CN107117564A - A kind of apparatus for work with turning function - Google Patents
A kind of apparatus for work with turning function Download PDFInfo
- Publication number
- CN107117564A CN107117564A CN201610102194.5A CN201610102194A CN107117564A CN 107117564 A CN107117564 A CN 107117564A CN 201610102194 A CN201610102194 A CN 201610102194A CN 107117564 A CN107117564 A CN 107117564A
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- CN
- China
- Prior art keywords
- connecting rod
- platform
- supporting plate
- link
- power transmission
- Prior art date
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0625—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement with wheels for moving around the floor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot device of power transformating and supplying facility detection, specifically a kind of apparatus for work with turning function.Including locomotive, turntable, lifting platform, connecting platform and rotating mechanism, its intermediate station is installed in rotation on locomotive, the lifting platform is connected with turntable, and the connecting platform is arranged at the top of the lifting platform, and the rotating mechanism is arranged on connecting platform.The present invention is combined using locomotive with elevating mechanism, with ground running and operation function, and the lifting of power tool is realized by lifting platform, and reliable operation, bearing capacity is strong, and the present invention is applied to the robot detection operation under power transmission and transformation environment, has a wide range of application.
Description
Technical field
The present invention relates to a kind of robot device of power transformating and supplying facility detection, specifically one kind, which has, turns
To the apparatus for work of function.
Background technology
Transmission line of electricity is the particularly important part of power system, in order to ensure that it safely and steadily runs,
Need periodically to carry out walkaround inspection.The method that current power transmission line data-logging is used mainly has manual inspection and straight
Rise machine inspection.The efficiency of manual inspection is low, and labor intensity is big, dangerous high；The cost of helicopter routing inspection
Height, the easy climate influence of inspection quality.Therefore a kind of robot device of power transmission facility detection is developed, is replaced
For manual inspection, operating efficiency is improved, mitigates the labor intensity of workman.
The content of the invention
In view of the above-mentioned problems, it is an object of the invention to provide a kind of apparatus for work with turning function,
The equipment has that translational speed is fast, obstacle climbing ability is strong, security protection good, and end power tool turns to work(
Energy.
The purpose of the present invention is achieved through the following technical solutions：
A kind of apparatus for work with turning function, including locomotive, turntable, lifting platform, connecting platform
And rotating mechanism, its intermediate station is installed in rotation on locomotive, and the lifting platform is connected with turntable,
The connecting platform is arranged at the top of the lifting platform, and the rotating mechanism is arranged on connecting platform.
The rotating mechanism includes gear a, gear b, fixed plate and motor, and wherein fixed plate passes through
Sliding bearing is arranged on the connecting platform, and the fixed plate is connected with gear a, the motor
It is connected installed in the connecting platform and output end with gear b, the gear b is engaged with gear a.
The lifting platform includes motor, electric cylinder, supporting plate, first connecting rod, second connecting rod, the 3rd company
Bar, fourth link and the 5th connecting rod, wherein supporting plate be arranged on the turntable on, the first connecting rod and
Second connecting rod cross-articulation and the one end for being located at supporting plate, the third connecting rod and fourth link are intersected
It is hinged and positioned at the other end of supporting plate, the first connecting rod is parallel with fourth link, described second
Connecting rod is parallel with third connecting rod, and one end of the first connecting rod and fourth link is hinged with the supporting plate,
The other end is slidably connected with the connecting platform, one end and the branch of the second connecting rod and third connecting rod
Fagging is slidably connected, and the other end is hinged with the connecting platform, the second connecting rod and third connecting rod
One end close to supporting plate is connected by the 5th connecting rod, and the motor and electric cylinder are arranged at the supporting plate
Go up and be connected, the output shaft of the electric cylinder is connected with the 5th connecting rod.
The second connecting rod and third connecting rod are connected by seven-link assembly, the first connecting rod and fourth link
Connected by six-bar linkage, the 5th connecting rod and six-bar linkage are connected by the 8th connecting rod.
The six-bar linkage and seven-link assembly are horizontally disposed with, and the six-bar linkage is located at the second connecting rod
With third connecting rod close to one end of connecting platform, the seven-link assembly is located at the first connecting rod and the 4th and connected
The position close to centre of bar.
The two ends of the supporting plate are respectively equipped with supporting plate track, the one of the second connecting rod and third connecting rod
End is respectively equipped with the first scroll wheel and the 3rd scroll wheel that can be walked on the supporting plate track.
The bottom two ends of the connecting platform are respectively equipped with platform track, the first connecting rod and fourth link
The other end be respectively equipped with the second scroll wheel and the 4th scroll wheel that can be walked on platform track.
The output shaft of the electric cylinder is connected by connector with the 5th connecting rod.
The rotary joint that the turntable is put by Vertical Square is connected with locomotive, and the rotation of turntable can be achieved.
The locomotive includes car body and road wheel, and the bottom of the car body is provided with multiple road wheels, each row
Wheel is walked to drive by independent motor harmonic reductor respectively.
Advantages of the present invention is with good effect：
1. the present invention is combined using locomotive with elevating mechanism, with ground running and detection operation function.
2. the present invention realizes the lifting of power tool by lifting platform, reliable operation, bearing capacity is strong.
3. end power tool has turning function, detection operation instrument can be carried.
3. the present invention is applied to the robot inspection operation under power transmission and transformation environment, have a wide range of application.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the structural representation of locomotive in the present invention；
Fig. 3 is one of structural representation of elevating mechanism in the present invention；
Fig. 4 is two of the structural representation of elevating mechanism in the present invention；
Fig. 5 is the structural representation of rotating mechanism in the present invention.
Wherein：1 is locomotive, and 101 be car body, and 102 be road wheel, and 2 be turntable, and 3 be lifting platform,
301 be motor, and 302 be electric cylinder, and 303 be supporting plate, and 304 be first connecting rod, and 305 be second connecting rod,
306 be third connecting rod, and 307 be fourth link, and 308 be the 5th connecting rod, and 309 be six-bar linkage, and 310 are
Seven-link assembly, 311 be connector, and 312 be the first rotary joint, and 313 be the second rotary joint, 314
It is the 4th rotary joint for the 3rd rotary joint, 315,316 be the 5th rotary joint, and 317 be the 6th rotation
Turn joint, 318 be the 7th rotary joint, and 319 be the 8th rotary joint, and 320 be the 9th rotary joint,
321 be the tenth rotary joint, and 322 be the 11st rotary joint, and 323 be the 12nd rotary joint, 324
It is the second scroll wheel for the first scroll wheel, 325,326 be the 3rd scroll wheel, and 327 be the 4th scroll wheel,
328 be the 8th connecting rod, and 4 be connecting platform, and 5 be gear a, and 6 be gear b.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of apparatus for work with turning function that the present invention is provided, including locomotive 1,
Turntable 2, lifting platform 3, connecting platform 4 and rotating mechanism, its intermediate station 2 are installed in rotation on movement
On car 1, the lifting platform 3 is connected with turntable 2, and the connecting platform 4 is arranged at the lifting platform 3
Top, the rotating mechanism be arranged on connecting platform 4 on.
As shown in figure 5, the rotating mechanism includes gear a5, gear b6, fixed plate 7 and motor,
Wherein fixed plate 7 is arranged on the connecting platform 4 by sliding bearing, the fixed plate 7 and gear
A5 is connected, and the motor is arranged on the connecting platform 4 and output end is connected with gear b6,
The gear b6 is engaged with gear a5, and the fixed plate 7 can together rotate in company with gear a5.It is described to drive
Dynamic motor-driven gear b6 rotations, so as to be rotated with moving gear b6 and fixed plate 7, the fixed plate 7
Upper settable detection operation instrument.
In the present embodiment, the rotary joint that the turntable 2 is put by Vertical Square is connected with locomotive 1, can
Realize the rotation of turntable 2.
Fig. 2 is the structural representation of locomotive in the present invention；As shown in Fig. 2 the locomotive 1 includes
Car body 101 and road wheel 102, the bottom of the car body 101 are provided with multiple road wheels 102, each road wheel
102 are driven by independent motor harmonic reductor respectively.
In the present embodiment, the bottom of the car body 101 is provided with four road wheels 102, the first road wheel and the
Two road wheels are located at left side, and the third line walks wheel and fourth line walks wheel and is located at right side, and each road wheel 102 is distinguished
Walking is driven by connected independent motor harmonic reductor.
When the first road wheel, the second road wheel, the third line walk wheel and fourth line walk wheel it is synchronized advance or after
When moving back, locomotive 1 can realize advance or retreat.Left side road wheel is rotated with V1 speed, right side row
Walk wheel to rotate with V2 speed, V1 and V2 have speed difference between the two, the turning of locomotive 1 can be achieved
Motion.
Fig. 3 is one of structural representation of elevating mechanism in the present invention；As shown in figure 3, the lifting platform 3
Including motor 301, electric cylinder 302, supporting plate 303, first connecting rod 304, second connecting rod the 305, the 3rd
Connecting rod 306, the connecting rod 308 of fourth link 307 and the 5th, wherein supporting plate 303 are fixedly mounted on described turn
On platform 2, the first connecting rod 304 and the cross-articulation of second connecting rod 305 and positioned at supporting plate 303
One end, the third connecting rod 306 and the cross-articulation of fourth link 307 and positioned at supporting plate 303
The other end.The first connecting rod 304 is parallel with fourth link 307, the second connecting rod 305 and
Three connecting rods 306 are parallel, one end of the first connecting rod 304 and fourth link 307 and the supporting plate 303
It is hinged, the other end is slidably connected with the connecting platform 4.The second connecting rod 305 and third connecting rod 306
One end be slidably connected with the supporting plate 303, the other end is hinged with the connecting platform 4, institute
State second connecting rod 305 and third connecting rod 306 is connected close to one end of supporting plate 303 by the 5th connecting rod 308
Connect.The motor 301 is arranged in the supporting plate 303 and is connected with electric cylinder 302, institute
The output shaft for stating electric cylinder 302 is connected with the 5th connecting rod 308.
The motor 301 drives electric cylinder 302, and the electric cylinder 302 is pushed away by the 5th connecting rod 308
The second connecting rod 305 and third connecting rod 306 is moved to advance or retreat in the supporting plate 303.
The second connecting rod 305 and third connecting rod 306 are connected by seven-link assembly 310, and described first connects
Bar 304 and fourth link 307 are connected by six-bar linkage 309.The six-bar linkage 309 and the 7th connects
Bar 310 is horizontally disposed with, and the six-bar linkage 309 is located at the second connecting rod 305 and third connecting rod 306
Close to one end of connecting platform 4, the seven-link assembly 310 connects positioned at the first connecting rod 304 and the 4th
The position close to centre of bar 307.5th connecting rod 308 and six-bar linkage 309 pass through the 8th connecting rod
328 are hinged.
In the present embodiment, the two ends of the supporting plate 303 are respectively equipped with supporting plate track, and described second connects
One end of bar 305 and third connecting rod 306 is respectively equipped with the first rolling that can be walked on the supporting plate track
The scroll wheel 326 of driving wheel 324 and the 3rd.The bottom two ends of the connecting platform 4 are respectively equipped with platform track,
The first connecting rod 304 and the other end of fourth link 307 are respectively equipped with what can be walked on platform track
Second scroll wheel 325 and the 4th scroll wheel 327.The output shaft of the electric cylinder 302 passes through connector 311
It is connected with the 5th connecting rod 308.
Fig. 4 is two of the structural representation of elevating mechanism in the present invention；As shown in figure 4, in the present embodiment,
The first connecting rod 304 and second connecting rod 305 are connected by the 5th rotary joint 316, third connecting rod 306
Connected with fourth link 307 by the 12nd rotary joint 323；First connecting rod 304 and second connecting rod 305
It is connected, is led to respectively with supporting plate 303 by the first rotary joint 312 and the second rotary joint 313 respectively
Cross the 3rd rotary joint 314 and the 4th rotary joint 315 is connected with connecting platform 4；Third connecting rod 306
Pass through the 7th rotary joint 318 and the 8th rotary joint 319 and supporting plate 303 respectively with fourth link 307
Connection, is connected by the 9th rotary joint 320 and the tenth rotary joint 321 with connecting platform 4 respectively；
Seven-link assembly 310 is connected with the 5th rotary joint 316 and the 12nd rotary joint 323, is played support and is made
With；Six-bar linkage 309 passes through the 6th rotary joint 317 and the 11st rotary joint 3-22 and first respectively
304 fourth links 307 of connecting rod are connected；
5th connecting rod 308, the scroll wheel 324 of second connecting rod 305 and first are connected by the second rotary joint 313
Connect, the 5th connecting rod 308, the scroll wheel 326 of third connecting rod 306 and the 3rd are connected by the 7th rotary joint 318
Connect, the first scroll wheel 324 and the 3rd scroll wheel 326 can along supporting plate 303 supporting plate track travel；
Second connecting rod 305 is connected by the 3rd rotary joint 314 with connecting platform 4, and third connecting rod 306 passes through
9th rotary joint 320 is connected with connecting platform 4.
First connecting rod 304 is connected by the 4th rotary joint 315 with the second scroll wheel 325, and second rolls
Wheel 325 can walk along the platform track of connecting platform 4, and the other end of first connecting rod 304 passes through the first rotation
Turn joint 312 to be connected with supporting plate 303；Fourth link 307 passes through the tenth rotary joint 321 and the 4th
Scroll wheel 327 is connected, and the 4th scroll wheel 327 can walk along the platform track of connecting platform 4, and the 4th connects
The other end of bar 307 is connected by the 8th rotary joint 319 with supporting plate 303.
Motor 301 promotes electric cylinder 302, by the connecting rod 308 of connector 311 and the 5th, promotes first to roll
Advance or retrogressing of the scroll wheel 326 of driving wheel 324 and the 3rd along the guide rail of supporting plate 303, first connecting rod 304
Diminish with second connecting rod 305, and third connecting rod 306 and the angle of the crossing of fourth link 307, promote simultaneously
The advance or retrogressing of the guide rail of second scroll wheel 325 and the 4th scroll wheel 327 along connecting platform 4, enter
And realize the raising and lowering of connecting platform 4.
Motor is driven by gear a5 and gear b6, drives fixed plate 7 to rotate, and fixed plate 7 is led to
Sliding bearing is crossed on the connecting platform 4, so realize fixed plate 7 can be along the circumference of connecting platform 4
Rotate.Detection operation instrument can be arranged on fixed plate 7, and detection operation instrument can be realized along connecting platform 4
Circular-rotation.
Claims (10)
1. a kind of apparatus for work with turning function, it is characterised in that including locomotive (1), turntable
(2), lifting platform (3), connecting platform (4) and rotating mechanism, its intermediate station (2) are rotationally pacified
On locomotive (1), the lifting platform (3) is connected with turntable (2), the connecting platform (4)
The top of the lifting platform (3) is arranged at, the rotating mechanism is arranged on connecting platform (4).
2. the apparatus for work according to claim 1 with turning function, it is characterised in that described
Rotating mechanism includes gear a (5), gear b (6), fixed plate (7) and motor, wherein fixed
Plate (7) is arranged on the connecting platform (4) by sliding bearing, the fixed plate (7) and gear
A (5) is connected, and the motor is arranged on the connecting platform (4) and output end and gear b
(6) connect, the gear b (6) is engaged with gear a (5).
3. the robot device of the power transmission facility detection according to claims 1, it is characterised in that
The lifting platform (3) includes motor (301), electric cylinder (302), supporting plate (303), first connecting rod
(304), second connecting rod (305), third connecting rod (306), fourth link (307) and the 5th connecting rod (308),
Wherein supporting plate (303) is arranged on the turntable (2), and the first connecting rod (304) and second connects
Bar (305) cross-articulation and the one end for being located at supporting plate (303), the third connecting rod (306)
With fourth link (307) cross-articulation and positioned at the other end of supporting plate (303), described first
Connecting rod (304) is parallel with fourth link (307), the second connecting rod (305) and third connecting rod (306)
It is parallel, one end and the supporting plate (303) of the first connecting rod (304) and fourth link (307)
It is hinged, the other end is slidably connected with the connecting platform (4), the second connecting rod (305) and the 3rd
One end of connecting rod (306) is slidably connected with the supporting plate (303), the other end and the connection
Platform (4) is hinged, and the second connecting rod (305) and third connecting rod (306) are close to supporting plate (303)
One end connected by the 5th connecting rod (308), the motor (301) and electric cylinder (302) are arranged at
On the supporting plate (303) and it is connected, the output shaft of the electric cylinder (302) and described the
Five connecting rods (308) are connected.
4. the robot device of the power transmission facility detection according to claims 3, it is characterised in that
The second connecting rod (305) and third connecting rod (306) are connected by seven-link assembly (310), and described the
One connecting rod (304) and fourth link (307) are connected by six-bar linkage (309), the 5th connecting rod
(308) connected with six-bar linkage (309) by the 8th connecting rod (328).
5. the robot device of the power transmission facility detection according to claims 4, it is characterised in that
The six-bar linkage (309) and seven-link assembly (310) are horizontally disposed with, the six-bar linkage (309)
Positioned at the second connecting rod (305) and third connecting rod (306) close to one end of connecting platform (4), institute
Seven-link assembly (310) is stated positioned at the first connecting rod (304) and the close centre of fourth link (307)
Position.
6. the robot device of the power transmission facility detection according to claims 3, it is characterised in that
The two ends of the supporting plate (303) are respectively equipped with supporting plate track, the second connecting rod (305) and
One end of three connecting rods (306) is respectively equipped with the first scroll wheel (324) that can be walked on the supporting plate track
With the 3rd scroll wheel (326).
7. the robot device of the power transmission facility detection according to claims 3, it is characterised in that
The bottom two ends of the connecting platform (4) are respectively equipped with platform track, the first connecting rod (304) and
The other end of fourth link (307) is respectively equipped with the second scroll wheel (325) that can be walked on platform track
With the 4th scroll wheel (327).
8. the robot device of the power transmission facility detection according to claims 3, it is characterised in that
The output shaft of the electric cylinder (302) is connected by connector (311) with the 5th connecting rod (308).
9. the robot device of the power transmission facility detection according to claims 1, it is characterised in that
The rotary joint that the turntable (2) is put by Vertical Square is connected with locomotive (1), and turntable (2) can be achieved
Rotation.
10. the robot device of the power transmission facility detection according to claims 1, it is characterised in that
The locomotive (1) includes car body (101) and road wheel (102), the bottom of the car body (101)
Provided with multiple road wheels (102), each road wheel (102) passes through independent motor harmonic reductor respectively
Driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610102194.5A CN107117564A (en) | 2016-02-24 | 2016-02-24 | A kind of apparatus for work with turning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610102194.5A CN107117564A (en) | 2016-02-24 | 2016-02-24 | A kind of apparatus for work with turning function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107117564A true CN107117564A (en) | 2017-09-01 |
Family
ID=59717644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610102194.5A Pending CN107117564A (en) | 2016-02-24 | 2016-02-24 | A kind of apparatus for work with turning function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107117564A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639586A (en) * | 2017-10-10 | 2018-01-30 | 大唐向阳风电有限公司 | A kind of device for being used to change fan yaw brake clip and the outer thermantidote of generator |
| CN109227084A (en) * | 2018-10-25 | 2019-01-18 | 珠海格力智能装备有限公司 | Pipe fitting mounting device |
| CN111302265A (en) * | 2020-03-28 | 2020-06-19 | 福州狸堡科技有限公司 | Conveyer for construction |
| CN113928771A (en) * | 2021-12-17 | 2022-01-14 | 苏州牧星智能科技有限公司 | Self-locking mechanism of jacking device, jacking device and transfer robot |
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| US5099950A (en) * | 1990-01-22 | 1992-03-31 | Japanic Corporation | Lifting apparatus |
| CN101712445A (en) * | 2009-10-21 | 2010-05-26 | 丁克芳 | Fork hydraulic lifting platform |
| CN104477815A (en) * | 2014-12-25 | 2015-04-01 | 哈尔滨工程大学 | Platform-retractable hydraulic lift |
| CN104859440A (en) * | 2015-06-12 | 2015-08-26 | 邓莉莉 | Skid type AGV (automatic guided vehicle) |
| CN205419692U (en) * | 2016-02-24 | 2016-08-03 | 中国科学院沈阳自动化研究所 | Operation device with turn to function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5099950A (en) * | 1990-01-22 | 1992-03-31 | Japanic Corporation | Lifting apparatus |
| CN101712445A (en) * | 2009-10-21 | 2010-05-26 | 丁克芳 | Fork hydraulic lifting platform |
| CN104477815A (en) * | 2014-12-25 | 2015-04-01 | 哈尔滨工程大学 | Platform-retractable hydraulic lift |
| CN104859440A (en) * | 2015-06-12 | 2015-08-26 | 邓莉莉 | Skid type AGV (automatic guided vehicle) |
| CN205419692U (en) * | 2016-02-24 | 2016-08-03 | 中国科学院沈阳自动化研究所 | Operation device with turn to function |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639586A (en) * | 2017-10-10 | 2018-01-30 | 大唐向阳风电有限公司 | A kind of device for being used to change fan yaw brake clip and the outer thermantidote of generator |
| CN107639586B (en) * | 2017-10-10 | 2019-03-19 | 大唐向阳风电有限公司 | It is a kind of for replacing the device of cooling fan outside fan yaw brake clip and generator |
| CN109227084A (en) * | 2018-10-25 | 2019-01-18 | 珠海格力智能装备有限公司 | Pipe fitting mounting device |
| CN109227084B (en) * | 2018-10-25 | 2024-04-02 | 珠海格力智能装备有限公司 | Pipe fitting installation device |
| CN111302265A (en) * | 2020-03-28 | 2020-06-19 | 福州狸堡科技有限公司 | Conveyer for construction |
| CN111302265B (en) * | 2020-03-28 | 2020-11-03 | 中建二局第一建筑工程有限公司 | Conveyer for construction |
| CN113928771A (en) * | 2021-12-17 | 2022-01-14 | 苏州牧星智能科技有限公司 | Self-locking mechanism of jacking device, jacking device and transfer robot |
| CN113928771B (en) * | 2021-12-17 | 2022-03-18 | 苏州牧星智能科技有限公司 | Self-locking mechanism of jacking device, jacking device and transfer robot |
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| PB01 | Publication | ||
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Application publication date: 20170901 |