4. a kind of distance greatly according to claim 1 adjusts the steel wire rope tension automatic equalization device of rope, it is characterized in that：It is described
Roller storage rope device (1) between and roller storage rope device (1) and each stringer of force transmission rack (3) between be equipped with dust cover.
5. a kind of distance greatly according to claim 1 adjusts the steel wire rope tension automatic equalization device of rope, it is characterized in that：It is described
Angle steel (3-4) connect with stringer, column (3-5) and crossbeam by high-strength bolt；The promotion being connect with the column (3-5)
Container is skip bucket or carriage.
6. a kind of distance greatly according to claim 1 adjusts the steel wire rope tension automatic equalization device of rope, it is characterized in that：It is described
Force transmission shaft (3-1) installation bearing portions have ladder, the groove to install circlip is opened up on ladder.
7. a kind of distance greatly according to claim 1 adjusts the steel wire rope tension automatic equalization device of rope, it is characterized in that：It is described
Planet carrier (2-2) on the inside of offer installation circlip groove.
8. a kind of distance greatly according to claim 1 adjusts the steel wire rope tension automatic equalization device of rope, it is characterized in that：It is described
Planet carrier (2-2) tool there are four branch (2-2-1), be multi-diameter shaft, the end of branch at each branch (2-2-1) installation bevel gear
End is equipped with the threaded hole (2-2-2) of fixed end cap.
9. a kind of distance greatly according to claim 1 adjusts the steel wire rope tension automatic equalization device of rope, it is characterized in that：It is described
Bearing be all made of needle bearing, Internal and external cycle separation, outer ring is fixed by circlip for hole, and inner ring is consolidated by circlip for shaft
It is fixed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810735586.4A CN108861962A (en) | 2018-07-06 | 2018-07-06 | A kind of big distance adjusts the steel wire rope tension automatic equalization device of rope |
| PCT/CN2018/106893 WO2020006888A1 (en) | 2018-07-06 | 2018-09-21 | Steel wire rope tension automatic balancing device for long-distance rope adjustment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810735586.4A CN108861962A (en) | 2018-07-06 | 2018-07-06 | A kind of big distance adjusts the steel wire rope tension automatic equalization device of rope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108861962A true CN108861962A (en) | 2018-11-23 |
Family
ID=64299410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810735586.4A Pending CN108861962A (en) | 2018-07-06 | 2018-07-06 | A kind of big distance adjusts the steel wire rope tension automatic equalization device of rope |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108861962A (en) |
| WO (1) | WO2020006888A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020119196A1 (en) * | 2018-12-13 | 2020-06-18 | 中国矿业大学 | Ultradeep vertical well annularly distributed frictional lifting system |
| KR20200083191A (en) * | 2018-12-28 | 2020-07-08 | 서울대학교산학협력단 | Ascender |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112573324B (en) * | 2020-11-26 | 2021-08-27 | 中国矿业大学 | Flexible cable self-adaptive guide wheel and guide method thereof |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102421692A (en) * | 2009-05-12 | 2012-04-18 | 全秉寿 | Apparatus for equalizing the tensions among elevator wire ropes |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI119056B (en) * | 2004-03-22 | 2008-07-15 | Kone Corp | Elevator, method by which a lift is provided and the use of an additional force generated in the lifting equalizer |
| CN2892781Y (en) * | 2006-04-24 | 2007-04-25 | 邹晓明 | Elevator towline tension automatic balancing device |
| KR101023580B1 (en) * | 2010-07-15 | 2011-03-21 | 전병수 | Elevator wire's tension equalization apparatus |
| CN203820210U (en) * | 2014-04-21 | 2014-09-10 | 中国矿业大学 | Multi-rope synergic control system of ultra-deep mine hoist |
-
2018
- 2018-07-06 CN CN201810735586.4A patent/CN108861962A/en active Pending
- 2018-09-21 WO PCT/CN2018/106893 patent/WO2020006888A1/en active Application Filing
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102421692A (en) * | 2009-05-12 | 2012-04-18 | 全秉寿 | Apparatus for equalizing the tensions among elevator wire ropes |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020119196A1 (en) * | 2018-12-13 | 2020-06-18 | 中国矿业大学 | Ultradeep vertical well annularly distributed frictional lifting system |
| KR20200083191A (en) * | 2018-12-28 | 2020-07-08 | 서울대학교산학협력단 | Ascender |
| KR102240305B1 (en) * | 2018-12-28 | 2021-04-14 | 서울대학교산학협력단 | Ascender |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020006888A1 (en) | 2020-01-09 |
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Application publication date: 20181123 |