CN112499500A - Be used for spacing locking control mechanism of rotary platform - Google Patents
Be used for spacing locking control mechanism of rotary platform Download PDFInfo
- Publication number
- CN112499500A CN112499500A CN202011466101.XA CN202011466101A CN112499500A CN 112499500 A CN112499500 A CN 112499500A CN 202011466101 A CN202011466101 A CN 202011466101A CN 112499500 A CN112499500 A CN 112499500A
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- China
- Prior art keywords
- plate
- position sensor
- gear ring
- vertical plate
- locking
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/94—Safety gear for limiting slewing movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/024—Laying or reclaiming pipes on land, e.g. above the ground
- F16L1/028—Laying or reclaiming pipes on land, e.g. above the ground in the ground
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/024—Laying or reclaiming pipes on land, e.g. above the ground
- F16L1/06—Accessories therefor, e.g. anchors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Jib Cranes (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention belongs to the technical field of slewing mechanisms for engineering machinery, and particularly relates to a limiting and locking control mechanism for a slewing platform, which comprises a slewing bearing, a position sensor assembly, a limiting support assembly and a hydraulic control device, wherein the slewing bearing comprises an inner gear ring and an outer gear ring which are meshed with each other, the outer gear ring is assembled on a turntable by an outer gear ring gasket and an outer gear ring bolt, and the inner gear ring is assembled on a chassis by an inner gear ring gasket and an inner gear ring bolt; the limiting support assembly is installed on the rotary table and comprises a base, a left vertical plate and a right vertical plate are vertically arranged on the base and are arranged in parallel, an upper cover plate and a lower base plate are installed between the left vertical plate and the right vertical plate and are parallel to the base, and the lower base plate is located between the upper cover plate and the base. Locking is realized through the cooperation of outer ring gear and locking valve piece, adopts the position relation of a plurality of position sensors real-time supervision each part, has realized accurate limit control.
Description
Technical Field
The invention belongs to the technical field of slewing mechanisms for engineering machinery, and particularly relates to a limiting and locking control mechanism for a slewing platform.
Background
The pipe hoist as one kind of engineering machine consists of three structures, including chassis driving mechanism, upper turning mechanism and operating unit. Typically it can be converted to a pipe hoist by replacing the excavator work implement. Compared with the operation of an excavator, the pipe crane meets the following requirements aiming at the landfill of the hoisting large-scale transport pipeline: firstly, when a pipeline is laid, because the pipe diameter is thick, the pipeline is long, the weight is heavy, and a plurality of pipe cranes are usually required to operate simultaneously to bury the pipeline in a pipeline ditch, the pipe cranes cannot swing back and forth when in operation, and at the moment, the swing mechanism needs to be locked to keep the operation stable; secondly, the hoisting weight of the pipe crane is large, the locking torque formed by the existing motor through a friction plate inside the motor is limited, and the pipe crane is suitable for occasions with short duration of rotary braking, small required braking torque and the like. Otherwise, the long duration and the large braking torque required can cause rapid wear of the friction plates inside the motor, thereby causing rapid loss of the motor rotary braking function. Based on the above two points, an additional rotation platform limiting locking mechanism is required.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a limiting and locking control mechanism for a rotary platform,
the invention is realized by the following technical scheme: a limit locking control mechanism for a rotary platform comprises a rotary support, a position sensor assembly, a limit support assembly and a hydraulic control device, wherein the rotary support comprises an inner gear ring and an outer gear ring which are mutually meshed; the limiting support assembly is arranged on the rotary table and comprises a base, a left vertical plate and a right vertical plate are vertically arranged on the base and are arranged in parallel, an upper cover plate and a lower base plate are arranged between the left vertical plate and the right vertical plate and are parallel to the base, and the lower base plate is positioned between the upper cover plate and the base; the hydraulic control device comprises a locking oil cylinder valve core and a locking valve block, the locking oil cylinder valve core is connected with the locking valve block through a fixing pin, and the locking oil cylinder valve core is placed in a slide way surrounded by the upper cover plate, the left vertical plate, the lower bottom plate and the right vertical plate; the position sensor assembly comprises a first position sensor, a second position sensor, a third position sensor and a fourth position sensor, the first position sensor and the third position sensor are respectively located on two sides of the limiting support assembly and used for collecting position information of the outer gear ring, the second position sensor is used for collecting position information of the locking valve block, and the fourth position sensor is used for collecting position information of the locking oil cylinder valve core.
Further, the end face of the slewing bearing is provided with a grease tube around the circumferential direction.
Furthermore, a left rib plate is arranged on the outer side of the left vertical plate, and a right rib plate is arranged on the outer side of the right vertical plate.
Furthermore, the third position sensor is fixed on the left rib plate through a sensor support, and the first position sensor is fixed on the right rib plate through a sensor support; the second position sensor and the fourth position sensor are both fixed on the lower bottom plate.
Furthermore, a left shielding plate for protecting the third position sensor is arranged on the left rib plate, and a right shielding plate for protecting the first position sensor is arranged on the right rib plate.
Furthermore, a left guide block is detachably arranged along the inner side of the left vertical plate, and a right guide block is detachably arranged along the inner side of the right vertical plate.
Furthermore, a lubricating nozzle is arranged on each of the left vertical plate and the right vertical plate.
Further, the outer ring gear is provided with a trapezoidal tooth opening.
The working principle of the limiting locking control mechanism is as follows: the driver switches the locking mode, the position sensor assembly collects position information of relevant parts at the moment and transmits the position information to the whole machine controller, the whole machine controller sends an instruction to the hydraulic control device after receiving the position information, the hydraulic control device executes the instruction after receiving the instruction, and the oil cylinder part of the hydraulic control device executes reciprocating execution movement, so that the limiting locking or unlocking function of the rotary table is realized.
The invention has the beneficial effects that: locking is realized through the cooperation of outer ring gear and locking valve piece, adopts the position relation of a plurality of position sensors real-time supervision each part, has realized accurate limit control. The limiting support assembly is internally provided with a guide block for guiding the valve core of the locking oil cylinder. When the left guide block and the right guide block are seriously worn, the parts can be disassembled and replaced, so that the use cost is reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a slewing bearing of the present invention;
FIG. 3 is a schematic structural diagram of a limiting and locking control mechanism of a rotary platform according to the present invention;
FIG. 4 is a schematic diagram of a second view structure of the limiting and locking control mechanism of the revolving platform according to the present invention;
FIG. 5 is a schematic structural view of a limit bracket assembly of the present invention;
FIG. 6 is a schematic view of a second perspective view of the spacing mount assembly of the present invention;
FIG. 7 is an exploded view of the limit bracket assembly of the present invention;
FIG. 8 is an exploded view of a second perspective of the spacing mount assembly of the present invention;
in the figure, 1, a slewing bearing, 11, an inner gear ring, 12, an outer gear ring, 13, a lubricating grease pipe, 14, an outer gear ring gasket, 15, an outer gear ring bolt, 16, an inner gear ring gasket, 17, an inner gear ring bolt, 2, a position sensor assembly, 21, a first position sensor, 22, a second position sensor, 23, a third position sensor, 24, a fourth position sensor, 25, a fixing nut, 26, a sensor support, 3, a limit support assembly, 301, a base, 302, a right vertical plate, 303, a right rib plate, 304, an upper cover plate, 305, a left vertical plate, 306, a left rib plate, 307, a lower base plate, 308, a nut column, 310, a guide block bolt, 311, a guide block gasket, 312, a lubricating nozzle, 313, a shield plate gasket, 314, a shield plate bolt, 315, a sensor support gasket, 316, a sensor support bolt, 317, a left shield plate, 318, a base gasket, 319, a base bolt, 320. the hydraulic control device comprises a left guide block 321, a sealing plate 322, a right guide block 323, a sealing plate washer 324, a sealing plate bolt 325, a right shielding plate 4, a hydraulic control device 41, a locking cylinder valve core 42, a fixing pin 43 and a locking valve block.
Detailed Description
The invention is further illustrated below with reference to the figures and examples.
As shown in fig. 1 to 8, a limiting and locking control mechanism for a rotary platform comprises a rotary support 1, a position sensor assembly 2, a limiting support assembly 3 and a hydraulic control device 4, wherein the rotary support 1 comprises an inner gear ring 11 and an outer gear ring 12 which are meshed with each other, the outer gear ring 12 is assembled on a rotary table through an outer gear ring gasket 14 and an outer gear ring bolt 15, and the inner gear ring 11 is assembled on a chassis through an inner gear ring gasket 16 and an inner gear ring bolt 17; the outer gear ring 12 has a trapezoidal tooth opening, the outer gear ring 12 can be replaced by a gear ring with other shapes as long as the slewing bearing can be prevented from slewing, and the structural shape of the correspondingly matched locking valve block 43 can be changed as long as the shape of the outer gear ring 12 can be matched. The limiting support assembly 3 is mounted on the turntable, the limiting support assembly 3 comprises a base 301, a left vertical plate 305 and a right vertical plate 302 are vertically arranged on the base 301, the left vertical plate 305 and the right vertical plate 302 are arranged in parallel, an upper cover plate 304 and a lower bottom plate 307 are mounted between the left vertical plate 305 and the right vertical plate 302, the upper cover plate 304 and the lower bottom plate 307 are both parallel to the base 301, and the lower bottom plate 307 is located between the upper cover plate 304 and the base 301; the base 301 is mounted in a threaded bore of the turntable by a base washer 318 and a base bolt 319. The hydraulic control device 4 comprises a locking oil cylinder valve core 41 and a locking valve block 43, wherein the locking oil cylinder valve core 41 and the locking valve block 43 are in interference fit through a fixing pin 42; the locking oil cylinder valve core 41, the fixing pin 42 and the locking valve block 43 can also adopt clearance fit, and are convenient to disassemble. The locking oil cylinder valve core 41 is placed in a slide way surrounded by the upper cover plate 304, the left vertical plate 305, the lower bottom plate 307 and the right vertical plate 302, and the slide way provides a guiding function for the action of the locking oil cylinder valve core 41. The position sensor assembly 2 comprises a first position sensor 21, a second position sensor 22, a third position sensor 23 and a fourth position sensor 24, the first position sensor 21 and the third position sensor 23 are respectively located on two sides of the limiting support assembly 3 and used for collecting position information of the outer gear ring 12, the second position sensor 22 is used for collecting position information of the locking valve block 43, and the fourth position sensor 24 is used for collecting position information of the locking oil cylinder valve core 41.
The working principle of the limiting locking control mechanism is as follows: the first position sensor 21 and the third position sensor 23 both acquire the position information of the outer gear ring 12, the second position sensor 22 acquires the position information of the locking valve block 43, and the fourth position sensor 24 acquires the position information of the locking cylinder valve core 41. When the clearance between each position sensor and surrounding parts changes, the electromagnetic coils in the position sensors generate electric signals to be transmitted to the complete machine controller, and then the complete machine controller comprehensively judges the acquired information and sends instructions to the hydraulic system to execute the reciprocating motion of the valve core 41 of the locking oil cylinder, the fixing pin 42 and the locking valve block 43. When the sent command executes the locking of the cylinder valve core 41 to extend, the locking valve block 43 can lock the external gear ring 12, so that the slewing bearing 1 is prevented from rotating. On the contrary, when the transmitted command executes the contraction of the lock cylinder spool 41, the lock state of the outer ring gear 12 is released. In order to reduce the corresponding abrasion of the external gear ring 12 and prolong the service life, the material of the locking valve block 43 can be replaced by soft material, such as nylon 66 and the like. The locking valve block 43 is directly clamped in the gear by using a mechanical structure, and can bear larger rotary braking torque.
As a modification of the present embodiment, an end surface of the slewing bearing 1 is provided with a grease tube 13 around the circumferential direction. The grease tube 13 supplies grease to lubricate the inside of the slewing bearing 1.
Specifically, a left rib plate 306 is arranged on the outer side of the left vertical plate 305, a right rib plate 303 is arranged on the outer side of the right vertical plate 302, and the left rib plate 306 and the right rib plate 303 are used for reinforcing the limit support assembly 3 and also serve as mounting platforms of part of the position sensors. The first position sensor 21, the second position sensor 22, and the third position sensor 23 are respectively locked to the corresponding sensor brackets 26 by two fixing nuts 25. The third position sensor 23 is fixed on the left rib plate 306 through a sensor support 26, a sensor support washer 315 and a sensor support bolt 316, and the first position sensor 21 is fixed on the right rib plate 303 through the sensor support 26, the sensor support washer 315 and the sensor support bolt 316; the second position sensor 22 is fixed to the lower plate 307 by a sensor bracket 26, a sensor bracket washer 315, and a sensor bracket bolt 316, the fourth position sensor 24 is fixed to the lower plate 307, and the bracket of the fourth position sensor 24 is fixed to a screw hole of the lower plate 307 by its own screw thread and two fixing screws 25. A left shielding plate 317 for protecting the third position sensor 23 is arranged on the left rib plate 306, and the left shielding plate 317 is fixed on the left rib plate 306 through a shielding plate washer 313 and a shielding plate bolt 314. The right rib plate 303 is provided with a right shield plate 325 for protecting the first position sensor 21, and the right shield plate 325 is fixed on the right rib plate 303 through a shield plate washer 313 and a shield plate bolt 314. The left shield 317 and the right shield 325 protect the third position sensor 23 and the first position sensor 21 from being hit by rocks by surrounding working machines. The limit support assembly 3 further comprises a nut column 308 and a closing plate 321, and when the sensor is installed, the wiring harness of the sensor needs to be fixed on the nut column 308 through bolt assembly by using a binding belt with an assembly hole. The cylinder outer cylinder sleeved outside the locking cylinder valve core 41 is provided with a square plate, and the square plate is fixed on the limiting support assembly 3 through a sealing plate 321, a sealing plate gasket 323 and a sealing plate bolt 324.
Further, a left guide block 320 is detachably disposed along the inner side of the left standing plate 305, and the left guide block 320 is mounted on the left standing plate 305 through a guide block bolt 310 and a guide block washer 311. A right guide block 322 is detachably arranged along the inner side of the right vertical plate 302, and the right guide block 322 is mounted on the right vertical plate 302 through a guide block bolt 310 and a guide block washer 311. The left guide block 320 and the right guide block 322 guide the lock cylinder spool 41 in the hydraulic control apparatus 4. When the left guide block 320 and the right guide block 322 are seriously worn, the parts can be disassembled and replaced with new parts, thereby reducing the use cost.
The lubricating nozzles 312 (one each for the left and right vertical plates 305, 302) are assembled into the threaded holes of the left and right vertical plates 305, 302, and grease is infiltrated into the left and right guide blocks 320, 322 through the round through holes of the left and right vertical plates 305, 302, thereby reducing the wear of the friction pair.
Claims (8)
1. A limiting and locking control mechanism for a rotary platform comprises a rotary support (1), a position sensor assembly (2), a limiting support assembly (3) and a hydraulic control device (4), wherein the rotary support (1) comprises an inner gear ring (11) and an outer gear ring (12) which are meshed with each other, the outer gear ring (12) is assembled on a rotary table through an outer gear ring gasket (14) and an outer gear ring bolt (15), and the inner gear ring (11) is assembled on a chassis through an inner gear ring gasket (16) and an inner gear ring bolt (17); the method is characterized in that: the limiting support assembly (3) is mounted on the turntable, the limiting support assembly (3) comprises a base (301), a left vertical plate (305) and a right vertical plate (302) are vertically arranged on the base (301), the left vertical plate (305) and the right vertical plate (302) are arranged in parallel, an upper cover plate (304) and a lower base plate (307) are mounted between the left vertical plate (305) and the right vertical plate (302), the upper cover plate (304) and the lower base plate (307) are both parallel to the base (301), and the lower base plate (307) is located between the upper cover plate (304) and the base (301); the hydraulic control device (4) comprises a locking oil cylinder valve core (41) and a locking valve block (43), the locking oil cylinder valve core (41) and the locking valve block (43) are connected through a fixing pin (42), and the locking oil cylinder valve core (41) is placed in a slide way surrounded by the upper cover plate (304), the left vertical plate (305), the lower bottom plate (307) and the right vertical plate (302); the position sensor assembly (2) comprises a position sensor (21), a second position sensor (22), a third position sensor (23) and a fourth position sensor (24), wherein the first position sensor (21) and the third position sensor (23) are respectively located on two sides of the limiting support assembly (3) and used for acquiring position information of the outer gear ring (12), the second position sensor (22) is used for acquiring position information of the locking valve block (43), and the fourth position sensor (24) is used for acquiring position information of the locking oil cylinder valve core (41).
2. The mechanism of claim 1, wherein the mechanism comprises: and a grease tube (13) is arranged on the end surface of the slewing bearing (1) along the circumferential direction.
3. The mechanism of claim 1, wherein the mechanism comprises: the outer side of the left vertical plate (305) is provided with a left rib plate (306), and the outer side of the right vertical plate (302) is provided with a right rib plate (303).
4. The mechanism of claim 3, wherein the mechanism comprises: the third position sensor (23) is fixed on the left rib plate (306) through a sensor support (26), and the first position sensor (21) is fixed on the right rib plate (303) through the sensor support (26); the second position sensor (22) and the fourth position sensor (24) are both fixed on the lower bottom plate (307).
5. The mechanism of claim 4, wherein the mechanism comprises: and a left shielding plate (317) used for protecting the third position sensor (23) is arranged on the left rib plate (306), and a right shielding plate (325) used for protecting the first position sensor (21) is arranged on the right rib plate (303).
6. The mechanism of claim 1, wherein the mechanism comprises: a left guide block (320) is detachably arranged along the inner side of the left vertical plate (305), and a right guide block (322) is detachably arranged along the inner side of the right vertical plate (302).
7. The mechanism of claim 6, wherein the mechanism comprises: and the left vertical plate (305) and the right vertical plate (302) are both provided with a lubricating nozzle (312).
8. The mechanism of claim 1, wherein the mechanism comprises: the outer gear ring (12) is provided with a trapezoidal tooth opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011466101.XA CN112499500B (en) | 2020-12-14 | 2020-12-14 | Be used for spacing locking control mechanism of rotary platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011466101.XA CN112499500B (en) | 2020-12-14 | 2020-12-14 | Be used for spacing locking control mechanism of rotary platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112499500A true CN112499500A (en) | 2021-03-16 |
| CN112499500B CN112499500B (en) | 2023-03-24 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011466101.XA Active CN112499500B (en) | 2020-12-14 | 2020-12-14 | Be used for spacing locking control mechanism of rotary platform |
Country Status (1)
| Country | Link |
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| CN (1) | CN112499500B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113668867A (en) * | 2021-08-23 | 2021-11-19 | 广东博智林机器人有限公司 | Cloth limit structure and cloth equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19813521A1 (en) * | 1998-03-26 | 1999-09-30 | Bauer Spezialtiefbau | Slewing ring brake |
| JP2007284170A (en) * | 2006-04-13 | 2007-11-01 | Kobelco Cranes Co Ltd | Turning locking device for working machine |
| CN202674011U (en) * | 2012-06-21 | 2013-01-16 | 徐州丰禾回转支承制造有限公司 | Double-row roll ball type slewing bearing |
| DE202012009167U1 (en) * | 2012-09-24 | 2014-01-08 | Liebherr-Werk Biberach Gmbh | crane |
| CN105621297A (en) * | 2014-10-31 | 2016-06-01 | 无锡晟欧船舶设备有限公司 | Revolving crane with positioning device |
| CN109050244A (en) * | 2018-09-04 | 2018-12-21 | 浙江同筑科技有限公司 | A kind of high-precision AGV drives steering integrated device and its control method |
-
2020
- 2020-12-14 CN CN202011466101.XA patent/CN112499500B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19813521A1 (en) * | 1998-03-26 | 1999-09-30 | Bauer Spezialtiefbau | Slewing ring brake |
| JP2007284170A (en) * | 2006-04-13 | 2007-11-01 | Kobelco Cranes Co Ltd | Turning locking device for working machine |
| CN202674011U (en) * | 2012-06-21 | 2013-01-16 | 徐州丰禾回转支承制造有限公司 | Double-row roll ball type slewing bearing |
| DE202012009167U1 (en) * | 2012-09-24 | 2014-01-08 | Liebherr-Werk Biberach Gmbh | crane |
| CN105621297A (en) * | 2014-10-31 | 2016-06-01 | 无锡晟欧船舶设备有限公司 | Revolving crane with positioning device |
| CN109050244A (en) * | 2018-09-04 | 2018-12-21 | 浙江同筑科技有限公司 | A kind of high-precision AGV drives steering integrated device and its control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113668867A (en) * | 2021-08-23 | 2021-11-19 | 广东博智林机器人有限公司 | Cloth limit structure and cloth equipment |
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| Publication number | Publication date |
|---|---|
| CN112499500B (en) | 2023-03-24 |
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