CN113443424A - Limiting device and hoisting and conveying mechanism - Google Patents
Limiting device and hoisting and conveying mechanism Download PDFInfo
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- CN113443424A CN113443424A CN202110715546.5A CN202110715546A CN113443424A CN 113443424 A CN113443424 A CN 113443424A CN 202110715546 A CN202110715546 A CN 202110715546A CN 113443424 A CN113443424 A CN 113443424A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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Abstract
The invention discloses a limiting device and a hoisting conveying mechanism, wherein the limiting device is applied to the hoisting conveying mechanism and is provided with a first direction and a second direction crossed with the first direction; the limiting assembly is movably arranged on the base in the direction close to and far away from the workpiece taking station, and is used for lifting a workpiece to the workpiece taking station through the lifting assembly, facing the workpiece taking station to move so as to limit the workpiece to move in the first direction and the second direction. When the workpiece is hoisted to the workpiece taking station, the workpiece can be quickly limited, the workpiece is prevented from shifting, and the workpiece is ensured to be at the set position, so that the robot can conveniently grab the workpiece.
Description
Technical Field
The invention relates to the technical field of conveying equipment, in particular to a limiting device and a hoisting conveying mechanism.
Background
The conveyer is used for carrying out the equipment of carrying out the automobile work piece, the appearance of conveyer, very big improvement the production efficiency of automobile work piece, current conveyer is after hoist the work piece to getting a station by last work station, can stop the conveyer, wait that the robot tongs of next process will be located the work piece of getting a station and grab away the back, restart and carry next work piece to getting a station, because in the work piece conveying process, the conveyer regularly stops, and the work piece can shift because of inertial effect, reach and get a station after, the deviation appears in the position that the work piece is actual and the position that predetermines, the robot tongs can't be centering with the locating hole of work piece, lead to snatching the failure.
Disclosure of Invention
The invention mainly aims to provide a limiting device and a hoisting conveying mechanism, and aims to solve the problem that the position of a workpiece on the conveying mechanism is deviated in the frequent starting process of the existing conveyor, so that the grabbing of a robot gripper fails.
In order to achieve the above object, the present invention provides a limiting device applied to a hoisting conveying mechanism, wherein the limiting device has a first direction and a second direction crossing the first direction, and the limiting device includes:
the base is provided with a workpiece taking station; and the number of the first and second groups,
the limiting assembly is close to and far away from the workpiece taking station and movably mounted on the base in the direction, and the limiting assembly is used for lifting the workpiece to the workpiece taking station and moving towards the workpiece taking station to limit the movement of the workpiece in the first direction and the second direction.
Optionally, the limiting assembly comprises:
the first limiting assembly is arranged on one side of the workpiece taking station and movably arranged in the direction close to and far away from the workpiece taking station so as to abut against the side part of the workpiece in the first direction when the first limiting assembly is close to the workpiece taking station, so that the movement of the workpiece in the first direction is limited; and the number of the first and second groups,
the second limiting assembly is movably arranged in the direction close to and far away from the workpiece taking station, so that when the second limiting assembly is close to the workpiece taking station, the second limiting assembly is abutted to the side part of the workpiece in the second direction to limit the movement of the workpiece in the second direction.
Optionally, the first limiting assembly includes two limiting members, the two limiting members are disposed at intervals in the first direction and located at two sides of the workpiece taking station, and the two limiting members are movably disposed in the second direction, so that when the two limiting members are close to the workpiece taking station in the second direction, the two limiting members are respectively abutted to two opposite side portions of the workpiece in the first direction.
Optionally, the second limiting assembly includes two clamping arms, each clamping arm has a clamping side facing the workpiece taking station, the two clamping arms are arranged at intervals along the second direction and are respectively located at two sides of the workpiece taking station, at least one of the two clamping arms is movably arranged along the second direction, so that when the two clamping arms approach each other, the two clamping sides are used for abutting against two opposite side portions of the workpiece.
Optionally, one end of each of the two clamping arms is rotatably mounted on the base along the first direction axis, so that the other end of each of the two clamping arms is close to or away from each other, and the second limiting assembly further comprises a driving mechanism for driving the two clamping arms to rotate.
Optionally, the driving mechanism includes two driving cylinders, and the two driving cylinders are respectively connected to the two clamping arms to drive the two clamping arms to successively abut against the side portion of the workpiece.
Optionally, the two limiting members are disposed on one of the clamping arms and protrude from the clamping side in a direction toward the pickup station, so that when the clamping arm moves toward the pickup station, the clamping arm drives the two limiting members to move toward the pickup station.
Optionally, the limiting assemblies are arranged in a plurality, and the limiting assemblies are arranged at intervals along the first direction.
The invention also provides a hoisting conveying mechanism which comprises a hoisting assembly and the limiting device in the technical scheme, wherein the hoisting conveying mechanism is provided with a workpiece loading station, the workpiece loading station and the workpiece taking station are arranged at intervals along the first direction, and the hoisting assembly is used for hoisting a workpiece from the workpiece loading station to the workpiece taking station.
Optionally, the hoisting conveying mechanism further comprises a detection assembly, the detection assembly is arranged above the workpiece taking station, and the detection assembly is used for detecting position information of the hoisting assembly located at the workpiece taking station.
According to the technical scheme, the limiting device comprises a base and a limiting assembly, the base is provided with a workpiece taking station, the limiting assembly is movably mounted on the base in a direction close to and far away from the workpiece taking station, when the workpiece is hoisted to the workpiece taking station by the hoisting conveying mechanism, the limiting assembly moves towards the direction of the workpiece taking station to be matched with the workpiece, and therefore the purpose of limiting the workpiece to move in the first direction and the second direction is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic perspective view of an embodiment of a position limiting device of the present invention;
FIG. 2 is a schematic front view of the spacing device and detection assembly of FIG. 1;
FIG. 3 is a perspective view of the stop assembly of FIG. 1;
FIG. 4 is a schematic front view of the stop assembly of FIG. 3;
fig. 5 is a schematic perspective view of a conveying mechanism according to an embodiment of the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | |
221 | |
| 1 | |
2211 | Connecting |
| 2 | |
2212 | |
| 21 | |
222 | |
| 211 | |
200 | |
| 22 | Second limiting |
300 | Detection assembly |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
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, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The conveyer is used for carrying out the equipment of carrying out the automobile work piece, the appearance of conveyer, very big improvement the production efficiency of automobile work piece, current conveyer is after hoist the work piece to getting a station by last work station, can stop the conveyer, wait that the robot tongs of next process will be located the work piece of getting a station and grab away the back, restart and carry next work piece to getting a station, because in the work piece conveying process, the conveyer regularly stops, and the work piece can shift because of inertial effect, reach and get a station after, the deviation appears in the position that the work piece is actual and the position that predetermines, the robot tongs can't be centering with the locating hole of work piece, lead to snatching the failure.
In view of this, the present invention provides a limiting device, which aims to solve the problem that the position of a workpiece on a conveying mechanism is shifted during the frequent start of an existing conveyor, which causes the gripping failure of a robot gripper, and fig. 1 to 4 show an embodiment of the limiting device provided by the present invention, and fig. 5 shows an embodiment of the conveying mechanism provided by the present invention.
Referring to fig. 1 to 2, the limiting device 100 is applied to a hoisting conveying mechanism, the limiting device 100 has a first direction and a second direction crossing the first direction, the limiting device 100 includes a base 1 and a limiting assembly 2, the base 1 has a workpiece taking station; spacing subassembly 2 is being close to and keeping away from get a direction movably install in base 1, spacing subassembly 2 is used for hoisting the work piece extremely when getting a station, towards get a station activity, with the restriction work piece edge first direction with the second direction activity.
According to the technical scheme, when the hoisting assembly 200 in the hoisting conveying mechanism hoists the workpiece to the workpiece taking station, the limiting assembly 2 moves towards the workpiece taking station to be matched with the workpiece, so that the purpose of limiting the movement of the workpiece in the first direction and the second direction is achieved, the limiting assembly 2 is arranged, when the workpiece is hoisted to the workpiece taking station, the workpiece can be quickly limited, the workpiece is prevented from shifting, the workpiece is ensured to be in a set position, and therefore the robot can conveniently grab the workpiece.
Specifically, referring to fig. 3 to 4, the specific form of the limiting assembly 2 is not limited as long as the workpiece can be limited to move in the first direction and the second direction at the workpiece taking station, in this embodiment, the limiting assembly 2 includes a first limiting assembly 21 and a second limiting assembly 22, the first limiting assembly 21 is disposed at one side of the workpiece taking station and is movably disposed in a direction close to and away from the workpiece taking station, so as to abut against a side portion of the workpiece in the first direction when the workpiece taking station is close to the workpiece taking station, so as to limit the movement of the workpiece in the first direction; the second limiting assembly 22 is movably arranged in the direction close to and far away from the workpiece taking station, so that when the second limiting assembly is close to the workpiece taking station, the second limiting assembly is abutted to the side part of the workpiece in the second direction to limit the movement of the workpiece in the second direction. So set up, neither interfering the condition of work piece hoist and mount, can carry on spacingly to the work piece fast.
Further, the first limiting component 21 includes two limiting members 211, the two limiting members 211 are arranged at intervals along the first direction and are located at two sides of the workpiece taking station, and the two limiting members 211 are movably arranged along the second direction, so that when the two limiting members 211 are close to the workpiece taking station along the second direction, the two limiting members 211 are used for being abutted to two opposite side portions of the workpiece in the first direction respectively.
Further, the second limiting assembly 22 includes two clamping arms 221, each clamping arm 221 has a clamping side disposed toward the workpiece taking station, the two clamping arms 221 are disposed at intervals along the second direction and are respectively located at two sides of the workpiece taking station, at least one of the two clamping arms 221 is movably disposed along the second direction, so that when the two clamping arms 221 approach each other, the two clamping sides are used for abutting against two opposite side portions of the workpiece.
One end of each of the two clamping arms 221 is rotatably mounted on the base 1 along the first direction axis, so that the other ends of the two clamping arms 221 are close to or far away from each other, and the second limiting assembly 22 further includes a driving mechanism 222, wherein the driving mechanism 222 is configured to drive the two clamping arms 221 to rotate. So set up, can reduce the volume of device, save space.
Specifically, the driving mechanism 222 includes two driving cylinders, and the two driving cylinders are respectively connected to the two clamping arms 221 to drive the two clamping arms 221 to abut against the side of the workpiece. When the workpiece is hoisted to the workpiece taking station during specific use, one of the clamping arms 221 firstly moves towards the workpiece direction and is abutted and limited with the side face of the workpiece, and then the other clamping arm 221 moves towards the workpiece direction and is abutted and limited with the other side face of the workpiece and clamps and fixes the workpiece.
The driving cylinder may be a pressure arm cylinder, the pressure arm cylinder has an output shaft extending along the first direction, the output shaft is rotatably disposed along the axis of the first direction, and the output shaft is fixedly connected to the clamping arm 221 so as to drive the clamping arm 221 to rotate through the output shaft.
Further, the clamping arm 221 includes a connecting arm 2211 and a clamping piece 2212, one end of the connecting arm 2211 is connected to the output shaft, the clamping piece 2212 is provided with a clamping side facing the piece taking station, and the clamping piece 2212 is mounted to the other end of the connecting arm 2211 through a screw and a positioning pin.
The clamping arm 221 is further provided with an elastic member, the elastic member is arranged between the clamping member 2212 and the connecting arm 2211, and two ends of the elastic member are respectively abutted against the clamping member 2212 and the connecting arm 2211, so that the clamping member 2212 is elastically arranged in the second direction, and thus, when the clamping member 2212 is abutted against a workpiece, a certain buffering amount is reserved, and the workpiece is prevented from being damaged due to clamping of the clamping member 2212.
Since the structures of different types of workpieces are different, in order to perform the limiting in the second direction on a plurality of different types of workpieces, the clamping piece 2212 is movably mounted at the other end of the connecting arm 2211 along the length direction of the connecting arm 2211, so that the position of the clamping piece 2212 in the length direction of the connecting arm 2211 can be adjusted, and thus the clamping piece 2212 can be adjusted correspondingly according to the types of the workpieces.
The connecting arm 2211 is provided with a plurality of installation parts along the length direction interval, the clamping piece 2212 is provided with the complex cooperation portion of installation part, the clamping piece 2212 can select the difference the installation part installation, so that the clamping piece 2212 is in the position is adjustable on the connecting arm 2211 length direction.
In this embodiment, the mounting portion includes threaded holes that are spaced apart along the length of the connecting arm 2211; the clamping piece 2212 is provided with a screw matched with the threaded hole, and the clamping piece 2212 can be installed by selecting different threaded holes, so that the position of the clamping piece 2212 in the length direction of the connecting arm 2211 can be adjusted.
The adjusting manner of the clamping member 2212 may also be that the connecting arm 2211 is provided with a sliding groove along the length direction, the sliding groove is in a T-shaped configuration, the clamping member 2212 is provided with a sliding block adapted to the sliding groove, the sliding block is slidably mounted in the sliding groove, and the sliding block is further provided with a locking screw facing the bottom of the sliding groove, and after the sliding block slides to a required position, the sliding block is abutted against the bottom of the sliding groove by the locking screw to fix the sliding block.
In some embodiments, the two position-limiting members 211 are disposed on one of the clamping arms 221, and protrude from the clamping side in a direction toward the picking station, so that when the clamping arm 221 moves toward the picking station, the clamping arm 221 drives the two position-limiting members 211 to move toward the picking station. That is, the two limiting members 211 are mounted on the connecting arm 2211 and/or the clamping member 2212, and in the direction toward the clamping station, the two limiting members 211 are arranged to protrude from the clamping member 2212, when the clamping arm 221 moves toward the workpiece, the two limiting members 211 are firstly abutted against the side portion of the workpiece along the first direction, and then the clamping arm 221 is abutted against the side portion of the workpiece along the second direction, so that the clamping arm 221 and the two limiting members 211 can be driven to move simultaneously by one driving mechanism 222, the number of driving mechanisms 222 is reduced, and the cost is saved.
Specifically, in order to limit workpieces of different types in the first direction, the two limiting members 211 can be adjustably arranged in the vertical direction, so that the positions of the limiting members 211 can be adjusted according to workpieces of different shapes.
In this embodiment, the limiting member 211 is mounted on the clamping member 2212, so that the movement of the limiting member 211 is driven by the movement of the clamping member 2212 along the length direction of the connecting arm 2211; or, the connecting arm 2211 is provided with a plurality of connecting portions, and is a plurality of the connecting portion are followed connecting arm 2211 length direction interval is laid, the locating part 211 be equipped with connecting portion complex connection cooperation portion, the locating part 211 can select differently according to the in service behavior the connecting portion installation, make the locating part 211 can be adjustable from top to bottom.
In order to accurately limit a workpiece, the limiting assemblies 2 are provided in plurality, the limiting assemblies 2 are arranged at intervals along the first direction, and the limiting assemblies 2 can limit the workpiece at different positions to achieve a better limiting effect.
Specifically, the limiting component 2 is movably mounted on the base 1 along the first direction, so that the limiting component 2 can be adjustably arranged in the first direction, and the position of the limiting component can be adjusted according to actual use conditions, so that the device is suitable for more different models, and the use range is enlarged.
Further, the limiting assembly 2 further comprises a mounting seat, the two clamping arms 221 are rotatably mounted on the mounting seat along the axis of the first direction, a threaded hole is formed in the mounting seat along the first direction, the limiting device 100 further comprises a lead screw, the lead screw is rotatably mounted on the base 1, the lead screw extends along the first direction, the lead screw is in threaded fit with the mounting seat, the lead screw drives the mounting seat to move along the first direction through rotation, and therefore the position of the limiting assembly 2 in the first direction is adjusted.
Furthermore, the specific form of driving the screw rod to rotate is not limited, and may be a manual driving manner, that is, the limiting device 100 further includes a hand wheel, and the hand wheel is connected with one end of the screw rod. Or, the electric control driving mode may be adopted, that is, the limiting device 100 further includes a driving motor, and the driving motor is connected with one end of the screw rod.
In this embodiment, since the workpiece is integrally disposed in a T shape, the two limiting members 211 may be disposed on the clamping arms 221 of the two sets of second limiting members 22, respectively, so as to limit two sides of the workpiece along the first direction.
Referring to fig. 5, the invention further provides a hoisting conveying mechanism, which includes a hoisting assembly 200 and the limiting device 100 in the above technical scheme, the hoisting conveying mechanism has a workpiece loading station, the workpiece loading station and the workpiece taking station are arranged at intervals along the first direction, and the hoisting assembly 200 is used for hoisting a workpiece from the workpiece loading station to the workpiece taking station. When the workpiece picking device is used specifically, a workpiece is hung on the hoisting assembly 200 at the workpiece loading position, then the hoisting assembly 200 hoists the workpiece to the workpiece picking position, the first limiting assembly 21 and the second limiting assembly 22 move towards the workpiece direction respectively to limit the workpiece, after the robot gripper correctly grips the workpiece, the first limiting assembly 21 and the second limiting assembly 22 move towards the direction far away from the workpiece respectively to remove the limitation on the workpiece, and the robot gripper moves the workpiece to the next process.
Specifically, hoist and mount conveying mechanism still includes detection module 300, detection module 300 locates it gets a station top, detection module 300 is used for detecting and is located get a station hoist and mount module 200's positional information.
Further, hoist and mount subassembly 200 includes the edge the locating pin that the second direction extends the setting, the locating pin be used for with the through-hole cooperation on the work piece, in order to pass through locating pin hoist and mount work piece, detection component 300 includes support and axle sleeve, support fixed mounting in base 1, the support be provided with the through-hole of axle sleeve looks adaptation hoist and mount subassembly 200 is located when getting a station and stopping, the axle sleeve passes the through-hole with the locating pin cooperation, work as the axle sleeve can overlap and locate when the locating pin periphery, then the position of locating pin is in the preset position, work as the axle sleeve can't overlap and locate when the locating pin periphery, then judge the locating pin has skew the preset position needs artifical manual regulation the position of locating pin. So set up, can short-term test the position of locating pin to whole device simple structure, easily operation, low cost.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a stop device, is applied to hoist and mount conveying mechanism, its characterized in that, stop device have the first direction and with the second direction of first direction cross arrangement, stop device includes:
the base is provided with a workpiece taking station; and the number of the first and second groups,
the limiting assembly is close to and far away from the workpiece taking station and movably mounted on the base in the direction, and the limiting assembly is used for lifting the workpiece to the workpiece taking station and moving towards the workpiece taking station to limit the movement of the workpiece in the first direction and the second direction.
2. The spacing device of claim 1, wherein said spacing assembly comprises:
the first limiting assembly is arranged on one side of the workpiece taking station and movably arranged in the direction close to and far away from the workpiece taking station so as to abut against the side part of the workpiece in the first direction when the first limiting assembly is close to the workpiece taking station, so that the movement of the workpiece in the first direction is limited; and the number of the first and second groups,
the second limiting assembly is movably arranged in the direction close to and far away from the workpiece taking station, so that when the second limiting assembly is close to the workpiece taking station, the second limiting assembly is abutted to the side part of the workpiece in the second direction to limit the movement of the workpiece in the second direction.
3. The position-limiting device as claimed in claim 2, wherein the first position-limiting component includes two position-limiting members, two of the position-limiting members are spaced along the first direction and located at two sides of the workpiece-taking station, and the two position-limiting members are movably arranged along the second direction, so that when the position-limiting device approaches the workpiece-taking station along the second direction, the two position-limiting members are respectively abutted against two opposite side portions of the workpiece in the first direction.
4. A spacing device according to claim 2, wherein said second spacing assembly includes two clamping arms, each of said clamping arms having a clamping side disposed towards said workpiece-removing station, said two clamping arms being spaced apart in said second direction and disposed respectively on opposite sides of said workpiece-removing station, at least one of said two clamping arms being movably disposed in said second direction for abutment with opposite sides of a workpiece when said two clamping arms are brought into proximity with each other.
5. The spacing device of claim 4 wherein one end of each of said two gripping arms is pivotally mounted to said base along said first directional axis such that the other end of each of said two gripping arms is closer to or farther away from each other, said second spacing assembly further comprising a drive mechanism for rotationally driving said two gripping arms.
6. The limiting device according to claim 5, wherein the driving mechanism comprises two driving cylinders, and the two driving cylinders are respectively connected with the two clamping arms so as to drive the two clamping arms to abut against the side portions of the workpiece successively.
7. A spacing device according to claim 3 or 4, wherein two of said spacing members are provided on one of said clamping arms and project beyond said clamping side in a direction towards said picking station, such that when said clamping arms are moved towards said picking station, said clamping arms move said two spacing members towards said picking station.
8. The spacing device of claim 1 wherein said spacing assembly is provided in a plurality, said plurality of spacing assemblies being spaced apart along said first direction.
9. The hoisting conveying mechanism is characterized by comprising a hoisting assembly and the limiting device as recited in any one of claims 1 to 8, wherein the hoisting conveying mechanism is provided with a workpiece loading station, the workpiece loading station and the workpiece taking station are arranged at intervals along the first direction, and the hoisting assembly is used for hoisting a workpiece from the workpiece loading station to the workpiece taking station.
10. The lifting conveying mechanism according to claim 9, further comprising a detection assembly disposed above the pickup station, the detection assembly being configured to detect positional information of the lifting assembly at the pickup station.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110715546.5A CN113443424B (en) | 2021-06-25 | 2021-06-25 | Limiting device and hoisting conveying mechanism |
| PCT/CN2022/080968 WO2022267567A1 (en) | 2021-06-25 | 2022-03-15 | Limiting apparatus and hoisting conveying mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110715546.5A CN113443424B (en) | 2021-06-25 | 2021-06-25 | Limiting device and hoisting conveying mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN113443424A true CN113443424A (en) | 2021-09-28 |
| CN113443424B CN113443424B (en) | 2023-06-30 |
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| CN202110715546.5A Active CN113443424B (en) | 2021-06-25 | 2021-06-25 | Limiting device and hoisting conveying mechanism |
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| WO (1) | WO2022267567A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022267567A1 (en) * | 2021-06-25 | 2022-12-29 | 东风柳州汽车有限公司 | Limiting apparatus and hoisting conveying mechanism |
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| WO2022267567A1 (en) | 2022-12-29 |
| CN113443424B (en) | 2023-06-30 |
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