CN113530262B - Traction device for mounting circular steel tube truss hollow rod piece and using method - Google Patents
Traction device for mounting circular steel tube truss hollow rod piece and using method Download PDFInfo
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- CN113530262B CN113530262B CN202110984575.1A CN202110984575A CN113530262B CN 113530262 B CN113530262 B CN 113530262B CN 202110984575 A CN202110984575 A CN 202110984575A CN 113530262 B CN113530262 B CN 113530262B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/18—Adjusting tools; Templates
- E04G21/1841—Means for positioning building parts or elements
- E04G21/185—Means for positioning building parts or elements for anchoring elements or elements to be incorporated in the structure
Abstract
The invention discloses a traction device for mounting a circular steel tube truss blank filling rod piece and a using method thereof. The invention can realize the accurate installation of the designed size of the hollow rod piece, shorten the construction period, eliminate the hidden trouble of engineering and have better economy.
Description
Technical Field
The invention belongs to the field of civil engineering, and particularly relates to a traction device for mounting a circular steel tube truss blank filling rod piece and a use method.
Background
In actual engineering, the influence of an installation process and closure temperature is considered, and after the circular steel tube truss is installed in place, the rod piece filling problem usually exists. Especially for the tubular steel trusses which are connected in a penetrating way, the connecting surfaces of the branch pipes of the tubular steel trusses are saddle-shaped, so that the installation of the hollow rod pieces of the adjacent tubular steel trusses is extremely difficult. The traditional mode of shortening blanking length of the filling-in rod piece is often adopted, namely, the shortage of the length of the filling-in rod piece is made up or eccentric filling is carried out in a node area through build-up welding. Therefore, field installation and design are inconsistent, and meanwhile, hidden dangers are buried for engineering safety.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the traction device for mounting the circular steel tube truss gap filling rod piece and the use method thereof, so that the precise mounting of the design size of the gap filling rod piece and the shortening of the construction period can be realized, the engineering hidden danger is eliminated, and the economic efficiency is better.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the utility model provides a draw gear for installing circular steel tube truss mends empty member, includes L shape armed lever, two keep away from the one end of forearm just to setting up on the L shape armed lever, two be provided with rotatory wind-up device between the one end of keeping away from the forearm on the L shape armed lever, two the one end of keeping away from the long arm on the L shape armed lever and the intersection of long arm and forearm all are provided with the pulley, the winding has two haulage ropes, and two on the rotatory wind-up device the winding opposite direction of haulage rope, wherein, one is walked around one in proper order to the free end of haulage rope two on the L shape armed lever pulley, another one is walked around in proper order to the free end of haulage rope two on the L shape armed lever the pulley, two the free end of haulage rope is used for connecting the person in charge of just two circular steel tube trusses that set up respectively.
Further, the pull rope loop comprises a buckle, and the buckle is used for knotting the free end of the pull rope and the pull rope to form a loop.
The box body is arranged between one ends, far away from the short arms, of the two L-shaped arm rods, one ends, far away from the short arms, of the two L-shaped arm rods are connected with the box body respectively, the rotary winding device is arranged in the box body, and the free ends of the two traction ropes penetrate out of the box body.
Furthermore, one ends of the two L-shaped arm rods, which are far away from the short arm, are connected with the box body through flanges.
Further, the two L-shaped arm rods are rigid rods.
Furthermore, the two hauling ropes are both steel wire ropes.
The use method of the traction device for installing the hollow rod piece of the circular steel tube truss comprises the following steps:
the long arm of one L-shaped arm rod is erected on a main pipe of one round steel pipe truss, and the long arm of the other L-shaped arm rod is erected on a main pipe of the other round steel pipe truss;
connecting the free end of one traction rope to the main pipe of one circular steel tube truss, and connecting the free end of the other traction rope to the main pipe of the other circular steel tube truss;
the control rotatory wind device is to tightening up two the direction of haulage rope is rotatory, two the haulage rope is corresponding respectively with the person in charge of two circular steel tube trusses to opposite direction pulling under the guide effect of pulley, when the distance that pulls between two person in charge satisfies when stretching into the benefit empty member, installs the benefit empty member, and after the installation was accomplished, control rotatory wind device is rotatory to opposite direction, and two person in charge resume to initial position.
Furthermore, when a long arm of the L-shaped arm rod is erected on a main pipe of a circular steel pipe truss, the central line of a pulley at one end, far away from the long arm, of the L-shaped arm rod is adjusted to be on the same plane with the axis of the main pipe;
when the long arm of the other L-shaped arm rod is erected on the main pipe of the other round steel pipe truss, the central line of the pulley at one end, far away from the long arm, of the L-shaped arm rod is adjusted to be on the same plane with the axis of the main pipe.
Furthermore, the free end of the hauling rope and the hauling rope are knotted into a ring by a buckle and then sleeved on the main pipe.
Furthermore, after the long arm of one L-shaped arm rod is erected on the main pipe of one circular steel pipe truss and the long arm of the other L-shaped arm rod is erected on the main pipe of the other circular steel pipe truss, the rotary winding device is located in the middle between the two main pipes and is close to the vicinity of the node area of the filling-in rod piece.
Compared with the prior art, the invention at least has the following beneficial effects: when the traction device is used, firstly, the long arm of one L-shaped arm rod is erected on the main pipe of one round steel pipe truss, the long arm of the other L-shaped arm rod is erected on the main pipe of the other round steel pipe truss, and the main pipe is utilized to support the L-shaped arm rod; then, connecting the free end of one traction rope to the main pipe of one circular steel pipe truss, and connecting the free end of the other traction rope to the main pipe of the other circular steel pipe truss; finally, the direction that the rotatory wind device of control was to tightening up two haulage ropes is rotatory, two haulage ropes are respectively with the person in charge of two circular steel tube trusses to opposite direction pulling under the guide effect of the pulley that corresponds, during the pulling, two circular steel tube trusses displacement in opposite directions, when the distance that stimulates between two person in charge satisfies when stretching into the benefit empty member, when the control of circular steel tube truss side direction slip volume can insert the person in charge smoothly with benefit empty member saddle shape tip promptly, accomplish the installation condition of benefit empty member so far, install the benefit empty member. Compared with the traditional installation method, the invention can realize the accurate installation of the designed size of the blank filling rod piece, shorten the construction period and eliminate the engineering hidden trouble without shortening the blanking length of the blank filling rod piece.
Furthermore, the invention also comprises a buckle, the free end of the traction rope and the traction rope are knotted into a ring by the buckle, the traction rope can be conveniently and quickly connected to the main pipe, and the efficiency is improved.
Furthermore, the invention also comprises a box body, the rotary winding device is arranged in the box body, the free ends of the two traction ropes penetrate out of the box body, and the box body not only plays a role in protecting the rotary winding device, but also is convenient for connecting the two L-shaped arm rods.
Furthermore, the end, far away from the short arm, of each of the two L-shaped arm rods is connected with the box body through a flange, and the two L-shaped arm rods are convenient and quick to connect and detach.
Furthermore, the two L-shaped arm rods are rigid rods, so that the strength and rigidity in traction are ensured.
Furthermore, the two traction ropes are steel wire ropes, so that reliable traction and low cost are ensured.
The use method of the traction device for installing the circular steel tube truss hollow-out member is convenient and quick to operate, accurate installation of the hollow-out member in design size and shortening of the construction period can be achieved without shortening the blanking length of the hollow-out member, engineering hidden dangers are eliminated, and the traction device is simple in structure and structure, reasonable in design, reliable in force transmission, easy to operate and good in economical efficiency.
Furthermore, when a long arm of an L-shaped arm rod is erected on a main pipe of a circular steel pipe truss, the central line of a pulley at one end of the L-shaped arm rod, which is far away from the long arm, is adjusted to be on the same plane with the axis of the main pipe; when the long arm of the other L-shaped arm rod is erected on the main pipe of the other round steel pipe truss, the central line of the pulley at one end, far away from the long arm, of the L-shaped arm rod is adjusted to be on the same plane with the axis of the main pipe, so that the traction rope can be kept horizontal during traction, and the main pipe is stably and evenly stressed.
Furthermore, after the long arm of one L-shaped arm rod is erected on the main pipe of one circular steel pipe truss and the long arm of the other L-shaped arm rod is erected on the main pipe of the other circular steel pipe truss, the rotary winding device is located in the middle between the two main pipes and close to the node area of the hollow filling rod piece, and therefore bending deformation of the main pipe can be reduced as much as possible.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 shows a traction device for installing a circular steel tube truss blank filling rod piece.
In the figure: 1-L-shaped arm; 2-rotating the winding device; 3-a pulley; 4-a hauling rope; 5-a round steel pipe truss; 501-main pipe; 6-buckling; 7-a box body; 8-filling the empty rod.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. 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.
As shown in fig. 1, after the circular steel pipe trusses 5 are installed in place, the blank supplement rod 8 needs to be installed between two main pipes 501 which are close to each other on two adjacent circular steel pipe trusses 5, but because the end of the blank supplement rod 8 is a saddle-shaped cutting surface (the size of the saddle-shaped cutting surface depends on the diameters of the main pipes and the blank supplement rod), the installation of the blank supplement rod 8 between two adjacent main pipes 501 is extremely difficult, and therefore, the purpose of the present invention is to make the installation of the blank supplement rod 8 easy.
The round steel pipe truss 5 which can be applied in the invention is a plane truss or a three-dimensional truss, the main pipe and the branch pipes of the truss are round steel pipes, and the pipe pipes are connected in a penetration manner.
As an embodiment of the present invention, as shown in fig. 1, a traction device for installing a round steel pipe truss blank filling rod comprises L-shaped arm rods 1, and preferably, both L-shaped arm rods 1 are rigid rods. Keep away from the one end of short arm just to setting up on two L shape armed levers 1, the long arm of two L shape armed levers 1 is located same straight line, be provided with rotatory wind-up device 2 between the one end of keeping away from the short arm on two L shape armed levers 1, the one end of keeping away from the long arm on two L shape armed levers 1 and the intersection of long arm and short arm all are provided with pulley 3, the winding has two haulage ropes 4 on the rotatory wind-up device 2, and the winding opposite direction of two haulage ropes 4, and is preferred, two haulage ropes 4 are wire rope. Wherein, two pulleys 3 on one L shape armed lever 1 are walked around in proper order to the free end of a haulage rope 4, and two pulleys 3 on another L shape armed lever 1 are walked around in proper order to the free end of another haulage rope 4, and the free end of two haulage ropes 4 is used for connecting the main pipe 501 just to two circular steel tube trusses 5 that set up respectively.
In this embodiment, each L-shaped arm 1 is a groove-shaped combined cross section, the gap thereof is equal to the thickness of the pulley 3, and the pulley 3 is connected with the L-shaped arm 1 through a pin.
Preferably, the traction of the rotary winding device 2 is an automatic control device and has double control functions of traction force and displacement.
As a preferred embodiment, the traction device for installing the round steel tube truss blank filling rod piece further comprises a box body 7, the box body 7 is arranged between one ends, far away from the short arm, of the two L-shaped arm rods 1, one ends, far away from the short arm, of the two L-shaped arm rods 1 are respectively connected with the box body 7, and preferably, one ends, far away from the short arm, of the two L-shaped arm rods 1 are connected with the box body 7 through flanges. Set up rotatory wind 2 in box 7, box 7 is worn out to the free end of two haulage ropes 4, and box 7 both plays the guard action to rotatory wind 2, is convenient for connect two L shape armed levers 1 again.
As a preferable embodiment, the traction device for installing the round steel tube truss hollow-filled rod piece further comprises a buckle 6, and the buckle 6 is used for knotting the free end of the traction rope 4 and the traction rope 4 to form a ring, so that the traction device can be conveniently sleeved on the main tube 501.
As shown in fig. 1, the use method of the traction device for installing the circular steel tube truss blank filling rod piece, provided by the invention, specifically comprises the following steps:
s1, a long arm of one L-shaped arm rod 1 is erected on a main pipe 501 of one round steel pipe truss 5, and a long arm of the other L-shaped arm rod 1 is erected on a main pipe 501 of the other round steel pipe truss 5. That is, the set of traction devices is lifted above the main pipe 501 of the circular steel pipe truss 5 on which the blank supplement member 8 is located.
Preferably, when the long arm of an L-shaped arm rod 1 is erected on the main pipe 501 of a circular steel pipe truss 5, the central line of a pulley 3 at one end of the L-shaped arm rod 1, which is far away from the long arm, is adjusted to be in the same plane with the axis of the main pipe 501; when the long arm of the other L-shaped arm rod 1 is erected on the main pipe 501 of the other round steel pipe truss 5, the central line of the pulley 3 at one end of the L-shaped arm rod 1 far away from the long arm is adjusted to be on the same plane with the axis of the main pipe 501. That is, it is ensured that the two pulleys 3 on the L-arm 1 are positioned such that the traction rope 4 is kept horizontal.
Preferably, after the long arm of one L-shaped arm 1 is placed on the main pipe 501 of one circular steel pipe truss 5 and the long arm of the other L-shaped arm 1 is placed on the main pipe 501 of the other circular steel pipe truss 5, the rotary winding device 2 is located at an intermediate position between the two main pipes 501 and near the node region of the filler rod 8.
S2, connecting the free end of one hauling rope 4 to the main pipe 501 of one round steel pipe truss 5, and connecting the free end of the other hauling rope 4 to the main pipe 501 of the other round steel pipe truss 5. Specifically, the traction rope 4 is drawn out from the case 7, the pulley 3 is passed downward, and the support main pipe 501 is bound and fastened by a buckle.
Preferably, the free end of the pulling rope 4 and the pulling rope 4 are knotted into a ring by the buckle 6 and then sleeved on the main pipe 501.
One traction rope 4 is wound on one side of a node of the hollow supplementing rod 8 or one traction rope 4 is wound on two sides of the node, the arrangement quantity of the traction ropes is related to the lateral rigidity of the circular steel tube truss 5, the span of the hollow supplementing rod 8 and the rigidity of the L-shaped arm rod 1, and the traction ropes are reasonably arranged according to actual conditions.
S3, the rotatory wind device 2 of control is rotatory to the direction of tightening up two haulage ropes 4, two haulage ropes 4 are respectively with the person in charge 501 of two circular steel tube trusses 5 to opposite direction pulling under the guide effect of the pulley 3 that corresponds, when the distance that the pulling was responsible for between 501 satisfies to stretch into the benefit empty member 8, promptly when the control of the 5 side direction slip volume of circular steel tube truss can insert smoothly with the 8 saddle-shaped tip of benefit empty member and be responsible for 501, accomplish the installation condition of benefit empty member 8 so far, later carry out the hoist and mount of benefit empty member 8, counterpoint. After the installation is completed, the rotating winding device 2 is controlled to rotate in the opposite direction, and the two main pipes 501 are restored to the initial positions and then welded.
Preferably, before the rotary winding device 2 is controlled to rotate in the direction of tightening the two traction ropes 4, the two traction ropes 4 respectively pull the main pipes 501 of the two circular steel pipe trusses 5 in opposite directions under the guiding action of the corresponding pulleys 3, initial traction correction is performed, and when the traction ropes 4 of the main pipes on the two sides reach traction force corresponding to each other, formal traction is started.
In the practical implementation process of the traction device, the length of the L-shaped arm rod 1, the section specification, the diameter of the traction rope 4 and the rotary winding device are determined according to the empty span of the adjacent circular steel tube trusses 5 and the external rigidity of the circular steel tube trusses 5, so that the design and the assembly of the traction device are completed.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the following descriptions are only illustrative and not restrictive, and that the scope of the present invention is not limited to the above embodiments: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. The traction device for mounting the circular steel tube truss blank filling rod piece is characterized by comprising L-shaped arm rods (1), wherein one ends, far away from the short arm, of the two L-shaped arm rods (1) are arranged just opposite to each other, a rotary winding device (2) is arranged between one ends, far away from the short arm, of the two L-shaped arm rods (1), pulleys (3) are arranged at one ends, far away from the long arm, of the two L-shaped arm rods (1) and at the intersection of the long arm and the short arm, two traction ropes (4) are wound on the rotary winding device (2), the winding directions of the two traction ropes (4) are opposite, the free end of one traction rope (4) sequentially bypasses the two pulleys (3) on one L-shaped arm rod (1), the free end of the other traction rope (4) sequentially bypasses the two pulleys (3) on the other L-shaped arm rod (1), and the free ends of the two traction ropes (4) are respectively used for connecting a main pipe (501) of the two just-arranged circular steel tube trusses (5);
the rope pulling device is characterized by further comprising a buckle (6), wherein the buckle (6) is used for knotting the free end of the pulling rope (4) and the pulling rope (4) into a ring;
the device is characterized by further comprising a box body (7), wherein the box body (7) is arranged between one ends, far away from the short arms, of the two L-shaped arm rods (1), one ends, far away from the short arms, of the two L-shaped arm rods (1) are respectively connected with the box body (7), the rotary winding device (2) is arranged in the box body (7), and the free ends of the two traction ropes (4) penetrate out of the box body (7);
the use method of the traction device comprises the following steps:
the long arm of one L-shaped arm rod (1) is arranged on a main pipe (501) of one round steel pipe truss (5), and the long arm of the other L-shaped arm rod (1) is arranged on a main pipe (501) of the other round steel pipe truss (5);
the free end of one traction rope (4) is connected to a main pipe (501) of one circular steel pipe truss (5), and the free end of the other traction rope (4) is connected to the main pipe (501) of the other circular steel pipe truss (5);
control rotatory wind device (2) are to tightening up two the direction of haulage rope (4) is rotatory, two haulage rope (4) are corresponding be responsible for (501) the opposite direction pulling with two circular steel tube trusses (5) respectively under the guide effect of pulley (3), when the distance between two being responsible for (501) of pulling satisfies when stretching into benefit empty member (8), install benefit empty member (8).
2. The traction device for installing the round steel tube truss blank filling rod piece is characterized in that one ends of the two L-shaped arm rods (1) far away from the short arm are connected with the box body (7) through flanges.
3. The traction device for installing the hollow-out rod piece of the circular steel tube truss according to claim 1, characterized in that the two L-shaped arm rods (1) are rigid rods.
4. The traction device for installing the hollow compensating rod of the circular steel tube truss as claimed in claim 1, wherein, both the traction ropes (4) are steel wire ropes.
5. The traction device for installing the round steel pipe truss blank filling rod piece as claimed in claim 1, wherein the use method of the traction device further comprises:
when a long arm of the L-shaped arm rod (1) is erected on a main pipe (501) of a circular steel pipe truss (5), the central line of a pulley (3) at one end, far away from the long arm, of the L-shaped arm rod (1) is adjusted to be on the same plane with the axis of the main pipe (501);
when the long arm of the other L-shaped arm rod (1) is erected on the main pipe (501) of the other round steel pipe truss (5), the central line of the pulley (3) at one end, far away from the long arm, of the L-shaped arm rod (1) is adjusted to be on the same plane with the axis of the main pipe (501).
6. The traction device for installing the round steel pipe truss blank filling rod piece as claimed in claim 1, wherein the use method of the traction device further comprises: the free end of the traction rope (4) and the traction rope (4) are knotted into a ring by utilizing a buckle (6) and then sleeved on the main pipe (501).
7. The traction device for installing the round steel tube truss blank filling rod piece according to claim 1, wherein the use method of the traction device further comprises the following steps: will one the long arm of L shape armed lever (1) is taken up and is established on being responsible for (501) of a circular steel tube truss (5), and with another the long arm of L shape armed lever (1) is taken up and is established back on being responsible for (501) of another circular steel tube truss (5), rotatory wind-up device (2) are located two intermediate positions of being responsible for between (501), and are close to near the node region who mends empty member (8).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110984575.1A CN113530262B (en) | 2021-08-25 | 2021-08-25 | Traction device for mounting circular steel tube truss hollow rod piece and using method |
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| CN202110984575.1A CN113530262B (en) | 2021-08-25 | 2021-08-25 | Traction device for mounting circular steel tube truss hollow rod piece and using method |
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| CN113530262B true CN113530262B (en) | 2023-02-03 |
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| CN1734045A (en) * | 2004-08-10 | 2006-02-15 | 程志明 | Pile foundation method for inclination rectification of ancient building |
| CN109972844A (en) * | 2019-04-19 | 2019-07-05 | 长沙赛搏机器智能有限公司 | Arm support tail end hose traction device, control method, soft robot and concrete pumping equipment |
| CN111502138A (en) * | 2020-05-07 | 2020-08-07 | 中国十七冶集团有限公司 | Auxiliary platform for steel structure roof brace installation and construction method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8746148B1 (en) * | 2011-02-28 | 2014-06-10 | Leon E. Niedermeyer | Portable various pitch rope tow system |
| CN106744263B (en) * | 2017-01-06 | 2018-01-30 | 中联重科股份有限公司 | The conversion method and tower crane of hook mechanism and its working condition |
| CN109264595B (en) * | 2018-11-15 | 2020-04-07 | 徐工集团工程机械股份有限公司 | Adjusting method and adjusting device for deformable truss arm |
| CN209651759U (en) * | 2018-11-15 | 2019-11-19 | 徐工集团工程机械股份有限公司 | A kind of deformable truss arm |
| CN212996920U (en) * | 2020-05-08 | 2021-04-20 | 河南盛海企业营销策划有限公司 | Gravity traction bed for treating cervical vertebra and lumbar vertebra diseases |
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2021
- 2021-08-25 CN CN202110984575.1A patent/CN113530262B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1734045A (en) * | 2004-08-10 | 2006-02-15 | 程志明 | Pile foundation method for inclination rectification of ancient building |
| CN109972844A (en) * | 2019-04-19 | 2019-07-05 | 长沙赛搏机器智能有限公司 | Arm support tail end hose traction device, control method, soft robot and concrete pumping equipment |
| CN111502138A (en) * | 2020-05-07 | 2020-08-07 | 中国十七冶集团有限公司 | Auxiliary platform for steel structure roof brace installation and construction method |
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| CN113530262A (en) | 2021-10-22 |
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