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JP2007099522A - Wiring method for hoisting jib crane - Google Patents

Wiring method for hoisting jib crane Download PDF

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JP2007099522A
JP2007099522A JP2006351723A JP2006351723A JP2007099522A JP 2007099522 A JP2007099522 A JP 2007099522A JP 2006351723 A JP2006351723 A JP 2006351723A JP 2006351723 A JP2006351723 A JP 2006351723A JP 2007099522 A JP2007099522 A JP 2007099522A
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drum
hoisting
wire
jib
winding
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Akito Takahashi
明人 高橋
Kaoru Kutami
薫 久田見
Akira Oyama
章 大山
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Kitagawa Corp
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Kitagawa Iron Works Co Ltd
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Abstract

【課題】起伏式ジブクレーンのワイヤリング方法に関し、水平引込ドラムと起伏ドラムの両ドラムへワイヤリングする際、手作業を廃止し、駆動源を用い十分な張力を掛けながら機械巻きの可能なワイヤリング方法を提供することを目的とする。
【解決手段】起伏ドラムと水平引込ドラムに設けるブレーキ手段と、前記2つのドラム間の回転を接続又は遮断するクラッチ手段を備えるワイヤ巻取り装置を用い、起伏ワイヤをジブ先端に固定し、巻上ワイヤをフックシーブに通して水平引込ドラムに固定した後、起伏ドラムをブレーキ手段で固定し、クラッチ手段で起伏ドラムと巻上ドラムを遮断し、水平引込ドラムに巻上ワイヤを起伏ワイヤの巻取り方向とは反対に巻取る。
【選択図】 図1
The present invention relates to a wiring method for a undulating jib crane, and provides a wiring method capable of winding a machine while applying sufficient tension using a drive source, eliminating manual work when wiring to both a horizontal pulling drum and a undulating drum. The purpose is to do.
SOLUTION: A wire winding device including a brake unit provided on an undulation drum and a horizontal pull-in drum, and a clutch unit that connects or cuts off rotation between the two drums is used to fix the undulation wire to the tip of the jib. Pass the wire through the hook sheave and fix it to the horizontal pull-in drum, then fix the hoisting drum with the brake means, shut off the hoisting drum and hoisting drum with the clutch means, and wind the hoisting wire into the horizontal pulling drum in the winding direction of the hoisting wire Take up in the opposite direction.
[Selection] Figure 1

Description

本発明は、起伏式ジブクレーンのワイヤリング方法に関する。   The present invention relates to a wiring method for an undulating jib crane.

起伏式ジブクレーンにおいて、ジブを起伏させた際吊り荷の高さを一定に保つために、吊り荷用の巻上ワイヤの一端を巻く水平引込ドラムを設け、該水平引込ドラムと、ジブを起伏させる起伏ワイヤの巻かれる起伏ドラムが一体形成され且つ、起伏ワイヤと巻上ワイヤを夫々のドラムへ反対巻き(一方を巻き込む方向に巻き、他方を繰り出す方向に巻く)にしていた。これによって、例えば、ジブの起しの際には、起伏ワイヤの巻取りと同時に巻上ワイヤが繰り出され、吊り荷の下降によって吊り荷の実質吊り高さをある程度一定に保つ構造になされていた。しかし、クレーンにワイヤリングを行う際には、水平ドラムと起伏ドラムの夫々へドラム駆動手段を用いて互いに反対にワイヤを巻くことはできず、どちらか一方のドラムに駆動手段を用いてワイヤを巻いた後、他方のドラムには重いワイヤを手作業で巻かざるを得ないのであった。
特開昭58−122286号公報
In a hoisting type jib crane, in order to keep the height of a suspended load constant when the jib is raised and lowered, a horizontal pulling drum is provided to wind one end of a hoisting wire for hoisting load, and the horizontal pulling drum and the jib are raised and lowered. The undulation drum around which the undulation wire is wound is integrally formed, and the undulation wire and the hoisting wire are wound around the respective drums in the opposite direction (one is wound in the winding direction and the other is wound in the feeding direction). Thus, for example, when the jib is raised, the hoisting wire is fed out simultaneously with the winding of the undulating wire, and the substantial suspended height of the suspended load is maintained to a certain extent by lowering the suspended load. . However, when wiring a crane, it is not possible to wind a wire around each of the horizontal drum and the undulating drum using the drum drive means, and the wire is wound around one of the drums using the drive means. After that, he had to manually wind a heavy wire on the other drum.
JP 58-122286 A

本発明は、前記実状に鑑み、起伏式ジブクレーンのワイヤリング方法において、水平引込ドラムと起伏ドラムの両ドラムへワイヤリングする際、手作業を廃止し、駆動源を用い十分な張力を掛けながら機械巻きの可能なワイヤリング方法を提供することを目的とする。   In view of the above situation, the present invention eliminates manual work when wiring to both the horizontal pull-in drum and the hoisting drum in the hoisting type jib crane wiring method, and applies mechanical force while applying sufficient tension using a drive source. An object is to provide a possible wiring method.

前記の目的を達成するために本発明に係る起伏式ジブクレーンのワイヤリング方法は、ジブを起伏させるために用いる起伏ワイヤと、吊荷を昇降させる巻上ワイヤの2本のワイヤを有し、軸受と、該軸受に支承され起伏ワイヤの巻かれる起伏ドラムと、該起伏ドラムに連設し巻上ワイヤの巻かれる水平引込ドラムと、前記2つのドラムの少なくとも一方に設けるブレーキ手段と、前記2つのドラム間の回転を接続又は遮断するクラッチ手段および、前記ドラムを回転させるひとつの駆動手段とを備えるワイヤ巻取り装置を用いる起伏式ジブクレーンの組み立て時の起伏ワイヤと巻上ワイヤのクレーンへの配置を以下の手順で行なうことを特徴とする。
(1)駆動手段を作動させ起伏ドラムに起伏ワイヤを巻き、ガントリー上部シーブを通してジブ先端に固定し、駆動手段よって起伏ドラムを回転させ起伏ワイヤを巻き込み、ジブを任意の位置まで起こす、
(2)巻上ドラムから繰り出した巻上ワイヤを、ジブを介して吊荷を吊るフックシーブに通して水平引込ドラムに固定する、
(3)起伏ドラムをブレーキ手段によって固定し、クラッチ手段によって起伏ドラムと巻上ドラムを遮断する、
(4)駆動装置を作動させて水平引込ドラムにジブ角度に相当する長さの巻上ワイヤを、起伏ドラムに巻かれる起伏ワイヤの巻取り方向とは反対に巻取る、
(5)クラッチ手段によって起伏ドラムと巻上ドラムを接続し水平引込ドラムと起伏ドラムの共回転を可能とし、ブレーキ手段を開放する。
In order to achieve the above-mentioned object, a wiring method for a hoisting type jib crane according to the present invention comprises two wires, a hoisting wire used for hoisting a jib and a hoisting wire for raising and lowering a suspended load, and a bearing, A undulation drum supported by the bearing and wound with a undulation wire, a horizontal pull-in drum connected to the undulation drum and wound with a hoisting wire, brake means provided on at least one of the two drums, and the two drums The arrangement of the hoisting wire and the hoisting wire at the time of assembling of the hoisting type jib crane using the wire winding device having the clutch means for connecting or interrupting the rotation between them and one driving means for rotating the drum is as follows: It is characterized by the following procedure.
(1) The driving means is actuated to wind the hoisting wire around the hoisting drum, fixed to the tip of the jib through the gantry upper sheave, the hoisting drum is rotated by the driving means to wind the hoisting wire, and the jib is raised to an arbitrary position.
(2) The hoisting wire drawn out from the hoisting drum is passed through a hook sheave that hangs a suspended load through a jib and fixed to a horizontal pulling drum.
(3) The undulation drum is fixed by the brake means, and the undulation drum and the hoisting drum are shut off by the clutch means.
(4) Actuating the driving device to wind up the winding wire having a length corresponding to the jib angle on the horizontal pulling drum in the direction opposite to the winding direction of the undulating wire wound around the undulating drum;
(5) The hoisting drum and the hoisting drum are connected by the clutch means so that the horizontal pulling drum and the hoisting drum can be rotated together, and the brake means is released.

以上の如く構成した本発明によれば、水平引込ドラム15へ巻上ワイヤ5を巻き取る際の手作業が無くなり作業が安全になる。また、駆動装置17を用いるので十分な張力を与えた状態で巻上ワイヤ5を水平引込ドラム15に巻き取ることができ、乱巻の原因を無くすことができる。   According to the present invention configured as described above, manual work when winding the winding wire 5 around the horizontal drawing drum 15 is eliminated, and the work becomes safe. Further, since the driving device 17 is used, the winding wire 5 can be wound around the horizontal drawing drum 15 with sufficient tension applied, and the cause of the turbulent winding can be eliminated.

図1は、ジブが起伏するクレーンの斜視図であり、定格荷重が比較的小さい小型のクレーンの場合について説明する。図2は、ワイヤ巻取り装置18を示す斜視図である。
フレーム1には、一端をフレーム1へ起伏自在に固定すると共に他端にジブ先端シーブ2の取り付けられたジブ3と、下部がフレーム1に固定され上部に複数のシーブ6が取り付けられた門型のガントリー8と、吊り荷を吊り上げる巻上装置13と、ジブ3を起伏させると共に吊り荷を水平方向へ一定に保つワイヤ巻取り装置18とが設けられている。
巻上装置13は、巻上ワイヤ5の巻かれる巻上ドラムと、該巻上ドラムを駆動させるひとつの駆動手段と、吊り荷の落下を防ぐブレーキから構成されている。 ワイヤ巻取り装置18は起伏ワイヤ7の巻かれる起伏ドラム14と、該起伏ドラム14に連設し巻上ワイヤ5の巻かれる水平引込ドラム15と、前記起伏ドラムに設けるブレーキ手段29と、前記2つのドラムを駆動させるひとつの駆動手段17とから構成されている。
FIG. 1 is a perspective view of a crane in which a jib is raised and lowered, and a case of a small crane having a relatively small rated load will be described. FIG. 2 is a perspective view showing the wire winding device 18.
The frame 1 has a gate shape in which one end is fixed to the frame 1 so that it can be raised and lowered, and a jib 3 having a jib tip sheave 2 attached to the other end, and a lower part fixed to the frame 1 and a plurality of sheaves 6 attached to the upper part. Gantry 8, hoisting device 13 for lifting the suspended load, and wire winding device 18 for raising and lowering the jib 3 and keeping the suspended load constant in the horizontal direction are provided.
The hoisting device 13 includes a hoisting drum on which the hoisting wire 5 is wound, one driving means for driving the hoisting drum, and a brake for preventing the suspended load from dropping. The wire winding device 18 includes a undulation drum 14 around which the undulation wire 7 is wound, a horizontal pull-in drum 15 connected to the undulation drum 14 and around which the winding wire 5 is wound, a brake means 29 provided on the undulation drum, and the 2 It comprises a driving means 17 for driving one drum.

次にワイヤの配置を説明すると、巻上ワイヤ5は片端を巻上装置13の巻上ドラムに固定し、ガントリー上部シーブ6、ジブ先端シーブ2、フックシーブ4、ジブ先端シーブ2、ガントリー上部シーブ6、を通って水平引込ドラム15に固定される。また、起伏ワイヤ7は片端を起伏ドラム14に固定し、ガントリー上部シーブ6を通ってジブ先端に固定される。   Next, the arrangement of the wires will be described. One end of the hoisting wire 5 is fixed to the hoisting drum of the hoisting device 13, and the gantry upper sheave 6, jib tip sheave 2, hook sheave 4, jib tip sheave 2, gantry upper sheave 6. , And is fixed to the horizontal drawing drum 15. Further, one end of the hoisting wire 7 is fixed to the hoisting drum 14, and is fixed to the tip of the jib through the gantry upper sheave 6.

図2を用いてワイヤ巻取り装置について詳細に説明する。
ワイヤ巻取り装置18は、ひとつの回転軸33が一端を軸受20で他端を減速機25で支承され、回転軸33の軸上には両端に夫々2つのフランジを有する起伏ドラム14と水平引込ドラム15が連設して設けられている。減速機25は軸受の役目をすると共に、前記2つのドラムの駆動用モータ26と該モータ26の停止用ブレーキ27と共に駆動手段17を構成している。
起伏ワイヤ7の巻かれる起伏ドラム14は、回転軸33に対して回転自在となされ、両端にフランジ21,28を備えている。一方のフランジ28は軸受20側に備えられ、起伏ドラム14の回転を止めるブレーキ手段29のブレーキディスクの役目もなすものである。他方のフランジ21は水平引込ドラムに連設されており後述する水平引込ドラムのフランジ22と共にクラッチ手段を構成するものである。
水平引込ドラム15は回転軸33に固着されモータ26の駆動と共に減速機25を介して回転し、起伏ドラム側のフランジ22には起伏ドラムのフランジ21に連通する同軸の穴23・23が設けられている。
この2つのフランジ21・22に設けられた穴23・23にピン24を差し込むことによって、水平引込ドラム15の回転力を起伏ドラム14に伝達し、ピン24を抜き取ることによって回転力を=断するクラッチ手段32を構成するものである。
起伏ドラム14と水平引込ドラム15は同軸になされており、クラッチ手段32の作用によって、一体回転又は単独回転を可能にしている。このことは、ブレーキ手段29を作動させ起伏ドラム14の回転を止めた状態で、ピン24を抜き取ることによって水平引込ドラム15のみ回転させることができるのである。
The wire winding device will be described in detail with reference to FIG.
In the wire winding device 18, one rotating shaft 33 is supported by a bearing 20 at one end and the speed reducer 25 at the other end, and the undulating drum 14 having two flanges at both ends on the shaft of the rotating shaft 33 and the horizontal pull-in device 18 are provided. A drum 15 is provided continuously. The speed reducer 25 serves as a bearing and constitutes a driving means 17 together with the driving motor 26 for the two drums and a brake 27 for stopping the motor 26.
The hoisting drum 14 around which the hoisting wire 7 is wound is rotatable with respect to the rotary shaft 33 and includes flanges 21 and 28 at both ends. One flange 28 is provided on the bearing 20 side and also serves as a brake disk of the brake means 29 for stopping the rotation of the undulation drum 14. The other flange 21 is connected to the horizontal pulling drum and constitutes clutch means together with a flange 22 of the horizontal pulling drum which will be described later.
The horizontal pull-in drum 15 is fixed to the rotary shaft 33 and rotates through the speed reducer 25 along with the drive of the motor 26. The flange 22 on the undulation drum side is provided with coaxial holes 23 and 23 communicating with the flange 21 of the undulation drum. ing.
By inserting the pin 24 into the holes 23, 23 provided in the two flanges 21, 22, the rotational force of the horizontal drawing drum 15 is transmitted to the undulation drum 14, and the rotational force is cut off by removing the pin 24. The clutch means 32 is configured.
The undulation drum 14 and the horizontal pull-in drum 15 are coaxial, and can be rotated integrally or independently by the action of the clutch means 32. This means that only the horizontal pull-in drum 15 can be rotated by pulling out the pin 24 in a state where the brake means 29 is operated and the rotation of the hoisting drum 14 is stopped.

前記ワイヤ巻取り装置18を備えるクレーンの組立時におけるワイヤリングの手順を説明する。
(1)フレーム1にジブ3、ガントリー8、巻上装置13、ワイヤ巻取り装置18を取り付け、ジブ3は別の組立用クレーンにて支えるか、または図示しないジブ支え台の上に置く。
(2)駆動手段17を作動させ起伏ドラム14に起伏ワイヤ7を巻き、ガントリー上部シーブ6を通してジブ先端に固定する。駆動手段17よって起伏ドラム14を回転させ起伏ワイヤ7を巻き込み、ジブ3を任意の位置まで起こし、不要になった組立用クレーンの玉掛けをはずす。
(3)巻上装置13の巻上ドラム9から繰り出した巻上ワイヤ5を、ガントリー上部シーブ6、ジブ先端シーブ2、フックシーブ4、ジブ先端シーブ2、ガントリー上部シーブ6を通して水平引込ドラム15に固定する。
(4)起伏ドラム14をブレーキ手段29によって固定し、ピン24を穴23・23から抜き取る。
(5)駆動装置17を作動させて水平引込ドラム15にジブ角度(高さ)に相当する長さの巻上ワイヤ5を巻取る。この時、水平引込ドラム15に巻かれる巻上ワイヤ5と起伏ドラム14に巻かれる起伏ワイヤ7の巻取り方向は反対にする。
(6)穴23・23を合せ、ピン24を穴23・23に差し込み水平引込ドラム15と起伏ドラム14の共回転を可能とし、ブレーキ手段29を開放しワイヤリングが終了する。
A procedure for wiring in assembling a crane including the wire winding device 18 will be described.
(1) The jib 3, the gantry 8, the hoisting device 13, and the wire take-up device 18 are attached to the frame 1, and the jib 3 is supported by another assembling crane or placed on a jib support stand (not shown).
(2) The driving means 17 is operated to wind the hoisting wire 7 around the hoisting drum 14 and fix it to the tip of the jib through the gantry upper sheave 6. The hoisting drum 14 is rotated by the driving means 17 to wind the hoisting wire 7, the jib 3 is raised to an arbitrary position, and the sling of the crane for assembly that is no longer needed is removed.
(3) The hoisting wire 5 fed out from the hoisting drum 9 of the hoisting device 13 is fixed to the horizontal drawing drum 15 through the gantry upper sheave 6, the jib tip sheave 2, the hook sheave 4, the jib tip sheave 2, and the gantry upper sheave 6. To do.
(4) The undulating drum 14 is fixed by the brake means 29, and the pin 24 is removed from the holes 23 and 23.
(5) The driving device 17 is operated to wind the winding wire 5 having a length corresponding to the jib angle (height) around the horizontal pulling drum 15. At this time, the winding direction of the hoisting wire 5 wound on the horizontal pulling drum 15 and the hoisting wire 7 wound on the hoisting drum 14 are reversed.
(6) The holes 23 and 23 are aligned, the pin 24 is inserted into the holes 23 and 23, the horizontal drawing drum 15 and the undulation drum 14 can be rotated together, the brake means 29 is opened, and the wiring is completed.

この状態でクレーン作業が可能となり、駆動装置17によって、起伏ドラム14を起伏ワイヤ7の巻き込まれる方向に回転させると、水平引込ドラム15に巻かれた巻上ワイヤ5は繰り出され、ジブ3が起きながら吊り荷を相対的に下げることになる。   In this state, crane work becomes possible, and when the hoisting drum 14 is rotated in the direction in which the hoisting wire 7 is wound by the driving device 17, the hoisting wire 5 wound around the horizontal pulling drum 15 is unwound and the jib 3 is raised. However, the suspended load will be lowered relatively.

ワイヤ巻取り装置の変形例としては、起伏ドラムと水平引込ドラムの回転軸を並列に2本となして巻胴の長さを十分取れるようにしてもよい。また、クラッチ手段もピンと穴とから構成される他に、電磁クラッチ、キー、爪クラッチなどを使用してもよい。   As a modified example of the wire winding device, the undulation drum and the horizontal drawing drum may have two rotation shafts in parallel so that the length of the winding drum can be sufficiently taken. In addition to the clutch means comprising pins and holes, an electromagnetic clutch, key, claw clutch or the like may be used.

起伏式ジブクレーンの斜視図。The perspective view of a hoisting type jib crane. ワイヤ巻取り装置の斜視図。The perspective view of a wire winding device.

符号の説明Explanation of symbols

3 ジブ
5 巻上ワイヤ
7 起伏ワイヤ
14 起伏ドラム
15 水平引込ドラム
17 駆動手段
18 ワイヤ巻取り装置
20 軸受
29 ブレーキ手段
32 クラッチ手段
3 Jib 5 Hoisting wire 7 Hoisting wire 14 Hoisting drum 15 Horizontal retracting drum 17 Drive means 18 Wire winding device 20 Bearing 29 Brake means 32 Clutch means

Claims (1)

ジブを起伏させるために用いる起伏ワイヤと、吊荷を昇降させる巻上ワイヤの2本のワイヤを有し、軸受と、該軸受に支承され起伏ワイヤの巻かれる起伏ドラムと、該起伏ドラムに連設し巻上ワイヤの巻かれる水平引込ドラムと、前記2つのドラムの少なくとも一方に設けるブレーキ手段と、前記2つのドラム間の回転を接続又は遮断するクラッチ手段および、前記ドラムを回転させるひとつの駆動手段とを備えるワイヤ巻取り装置を用いる起伏式ジブクレーンの組み立て時の起伏ワイヤと巻上ワイヤのクレーンへの配置を以下の手順で行なう起伏式ジブクレーンのワイヤリング方法、
(1)駆動手段を作動させ起伏ドラムに起伏ワイヤを巻き、ガントリー上部シーブを通してジブ先端に固定し、駆動手段よって起伏ドラムを回転させ起伏ワイヤを巻き込み、ジブを任意の位置まで起こす、
(2)巻上ドラムから繰り出した巻上ワイヤを、ジブを介して吊荷を吊るフックシーブに通して水平引込ドラムに固定する、
(3)起伏ドラムをブレーキ手段によって固定し、クラッチ手段によって起伏ドラムと巻上ドラムを遮断する、
(4)駆動装置を作動させて水平引込ドラムにジブ角度に相当する長さの巻上ワイヤを、起伏ドラムに巻かれる起伏ワイヤの巻取り方向とは反対に巻取る、
(5)クラッチ手段によって起伏ドラムと巻上ドラムを接続し水平引込ドラムと起伏ドラムの共回転を可能とし、ブレーキ手段を開放する。
It has two wires, a hoisting wire used for raising and lowering the jib and a hoisting wire for raising and lowering a suspended load, and a bearing, a hoisting drum supported by the bearing and wound with the hoisting wire, and connected to the hoisting drum. A horizontal pull-in drum on which the winding wire is wound, brake means provided on at least one of the two drums, clutch means for connecting or blocking rotation between the two drums, and one drive for rotating the drum A method for wiring the hoisting type jib crane in which the hoisting wire and the hoisting wire are arranged in the crane at the time of assembling the hoisting type jib crane using the wire winding device comprising the means,
(1) The driving means is actuated to wind the hoisting wire around the hoisting drum, fixed to the tip of the jib through the gantry upper sheave, the hoisting drum is rotated by the driving means to wind the hoisting wire, and the jib is raised to an arbitrary position.
(2) The hoisting wire drawn out from the hoisting drum is passed through a hook sheave that hangs a suspended load through a jib and fixed to a horizontal pulling drum.
(3) The undulation drum is fixed by the brake means, and the undulation drum and the hoisting drum are shut off by the clutch means.
(4) Actuating the driving device to wind up the winding wire having a length corresponding to the jib angle on the horizontal pulling drum in the direction opposite to the winding direction of the undulating wire wound around the undulating drum;
(5) The hoisting drum and the hoisting drum are connected by the clutch means so that the horizontal pulling drum and the hoisting drum can be rotated together, and the brake means is released.
JP2006351723A 2006-12-27 2006-12-27 Wiring method for hoisting jib crane Pending JP2007099522A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101622673B1 (en) * 2014-06-26 2016-05-20 대우조선해양 주식회사 Device for cable robot
CN113789725A (en) * 2021-09-10 2021-12-14 中国水利水电第八工程局有限公司 Suspension bridge construction method and hoisting device

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4845352U (en) * 1971-10-01 1973-06-13
JPS50106370A (en) * 1974-01-31 1975-08-21
JPS50150156A (en) * 1974-05-28 1975-12-02
JPS5442759A (en) * 1977-09-09 1979-04-04 Ishikawajima Harima Heavy Ind Co Ltd Jib crane
JPS58122286A (en) * 1982-01-11 1983-07-20 Fukushima Seisakusho:Kk Winding method for cargo-lifting equipment of vessel
JPS6271186U (en) * 1985-10-22 1987-05-07
JPS63116494U (en) * 1987-01-20 1988-07-27

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4845352U (en) * 1971-10-01 1973-06-13
JPS50106370A (en) * 1974-01-31 1975-08-21
JPS50150156A (en) * 1974-05-28 1975-12-02
JPS5442759A (en) * 1977-09-09 1979-04-04 Ishikawajima Harima Heavy Ind Co Ltd Jib crane
JPS58122286A (en) * 1982-01-11 1983-07-20 Fukushima Seisakusho:Kk Winding method for cargo-lifting equipment of vessel
JPS6271186U (en) * 1985-10-22 1987-05-07
JPS63116494U (en) * 1987-01-20 1988-07-27

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101622673B1 (en) * 2014-06-26 2016-05-20 대우조선해양 주식회사 Device for cable robot
CN113789725A (en) * 2021-09-10 2021-12-14 中国水利水电第八工程局有限公司 Suspension bridge construction method and hoisting device

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