CN111532982A - Stable and stand wear and tear monorail trolley - Google Patents

Stable and stand wear and tear monorail trolley Download PDF

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Publication number
CN111532982A
CN111532982A CN202010365308.1A CN202010365308A CN111532982A CN 111532982 A CN111532982 A CN 111532982A CN 202010365308 A CN202010365308 A CN 202010365308A CN 111532982 A CN111532982 A CN 111532982A
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CN
China
Prior art keywords
driven shaft
gear
roller
fixed
wall plate
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.)
Granted
Application number
CN202010365308.1A
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Chinese (zh)
Other versions
CN111532982B (en
Inventor
王红华
齐欢
吴琪
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.)
Zhejiang Guanlin Machinery Inc
Original Assignee
Zhejiang Guanlin Machinery Inc
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Filing date
Publication date
Application filed by Zhejiang Guanlin Machinery Inc filed Critical Zhejiang Guanlin Machinery Inc
Priority to CN202010365308.1A priority Critical patent/CN111532982B/en
Publication of CN111532982A publication Critical patent/CN111532982A/en
Application granted granted Critical
Publication of CN111532982B publication Critical patent/CN111532982B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00Trolleys or crabs, e.g. operating above runways
    • B66C11/14Trolleys or crabs, e.g. operating above runways adapted to operate on crane or bridge structure of particular configuration, e.g. on reinforced concrete girders of rectangular cross-section
    • 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
    • B66C9/02Travelling gear incorporated in or fitted to trolleys or cranes for underhung trolleys or cranes
    • 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
    • B66C9/08Runners; Runner bearings
    • 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
    • B66C9/10Undercarriages or bogies, e.g. end carriages, end bogies
    • 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
    • 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
    • B66C9/16Travelling gear incorporated in or fitted to trolleys or cranes with means for maintaining alignment between wheels and track

Abstract

The invention discloses a stable and wear-resistant monorail trolley which comprises a first wall plate, a second wall plate, a hollow hanging beam, a stabilizing device, a walking device and a shake preventing device, wherein the hollow hanging beam is positioned between the first wall plate and the second wall plate and is fixed on the first wall plate and the second wall plate, the stabilizing device is arranged on the first wall plate and the second wall plate, the walking device is arranged on the first wall plate and the second wall plate, and the shake preventing device is fixedly arranged on the hollow hanging beam. The running gear provides the power of single track dolly, makes the dolly can walk on the guide rail, through stabilising arrangement with prevent shaking the device, make the stable walking on the guide rail of single track dolly. The monorail trolley disclosed by the invention has the advantages that the monorail trolley can run more stably and is wear-resistant.

Description

Stable and stand wear and tear monorail trolley
Technical Field
The invention belongs to the field of hoisting equipment, and particularly relates to a stable and wear-resistant monorail trolley.
Background
The single-rail trolley is called a single-rail trolley and is divided into a hand-push trolley and a hand-pull trolley, the hand-pull trolley is driven by a hand chain, the hand-push trolley is driven by a hand-push hoisting object and can freely walk on the lower flange of an I-shaped steel rail, the distance between the wheel rims can be adjusted according to the width requirement of the I-shaped steel rail, a hand-operated hoist is hung below the trolley, and the hand-operated hoisting and transporting trolley can be formed.
When the single track dolly slides on the rail, because rocking of object probably makes the single track dolly rock on the rail on the hand block, make and lead to the fact the collision between single track dolly and the rail, make single track dolly and rail damage, and the single track dolly is the upper end and sets up the pulley, when the single track dolly appears rocking, probably make the single track dolly further acutely rock, cause the condition that the object drops from the hand block, the condition that the object damaged or endangered personnel's safety appears.
Disclosure of Invention
The invention provides a stable and wear-resistant monorail trolley, aiming at overcoming the defects of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: a stable and wear-resistant monorail trolley comprises a first wallboard, a second wallboard, a hollow hanging beam, a stabilizing device, a traveling device and a shaking prevention device, wherein the hollow hanging beam is located between the first wallboard and the second wallboard and fixed on the first wallboard and the second wallboard, the stabilizing device is arranged on the first wallboard and the second wallboard, the traveling device is arranged on the first wallboard and the second wallboard, the shaking prevention device is fixedly arranged on the hollow hanging beam, the traveling device comprises a first fixing frame, a second fixing frame, a driving shaft, a first driven shaft, a second driven shaft, a first gear, a second gear, a third gear and a third gear, the first fixing frame is fixedly arranged on the first wallboard and the first wallboard, the second fixing frame is fixedly arranged on the second wallboard, the driving shaft is rotatably arranged on the first fixing frame, the first driven shaft is rotatably arranged on the first fixing, A fourth gear fixed on the second driven shaft, a motor driving the driving shaft to rotate, a first roller train fixed on the first driven shaft and the second driven shaft at the same time, a third driven shaft passing through the hollow hanging beam, a fifth gear and a sixth gear fixed on two ends of the third driven shaft, a fourth driven shaft rotating on the second fixed frame, a fifth driven shaft rotating on the second fixed frame and the second wall plate and positioned on the left side of the fourth driven shaft, a sixth driven shaft rotating on the second fixed frame and the second wall plate and positioned on the right side of the fourth driven shaft, a seventh gear and an eighth gear fixed on the fourth driven shaft, a ninth gear fixed on the fifth driven shaft, a tenth gear fixed on the sixth impulse shaft, a second roller train fixed on the fifth driven shaft and the sixth driven shaft at the same time, and a first shell fixed on the first wall plate, The first gear is meshed with the third gear and the fourth gear respectively, the second gear is meshed with the fifth gear, the seventh gear is meshed with the sixth gear, and the eighth gear is meshed with the ninth gear and the tenth gear; the monorail trolley is driven to rotate by a motor, a first gear and a second gear which are arranged on a driving shaft rotate, the first gear drives a third gear and a fourth gear to rotate, a first roller train rotates, a second gear rotates, a fifth gear rotates, a third driven shaft rotates, a sixth gear which is arranged on the third driven shaft rotates, a seventh gear and an eighth gear rotate, a ninth gear and a tenth gear rotate through rotation of the eighth gear, a fifth driven shaft and a sixth driven shaft rotate, a second roller train rotates, the first roller train and the second roller train synchronously rotate, the monorail trolley travels on a guide rail, and traveling shake of the monorail trolley is reduced by a stabilizing device. The shaking of the monorail trolley during walking is further reduced through the shaking prevention device, so that the monorail trolley is more stable during walking; through first roller train and second roller train, reduce collision and wearing and tearing between monorail trolley and the rail, make monorail trolley more stand wear and tear, improve monorail trolley's life.
The first roller group comprises a first roller fixedly arranged on the first driven shaft, a second roller fixedly arranged on the second driven shaft, a plurality of fixed blocks arranged on the first roller and the second roller in an annular array, a fixed shaft arranged on the fixed blocks, small rollers arranged at two ends of the fixed shaft, and an anti-skid belt sleeved on the first roller and the second roller, wherein the small rollers are arranged on the fixed shaft in a rolling manner; the first roller and the second roller rotate in the same direction to drive the anti-skid belts to rotate in the same direction, so that the monorail trolley can walk; the anti-skid belt is arranged in a steel structure, and the contact surface of the anti-skid belt and the steel rail increases friction force; according to the single-rail trolley, the anti-skidding belt is rotated through the rotation of the first roller and the second roller, the single-rail trolley is enabled to walk, the anti-skidding belt is in contact with the steel rail, the first roller and the second roller are prevented from being in direct contact with the steel rail, the abrasion of the first roller and the second roller is greatly reduced, the plurality of fixed blocks are arranged on the first roller and the second roller, the fixed shafts on the fixed blocks and the small rollers arranged on the fixed shafts reduce the abrasion between the first roller and the anti-skidding belt and between the second roller and the anti-skidding belt, and the service life is prolonged.
The anti-skid belt is provided with a plurality of arc-shaped grooves, and the small idler wheels are arranged in the arc-shaped grooves; avoid the anti-skidding area to rotate the in-process and drop from first gyro wheel and second gyro wheel, when making first gyro wheel and second gyro wheel rotate, can drive the anti-skidding area and rotate, dispersion gravity action makes more stand wear and tear between truckle and the anti-skidding area simultaneously.
The anti-shaking device comprises a connecting rod fixed on the hollow hanging beam, a round ball fixedly arranged on the connecting rod, a sleeve piece sleeved on the surface of the round ball and a plurality of balls arranged on the surface of the round ball; make the external member can 360 rotations through the ball, avoid connecting portion wearing and tearing, the ball surface sets up a plurality of balls simultaneously, reduces frictional force, reduces wearing and tearing.
The ball is in contact with the sleeve, and a gap is formed between the ball and the sleeve; avoid lubricating oil to be extruded connecting portion, influence lubricated effect.
The stabilizing device comprises a first telescopic rod fixedly arranged on the first wall plate, a second telescopic rod fixedly arranged on the second wall plate, a first spring sleeved on the first telescopic rod, a second spring sleeved on the second telescopic rod, a first limiting roller fixed on the first telescopic rod, a second limiting roller fixed on the second telescopic rod, a first top wheel arranged on the first limiting roller and a second top wheel arranged on the second limiting roller; through first spacing gyro wheel and the spacing gyro wheel of second, control when preventing that the monorail trolley from walking and rock, through first telescopic link and second telescopic link, make first knock roller and second knock roller withstand the rail, prevent that the monorail trolley from rocking from top to bottom, it is more stable when making the monorail trolley walk.
The invention has the following advantages: the monorail trolley can run more stably and is wear-resistant.
Drawings
FIG. 1 is a schematic view of a monorail trolley.
Fig. 2 is a side view of the first stabilizer.
Fig. 3 is a schematic side view of the stabilizing device.
Fig. 4 is a side view of the first walking device.
Fig. 5 is a schematic side view of the walking device.
Fig. 6 is a schematic structural diagram of the first roller set.
Fig. 7 is a schematic cross-sectional view of the anti-sloshing apparatus.
Fig. 8 is an enlarged view of fig. 7 at a.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
As shown in figures 1-8, a stable and wear-resistant monorail trolley comprises a first wallboard 1 and a second wallboard 2, a hollow hanging beam 3 which is positioned between the first wallboard and the second wallboard and fixed on the first wallboard and the second wallboard, a stabilizing device 4 which is arranged on the first wallboard and the second wallboard, a walking device 5 which is arranged on the first wallboard and the second wallboard, and an anti-shaking device 6 which is fixedly arranged on the hollow hanging beam, wherein the walking device 5 comprises a first fixing frame 51 which is fixedly arranged on the first wallboard, a second fixing frame 52 which is fixedly arranged on the second wallboard, a driving shaft 53 which is rotatably arranged on the first fixing frame, a first driven shaft 54 which is rotatably arranged on the first fixing frame and the first wallboard and positioned on the left side of the driving shaft, a second driven shaft 55 which is rotatably arranged on the first fixing frame and the first wallboard and positioned on the right side of the driving shaft, a first gear 56 and a second gear 57 which are fixedly arranged on the driving shaft, A third gear 58 fixed on the first driven shaft, a fourth gear 59 fixed on the second driven shaft, a motor 510 driving the driving shaft to rotate, a first roller group 520 fixed on the first driven shaft and the second driven shaft at the same time, a third driven shaft 530 penetrating the hollow hanging beam, a fifth gear 540 and a sixth gear 550 fixed on both ends of the third driven shaft, a fourth driven shaft 560 rotatably arranged on the second fixing frame, a fifth driven shaft 570 rotatably arranged on the second fixing frame and the second wall plate and positioned at the left side of the fourth driven shaft, a sixth driven shaft 580 rotatably arranged on the second fixing frame and the second wall plate and positioned at the right side of the fourth driven shaft, a seventh gear 590 and an eighth gear 5100 fixed on the fourth driven shaft, a ninth gear 5200 fixed on the fifth driven shaft, a tenth gear 5300 fixed on the sixth driving shaft, a second roller group 5400 fixed on the fifth driven shaft and the sixth driven shaft at the same time, a third roller group 520 fixed on the first driven shaft and the second driven shaft at the same time, the first shell 5500 fixedly arranged on the first wall plate and the second shell 5600 fixedly arranged on the second wall plate, wherein the first gear is meshed with a third gear and a fourth gear respectively, the second gear is meshed with a fifth gear, the seventh gear is meshed with a sixth gear, and the eighth gear is meshed with a ninth gear and a tenth gear; the motor drives the driving shaft to rotate, a first gear and a second gear which are arranged on the driving shaft rotate, the first gear drives a third gear and a fourth gear to rotate, so that a first roller train rotates, a second gear rotates to drive a fifth gear to rotate, a third driven shaft rotates, a sixth gear which is positioned on a third driven shaft rotates, a seventh gear and an eighth gear rotate, a ninth gear and a tenth gear rotate through the eighth gear, so that the fifth driven shaft and the sixth driven shaft rotate, so that a second roller train rotates, and the single-rail trolley walks on the guide rail through synchronous rotation of the first roller train and the second roller train.
Further, the first roller group 520 includes a first roller 5201 fixedly disposed on the first driven shaft, a second roller 5202 fixedly disposed on the second driven shaft, a plurality of fixing blocks 5203 annularly arranged on the first roller and the second roller, a fixing shaft 5204 disposed on the fixing blocks, small rollers 5205 disposed at two ends of the fixing shaft, and anti-slip bands sleeved on the first roller and the second roller, and the first roller group and the second roller group have the same structure; the first idler wheel and the second idler wheel rotate in the same direction to drive the anti-skid belt to rotate in the same direction, so that the monorail trolley can walk.
Further, prevent shaking device 6 including fix connecting rod 61 on hollow string roof beam 3, fixed ball 62, the cover of locating the ball surface on the connecting rod 63, locate a plurality of balls 64 on the ball surface on the electric block surface, on the electric block was fixed to be located the external member, the heavy object drove the electric block swing, through ball and external member swing joint, avoided causing the rocking to the monorail trolley. Further, the stabilizing device 4 comprises a first telescopic rod 41 fixedly arranged on the first wall plate, a second telescopic rod 42 fixedly arranged on the second wall plate, a first spring 43 sleeved on the first telescopic rod, a second spring 44 sleeved on the second telescopic rod, a first limit roller 45 fixed on the first telescopic rod, a second limit roller 46 fixed on the second telescopic rod, a first top wheel 47 arranged on the first limit roller, and a second top wheel 48 arranged on the second limit roller.

Claims (3)

1. The utility model provides a stable and stand wear and tear monorail trolley, includes first wallboard (1) and second wallboard (2), is located between first wallboard and the second wallboard and fixes hollow string roof beam (3) on first wallboard and second wallboard, locates running gear (5) on first wallboard and the second wallboard, its characterized in that: the monorail trolley further comprises a stabilizing device (4) arranged on the first wall plate and the second wall plate and an anti-shaking device (6) fixedly arranged on the hollow hanging beam, the walking device (5) comprises a first fixing frame (51) fixedly arranged on the first wall plate, a second fixing frame (52) fixedly arranged on the second wall plate, a driving shaft (53) rotatably arranged on the first fixing frame, a first driven shaft (54) rotatably arranged on the first fixing frame and the first wall plate and positioned on the left side of the driving shaft, a second driven shaft (55) rotatably arranged on the first fixing frame and the first wall plate and positioned on the right side of the driving shaft, a first gear (56) and a second gear (57) fixedly arranged on the driving shaft, a third gear (58) fixedly arranged on the first driven shaft, a fourth gear (59) fixedly arranged on the second driven shaft, a motor (510) for driving the driving shaft to rotate, Fix first roller train (520) on first driven shaft and second driven shaft simultaneously, run through third driven shaft (530) of locating on hollow string roof beam, fixed fifth gear (540) and sixth gear (550) of locating third driven shaft both ends, rotate and locate fourth driven shaft (560) on the second mount, rotate and locate on second mount and the second wallboard and be located the left fifth driven shaft (570) of fourth driven shaft, rotate and locate on second mount and the second wallboard and be located the right side of fourth driven shaft sixth driven shaft (580), fixed seventh gear (590) and eighth gear (5100) of locating on the fourth driven shaft, fixed ninth gear (5200) of locating on the fifth driven shaft, fixed tenth gear (5300) of locating on the sixth impulse shaft, fixed second roller train (5400) on fifth driven shaft and sixth driven shaft simultaneously, A first shell (5500) fixedly arranged on the first wall board and a second shell (5600) fixedly arranged on the second wall board; the first roller group (520) comprises a first roller (5201) fixedly arranged on the first driven shaft, a second roller (5202) fixedly arranged on the second driven shaft, a plurality of fixed blocks (5203) annularly arranged on the first roller and the second roller, a fixed shaft (5204) arranged on the fixed blocks, small rollers (5205) arranged at two ends of the fixed shaft, and anti-slip belts (5206) sleeved on the first roller and the second roller; the anti-shaking device (6) comprises a connecting rod (61) fixed on the hollow hanging beam (3), a round ball (62) fixedly arranged on the connecting rod, a kit (63) sleeved on the surface of the round ball, and a plurality of balls (64) arranged on the surface of the round ball; the stabilizing device (4) comprises a first telescopic rod (41) fixedly arranged on the first wall plate, a second telescopic rod (42) fixedly arranged on the second wall plate, a first spring (43) sleeved on the first telescopic rod, a second spring (44) sleeved on the second telescopic rod, a first limiting roller (45) fixed on the first telescopic rod, a second limiting roller (46) fixed on the second telescopic rod, a first top wheel (47) arranged on the first limiting roller and a second top wheel (48) arranged on the second limiting roller.
2. A stable and abrasion resistant monorail trolley according to claim 1, wherein: the anti-slip belt is provided with a plurality of arc grooves, and the small idler wheels are arranged in the arc grooves.
3. A stable and abrasion resistant monorail trolley according to claim 1, wherein: the ball contacts with the external member, and a gap is arranged between the ball and the external member.
CN202010365308.1A 2019-06-25 2019-06-25 Stable and stand wear and tear monorail trolley Active CN111532982B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010365308.1A CN111532982B (en) 2019-06-25 2019-06-25 Stable and stand wear and tear monorail trolley

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010365308.1A CN111532982B (en) 2019-06-25 2019-06-25 Stable and stand wear and tear monorail trolley
CN201910554987.4A CN110271962B (en) 2019-06-25 2019-06-25 Monorail trolley

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201910554987.4A Division CN110271962B (en) 2019-06-25 2019-06-25 Monorail trolley

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CN111532982A true CN111532982A (en) 2020-08-14
CN111532982B CN111532982B (en) 2021-10-08

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CN202010365308.1A Active CN111532982B (en) 2019-06-25 2019-06-25 Stable and stand wear and tear monorail trolley
CN201910554987.4A Active CN110271962B (en) 2019-06-25 2019-06-25 Monorail trolley

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115490147A (en) * 2022-11-10 2022-12-20 河南米科智能制造有限公司 Safe explosion-proof electric block

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0620179A1 (en) * 1993-04-13 1994-10-19 MANNESMANN Aktiengesellschaft Trolley, in particular monorail trolley with reduced height
DE10261843A1 (en) * 2002-12-20 2005-03-31 Technische Entwicklungen Dr. Becker Gmbh Undercarriage for supports of double T-profiled section has drive unit loading one side and with single roller rolling along on lower flange close to web of support
WO2008076500A2 (en) * 2006-10-24 2008-06-26 3M Innovative Properties Company Stock roll direct load system
CN202785317U (en) * 2012-06-21 2013-03-13 徐州苏煤矿山设备制造有限公司 Toothed rail drive device for mineral monorail crane
CN104995122A (en) * 2013-01-25 2015-10-21 三星重工业有限公司 Trolley
CN204737614U (en) * 2015-03-31 2015-11-04 浙江冠林机械有限公司 Monorail trolley
CN207774638U (en) * 2017-12-15 2018-08-28 山东华恒矿业有限公司 A kind of underground pulls monorail crane locomotive
CN207890921U (en) * 2018-01-26 2018-09-21 南通杰品起重设备有限公司 A kind of boom hoisting for overhead traveling crane

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Publication number Priority date Publication date Assignee Title
CN202643109U (en) * 2012-05-16 2013-01-02 江苏佳力起重机械制造有限公司 Double-shaft driving trolley
KR20140032234A (en) * 2012-09-06 2014-03-14 (주)호이스트앤크레인 A overhead travelling crane system
CN104787674B (en) * 2015-03-31 2017-05-03 浙江冠林机械有限公司 Monorail trolley and using method thereof

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0620179A1 (en) * 1993-04-13 1994-10-19 MANNESMANN Aktiengesellschaft Trolley, in particular monorail trolley with reduced height
DE10261843A1 (en) * 2002-12-20 2005-03-31 Technische Entwicklungen Dr. Becker Gmbh Undercarriage for supports of double T-profiled section has drive unit loading one side and with single roller rolling along on lower flange close to web of support
WO2008076500A2 (en) * 2006-10-24 2008-06-26 3M Innovative Properties Company Stock roll direct load system
CN202785317U (en) * 2012-06-21 2013-03-13 徐州苏煤矿山设备制造有限公司 Toothed rail drive device for mineral monorail crane
CN104995122A (en) * 2013-01-25 2015-10-21 三星重工业有限公司 Trolley
CN204737614U (en) * 2015-03-31 2015-11-04 浙江冠林机械有限公司 Monorail trolley
CN207774638U (en) * 2017-12-15 2018-08-28 山东华恒矿业有限公司 A kind of underground pulls monorail crane locomotive
CN207890921U (en) * 2018-01-26 2018-09-21 南通杰品起重设备有限公司 A kind of boom hoisting for overhead traveling crane

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115490147A (en) * 2022-11-10 2022-12-20 河南米科智能制造有限公司 Safe explosion-proof electric block

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Publication number Publication date
CN111532982B (en) 2021-10-08
CN110271962A (en) 2019-09-24
CN110271962B (en) 2020-07-14

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