CN202575767U - Minitype spider-type hoisting machine - Google Patents
Minitype spider-type hoisting machine Download PDFInfo
- Publication number
- CN202575767U CN202575767U CN2012201454671U CN201220145467U CN202575767U CN 202575767 U CN202575767 U CN 202575767U CN 2012201454671 U CN2012201454671 U CN 2012201454671U CN 201220145467 U CN201220145467 U CN 201220145467U CN 202575767 U CN202575767 U CN 202575767U
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Abstract
The utility model relates to a minitype spider-type hoisting machine, which is characterized by comprising a steel structure framework, a power device, supporting leg devices, a rotary device, a walking device, a telescopic arm, and a rolling hydraulic cylinder, wherein the rotary device is mounted on the steel structure framework; a winding engine is mounted inside the rotary device; both the telescopic arm and the rolling hydraulic cylinder are mounted on the rotary device in a rotating manner; the rolling hydraulic cylinder is hinged with the telescopic arm; and four groups of supporting leg devices are arranged on the steel structure framework. Compared with the prior art, the minitype spider-type hoisting machine has the following advantages that the structure is simple and reasonable; a hydraulic walking manner is adopted; only two plate valves are required to control the heading, backing and turning of a hoisting machine, so that the operation is flexible and the required working position can be reached freely, and the hoisting machine is very suitable for the application of narrow fields, such as a transformer station, the inner part of an industrial building, and the like; and the supporting leg devices adopt the combination of breaststroke supporting legs and articulated supporting legs to form the adjustable spider-type supporting legs, so as to be adapt to the change requirements for different fields and different operation performances.
Description
Technical field
The utility model relates to a kind of small-sized spider formula hoisting machine.
Background technology
Hoisting machine is a kind of special engineered equipment that is used for lifting; The rideability and the driving performance of General Motors chassis aerial platform are superior at present; Can conveniently carry out the conversion of work-yard, but contour size of the unit(s) is big, complete machine weight is bigger, low to the road adaptive capacity of operation field.The small-sized caterpillar belt hoisting machine often adopts telescopic boom, and can in operation process, realize 360 degree rotations, because its volume is little, the characteristics of light weight, high efficiency often are used under the operating environment of small space such as indoor.Yet this type of small-sized caterpillar belt loop wheel machine often adopts mechanical type walking, and it is slower to be difficult for the engage a gear speed of travel, and the easy-maintaining not of the gear in the gear easy abrasion in the change speed gear box, the wearing and tearing rear transmission gear box in the work.
The utility model content
The utility model technical matters to be solved is, overcomes the defective that prior art exists, provide a kind of simple and reasonable, adopt fluid pressure type walking manner, good, safe, the multiduty small-sized spider formula hoisting machine of stability of strutting system.
The utility model addresses the above problem the technical scheme that is adopted: this small-sized spider formula hoisting machine is characterized in that: comprise steel structure vehicle frame, engine installation, support leg device, turning gear, running gear, telescopic boom, fluctuating hydraulic actuating cylinder, turning gear is installed on the steel structure vehicle frame; Winch is equipped with in turning gear inside, and telescopic boom and fluctuating hydraulic actuating cylinder all are rotatably installed on the turning gear, and fluctuating hydraulic actuating cylinder and telescopic boom are hinged; The steel structure vehicle frame is provided with four groups of support leg devices, and engine installation comprises driving engine, gear type pump, and engine installation is anterior at the steel structure vehicle frame; Driving engine is connected with gear type pump, and running gear comprises walking steel structure vehicle frame, HM Hydraulic Motor, driving speed reducer, walking train, rubber belt track, and walking steel structure vehicle frame is fixed on the steel structure vehicle frame; HM Hydraulic Motor is fixed on the driving speed reducer; And be fixed on the walking steel structure vehicle frame through flange, driving speed reducer is connected with the walking train, and the train of walking is rotatably installed on the steel structure vehicle frame of walking; Rubber belt track is installed in road wheel and fastens; The front end of steel structure vehicle frame is provided with crosshead, and gear type pump is connected with first multiway valve, second multiway valve, the 3rd multiway valve through oil pipe, first multiway valve, second multiway valve, the 3rd multiway valve three series connection; First multiway valve is fixed on the steel structure vehicle frame; Second multiway valve and the 3rd multiway valve are fixed on the crosshead, and first multiway valve connects four groups of support leg devices through oil pipe, and second multiway valve connects telescopic boom, turning gear, winch, fluctuating hydraulic actuating cylinder through oil pipe; The 3rd multiway valve comprises two plate valves, and two plate valves connect the HM Hydraulic Motor on walking steel structure vehicle frame both sides respectively through oil pipe.Walking manner adopts hydraulic moving; Only need to control advancing, retreat, turning of hoisting machine through two plate valves (two plate valves); Operate flexibly, can freely arrive the position that needs work, be highly suitable for narrow and small place such as substation, factory building inside and use.
The small-sized spider formula of the utility model hoisting machine also comprises the work bucket, and the work bucket is rotatably installed in the front end of telescopic boom.The work bucket can be used as workplatform, to realize aloft work.
The said support leg device of the utility model comprises rotary joint, support oil cylinder, oscillating support leg, telescopic outrigger; Be provided with compression cylinder between oscillating support leg and the telescopic outrigger; Rotary joint horizontally rotates and is installed on the steel structure vehicle frame, and the oscillating support leg vertical rotation is installed on the rotary joint, is fixed with the rotational fixation seat on the oscillating support leg; The two ends of support oil cylinder are hinged with rotary joint and rotational fixation seat respectively; Telescopic outrigger comprises canned paragraph and telescopic section, and canned paragraph is captiveed joint with the rotational fixation seat through set pin with the hinged back of oscillating support leg, and canned paragraph and telescopic section adopt the quarter bend structure; Telescopic section is inserted in the canned paragraph and through pin and is fixed, and the end of telescopic section also is rotatablely equipped with regulates the leg base.Supporting leg adopts W-outrigger and radial type supporting leg combination, constitutes spider formula supporting leg, changes different places and different work performance demands to adapt to.
The said canned paragraph of the utility model has the rotational fixation hole; The rotational fixation seat is provided with first fixed orifice and second fixed orifice, and when telescopic outrigger launched, set pin inserted rotational fixation hole and first fixed orifice simultaneously with fixedly telescopic section and canned paragraph; Make telescopic outrigger keep deployed condition; When telescopic outrigger was packed up, set pin inserted rotational fixation hole and second fixed orifice simultaneously with fixedly telescopic section and canned paragraph, makes telescopic outrigger keep collapsed state.
Have Telescopic Fixed hole on the said canned paragraph of the utility model, have a plurality of adjustment holes on the telescopic section, canned paragraph passes the adjustment hole of diverse location on the telescopic section to regulate the length of telescopic outrigger through pin.
The said engine installation of the utility model also comprises three-phase alternating current motor, said three-phase alternating current motor connection gear pump.Adopt driving engine and three-phase alternating current motor to realize double dynamical combination, improved the energy utilization scope.
Said second multiway valve of the utility model is the electromagnetism multiway valve, and this small-sized spider formula hoisting machine also is provided with remote control module, and remote control module comprises receiver of remote-control sytem, storage battery, and receiver of remote-control sytem is connected with storage battery with the electromagnetism multiway valve.Adopt structure as above to realize long-distance remote control.
The utility model compared with prior art has the following advantages: simple and reasonable; Walking manner adopts hydraulic moving; Only need control advancing, retreat, turning of hoisting machine through two plate valves; Operate flexibly, can freely arrive the position that needs work, be highly suitable for narrow and small place such as substation, factory building inside and use; Support leg device adopts W-outrigger and radial type supporting leg combination, constitutes adjustable spider formula supporting leg, changes different places and different work performance demands to adapt to; This hoisting machine can be established manned workplatform (insulation bucket), realizes aloft work, is adapted at operation under the charged environment; Dual power drive system promptly comprises two kinds of power of driving engine and three-phase alternating current motor, has enlarged its energy utilization kind, has improved field of application.
Description of drawings
Fig. 1 is the structural representation of the utility model embodiment.
Fig. 2 is the structural representation of the utility model embodiment running gear.
Fig. 3 is first multiway valve, second multiway valve of the utility model embodiment, the 3rd multiway valve three's connection structure scheme drawing.
Fig. 4 is the structural representation of the support leg device of the utility model embodiment.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further described.
Referring to Fig. 1～Fig. 4, the small-sized spider formula of present embodiment hoisting machine comprises steel structure vehicle frame I, engine installation II, support leg device III, turning gear IV, running gear V, telescopic boom 1, fluctuating hydraulic actuating cylinder 2; The turning gear IV is installed on the steel structure vehicle frame I, and winch is equipped with in turning gear IV inside, and telescopic boom 1 all is rotatably installed on the turning gear IV with fluctuating hydraulic actuating cylinder 2; Fluctuating hydraulic actuating cylinder 2 is hinged with telescopic boom 1, and steel structure vehicle frame I is provided with four groups of support leg device III, and the engine installation II comprises driving engine 3, gear type pump 4; Driving engine 3 is installed in steel structure vehicle frame anterior 5; Driving engine 3 is connected with gear type pump 4, and the running gear V comprises walking steel structure vehicle frame 6, HM Hydraulic Motor 7, driving speed reducer 8, walking train 9, rubber belt track 10, and walking steel structure vehicle frame 6 is fixed on the steel structure vehicle frame I; HM Hydraulic Motor 7 is fixed on the driving speed reducer 8; And be fixed on the walking steel structure vehicle frame 6 through flange, driving speed reducer 8 is connected with walking train 9, and the train 9 of walking is rotatably installed on the steel structure vehicle frame 6 of walking; Rubber belt track 10 is installed on the walking train 9; The front end of steel structure vehicle frame I is provided with crosshead, and gear type pump 4 is connected with first multiway valve 11, second multiway valve 12, the 3rd multiway valve 13, the first multiway valve 11, second multiway valve 12, the 3rd multiway valve 13 threes series connection through oil pipe; First multiway valve 11 is fixed on the steel structure vehicle frame I; Second multiway valve 12 and the 3rd multiway valve 13 are fixed on the crosshead, and first multiway valve 11 connects four groups of support leg device III through oil pipe, and second multiway valve 12 connects telescopic boom 1, turning gear IV, winch, fluctuating hydraulic actuating cylinder 2 through oil pipe; The 3rd multiway valve 13 comprises two plate valves, and two plate valves connect the HM Hydraulic Motor 7 on walking steel structure vehicle frame 6 both sides respectively through oil pipe.
This small-sized spider formula hoisting machine also comprises work bucket 14, and work bucket 14 is rotatably installed in the front end of telescopic boom 1.
The support leg device III comprises rotary joint 15, support oil cylinder 16, oscillating support leg 17, telescopic outrigger 18; Be provided with compression cylinder 19 between oscillating support leg 17 and the telescopic outrigger 18; Rotary joint 15 horizontally rotates and is installed on the steel structure vehicle frame I, and oscillating support leg 17 vertical rotation are installed on the rotary joint 15, are fixed with rotational fixation seat 23 on the oscillating support leg 17; The two ends of support oil cylinder 16 are hinged with rotary joint 15 and rotational fixation seat 23 respectively; Telescopic outrigger 18 comprises canned paragraph 20 and telescopic section 21, and canned paragraph 20 is captiveed joint with rotational fixation seat 23 through set pin with oscillating support leg 17 hinged backs, and canned paragraph 20 adopts the quarter bend structure with telescopic section 21; Telescopic section 21 is inserted in the canned paragraph 20 and through pin and is fixed, and the end of telescopic section also is rotatablely equipped with regulates leg base 22.Canned paragraph 20 has the rotational fixation hole; Rotational fixation seat 23 is provided with first fixed orifice and second fixed orifice, and when telescopic outrigger 18 launched, set pin inserted rotational fixation hole and first fixed orifice simultaneously with fixedly telescopic section 21 and canned paragraph 20; Make telescopic outrigger 18 keep deployed condition; When telescopic outrigger 18 was packed up, set pin inserted rotational fixation hole and second fixed orifice simultaneously with fixedly telescopic section 21 and canned paragraph 20, makes telescopic outrigger 18 keep collapsed state.Have Telescopic Fixed hole on the canned paragraph 20, have a plurality of adjustment holes on the telescopic section 21, canned paragraph 20 passes the adjustment hole of diverse location on the telescopic section 21 to regulate the length of telescopic outrigger 18 through pin.
Said engine installation II also comprises three-phase alternating current motor, said three-phase alternating current motor connection gear pump 4.Second multiway valve 12 is the electromagnetism multiway valve,
This small-sized spider formula hoisting machine also is provided with remote control module, and remote control module comprises receiver of remote-control sytem, storage battery, and receiver of remote-control sytem is connected with storage battery with the electromagnetism multiway valve.Above the front-end operations platform receiver of remote-control sytem is installed, by the 12V storage battery power supply is provided, receiver of remote-control sytem is connected with storage battery with the electromagnetism multiway valve through electric wire; During operation; Only need the operating and remote controlling projector to transmit, signal is accepted by receptor, converts electric current into; The action of control electromagnetism multiway valve spool, the element of carrying out action comprises telescopic boom 1, turning gear IV, winch, fluctuating hydraulic actuating cylinder 2.
Present embodiment when telescopic outrigger 18 keeps deployed condition, launches the back by first multiway valve, 11 control support leg device III and supports on the ground when work, constitutes stable supporting mechanism.2 actions of second multiway valve, 12 control fluctuating hydraulic actuating cylinders are propped telescopic boom 1 or put down, and regulate telescopic boom 1 high and low position, and match with the flexible of telescopic boom 1, realize the job position of different operating amplitude, and realize the operation of different azimuth by the turning gear IV.Not the time spent, the support leg device III horizontally rotates through rotary joint 15 draws close on steel structure vehicle frame I.When moving, operate two handles (two plate valves) of the 3rd multiway valve 13 simultaneously and control rotating and reverse of left side driving speed reducer 8 and the right driving speed reducer 8,8 of driving speed reducers drive caterpillar drive, realize moving forward and backward of whole loop wheel machine.During turning, two plate valves about handling respectively can be realized pivot turn.
Though the utility model with embodiment openly as above; But it is not in order to limit the protection domain of the utility model; Any technical personnel of being familiar with this technology, change and the retouching in design that does not break away from the utility model and scope, done all should belong to the protection domain of the utility model.
Claims (7)
1. small-sized spider formula hoisting machine, it is characterized in that: comprise steel structure vehicle frame, engine installation, support leg device, turning gear, running gear, telescopic boom, fluctuating hydraulic actuating cylinder, turning gear is installed on the steel structure vehicle frame; Winch is equipped with in turning gear inside, and telescopic boom and fluctuating hydraulic actuating cylinder all are rotatably installed on the turning gear, and fluctuating hydraulic actuating cylinder and telescopic boom are hinged; The steel structure vehicle frame is provided with four groups of support leg devices, and engine installation comprises driving engine, gear type pump, and engine installation is anterior at the steel structure vehicle frame; Driving engine is connected with gear type pump, and running gear comprises walking steel structure vehicle frame, HM Hydraulic Motor, driving speed reducer, walking train, rubber belt track, and walking steel structure vehicle frame is fixed on the steel structure vehicle frame; HM Hydraulic Motor is fixed on the driving speed reducer; And be fixed on the walking steel structure vehicle frame through flange, driving speed reducer is connected with the walking train, and the train of walking is rotatably installed on the steel structure vehicle frame of walking; Rubber belt track is installed in road wheel and fastens; The front end of steel structure vehicle frame is provided with crosshead, and gear type pump is connected with first multiway valve, second multiway valve, the 3rd multiway valve through oil pipe, first multiway valve, second multiway valve, the 3rd multiway valve three series connection; First multiway valve is fixed on the steel structure vehicle frame; Second multiway valve and the 3rd multiway valve are fixed on the crosshead, and first multiway valve connects four groups of support leg devices through oil pipe, and second multiway valve connects telescopic boom, turning gear, winch, fluctuating hydraulic actuating cylinder through oil pipe; The 3rd multiway valve comprises two plate valves, and two plate valves connect the HM Hydraulic Motor on walking steel structure vehicle frame both sides respectively through oil pipe.
2. according to the said small-sized spider formula hoisting machine of claim 1, it is characterized in that: this small-sized spider formula hoisting machine also comprises the work bucket, and the work bucket is rotatably installed in the front end of telescopic boom.
3. according to claim 1 or 2 said small-sized spider formula hoisting machines; It is characterized in that: said support leg device comprises rotary joint, support oil cylinder, oscillating support leg, telescopic outrigger, is provided with compression cylinder between oscillating support leg and the telescopic outrigger, and rotary joint horizontally rotates and is installed on the steel structure vehicle frame; The oscillating support leg vertical rotation is installed on the rotary joint; Be fixed with the rotational fixation seat on the oscillating support leg, the two ends of support oil cylinder are hinged with rotary joint and rotational fixation seat respectively, and telescopic outrigger comprises canned paragraph and telescopic section; Canned paragraph is captiveed joint with the rotational fixation seat through set pin with the hinged back of oscillating support leg; Canned paragraph and telescopic section adopt the quarter bend structure, and telescopic section is inserted in the canned paragraph and through pin and fixed, and the end of telescopic section also is rotatablely equipped with regulates the leg base.
4. according to the said small-sized spider formula hoisting machine of claim 3; It is characterized in that: said canned paragraph has the rotational fixation hole; The rotational fixation seat is provided with first fixed orifice and second fixed orifice, and when telescopic outrigger launched, set pin inserted rotational fixation hole and first fixed orifice simultaneously with fixedly telescopic section and canned paragraph; Make telescopic outrigger keep deployed condition; When telescopic outrigger was packed up, set pin inserted rotational fixation hole and second fixed orifice simultaneously with fixedly telescopic section and canned paragraph, makes telescopic outrigger keep collapsed state.
5. according to the said small-sized spider formula hoisting machine of claim 3; It is characterized in that: have Telescopic Fixed hole on the said canned paragraph; Have a plurality of adjustment holes on the telescopic section, canned paragraph passes the adjustment hole of diverse location on the telescopic section to regulate the length of telescopic outrigger through pin.
6. according to claim 1 or 2 said small-sized spider formula hoisting machines, it is characterized in that: said engine installation also comprises three-phase alternating current motor, said three-phase alternating current motor connection gear pump.
7. according to claim 1 or 2 said small-sized spider formula hoisting machines; It is characterized in that: said second multiway valve is the electromagnetism multiway valve; This small-sized spider formula hoisting machine also is provided with remote control module; Remote control module comprises receiver of remote-control sytem, storage battery, and receiver of remote-control sytem is connected with storage battery with the electromagnetism multiway valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201454671U CN202575767U (en) | 2012-04-09 | 2012-04-09 | Minitype spider-type hoisting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201454671U CN202575767U (en) | 2012-04-09 | 2012-04-09 | Minitype spider-type hoisting machine |
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| CN202575767U true CN202575767U (en) | 2012-12-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012201454671U Expired - Fee Related CN202575767U (en) | 2012-04-09 | 2012-04-09 | Minitype spider-type hoisting machine |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105197811A (en) * | 2015-10-27 | 2015-12-30 | 江苏省电力公司镇江供电公司 | Stair-climbing crane |
| CN105398976A (en) * | 2015-12-16 | 2016-03-16 | 泰兴市依科攀船舶设备有限公司 | Walking spider crane for ship use |
| CN105668429A (en) * | 2016-04-05 | 2016-06-15 | 郑州科步科技有限公司 | Multifunctional overhead lifting machine |
| CN106006410A (en) * | 2016-01-22 | 2016-10-12 | 重庆三峡学院 | Telescopic, rotatable and foldable supporting leg device suitable for small-size crane |
| CN107032238A (en) * | 2017-06-14 | 2017-08-11 | 徐州工程学院 | The hydraulic crane of the flexible detail of mini zone |
| CN107473102A (en) * | 2017-09-19 | 2017-12-15 | 国网河南省电力公司南阳供电公司 | A kind of miniature crawler belt derrick car of substation equipment maintenance and repair |
| CN108016997A (en) * | 2018-01-11 | 2018-05-11 | 河南恩湃高科集团有限公司 | A kind of narrow space crane support |
| CN108127670A (en) * | 2017-11-10 | 2018-06-08 | 广东珺桦能源科技有限公司 | A kind of crawler type high-voltage contact automatic rinser device people applied to power domain |
| CN108263971A (en) * | 2018-02-05 | 2018-07-10 | 苏州辰晟优机电科技有限公司 | A kind of spider shape crawler crane |
| CN109607436A (en) * | 2018-11-05 | 2019-04-12 | 国网山东省电力公司烟台供电公司 | A kind of electric power rear service guaranteeing vehicle |
| CN110304561A (en) * | 2019-07-25 | 2019-10-08 | 徐州徐工随车起重机有限公司 | From the walking soft leg protective device of crane supporting leg |
| CN110844803A (en) * | 2019-11-22 | 2020-02-28 | 湖南玛姆斯技术服务有限公司 | A take out car for automation line robot |
| CN111837682A (en) * | 2020-08-12 | 2020-10-30 | 滨州学院 | Crawler-type pruning robot |
| CN111837677A (en) * | 2020-08-12 | 2020-10-30 | 滨州学院 | Three-dimensional plant cluster trimming method with cambered surface modeling |
| CN116114491A (en) * | 2023-01-09 | 2023-05-16 | 海南电网有限责任公司电力科学研究院 | All-terrain transmission line tree obstacle cleaning robot |
| CN116553398A (en) * | 2023-05-13 | 2023-08-08 | 杭州贝特设备制造有限公司 | Hoisting device and control method thereof |
-
2012
- 2012-04-09 CN CN2012201454671U patent/CN202575767U/en not_active Expired - Fee Related
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105197811A (en) * | 2015-10-27 | 2015-12-30 | 江苏省电力公司镇江供电公司 | Stair-climbing crane |
| CN105398976A (en) * | 2015-12-16 | 2016-03-16 | 泰兴市依科攀船舶设备有限公司 | Walking spider crane for ship use |
| CN106006410A (en) * | 2016-01-22 | 2016-10-12 | 重庆三峡学院 | Telescopic, rotatable and foldable supporting leg device suitable for small-size crane |
| CN106006410B (en) * | 2016-01-22 | 2018-02-06 | 重庆三峡学院 | A kind of scalable rotatable Foldable type outrigger device suitable for small-sized crane |
| CN105668429A (en) * | 2016-04-05 | 2016-06-15 | 郑州科步科技有限公司 | Multifunctional overhead lifting machine |
| CN107032238B (en) * | 2017-06-14 | 2019-01-18 | 齐鲁工业大学 | The hydraulic crane of the flexible detail of mini zone |
| CN107032238A (en) * | 2017-06-14 | 2017-08-11 | 徐州工程学院 | The hydraulic crane of the flexible detail of mini zone |
| CN107473102A (en) * | 2017-09-19 | 2017-12-15 | 国网河南省电力公司南阳供电公司 | A kind of miniature crawler belt derrick car of substation equipment maintenance and repair |
| CN107473102B (en) * | 2017-09-19 | 2019-11-08 | 国网河南省电力公司南阳供电公司 | A kind of miniature crawler belt derrick car of substation equipment maintenance and repair |
| CN108127670A (en) * | 2017-11-10 | 2018-06-08 | 广东珺桦能源科技有限公司 | A kind of crawler type high-voltage contact automatic rinser device people applied to power domain |
| CN108016997A (en) * | 2018-01-11 | 2018-05-11 | 河南恩湃高科集团有限公司 | A kind of narrow space crane support |
| CN108263971A (en) * | 2018-02-05 | 2018-07-10 | 苏州辰晟优机电科技有限公司 | A kind of spider shape crawler crane |
| CN109607436A (en) * | 2018-11-05 | 2019-04-12 | 国网山东省电力公司烟台供电公司 | A kind of electric power rear service guaranteeing vehicle |
| CN110304561A (en) * | 2019-07-25 | 2019-10-08 | 徐州徐工随车起重机有限公司 | From the walking soft leg protective device of crane supporting leg |
| CN110844803A (en) * | 2019-11-22 | 2020-02-28 | 湖南玛姆斯技术服务有限公司 | A take out car for automation line robot |
| CN111837682A (en) * | 2020-08-12 | 2020-10-30 | 滨州学院 | Crawler-type pruning robot |
| CN111837677A (en) * | 2020-08-12 | 2020-10-30 | 滨州学院 | Three-dimensional plant cluster trimming method with cambered surface modeling |
| CN111837677B (en) * | 2020-08-12 | 2022-04-22 | 滨州学院 | Three-dimensional plant cluster trimming method with cambered surface modeling |
| CN116114491A (en) * | 2023-01-09 | 2023-05-16 | 海南电网有限责任公司电力科学研究院 | All-terrain transmission line tree obstacle cleaning robot |
| CN116114491B (en) * | 2023-01-09 | 2024-06-11 | 海南电网有限责任公司电力科学研究院 | All-terrain transmission line tree obstacle cleaning robot |
| CN116553398A (en) * | 2023-05-13 | 2023-08-08 | 杭州贝特设备制造有限公司 | Hoisting device and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121205 Termination date: 20200409 |