CN109139064A - A kind of tunnel arch installation manipulator and tunnel arch install trolley - Google Patents
A kind of tunnel arch installation manipulator and tunnel arch install trolley Download PDFInfo
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- CN109139064A CN109139064A CN201811050943.XA CN201811050943A CN109139064A CN 109139064 A CN109139064 A CN 109139064A CN 201811050943 A CN201811050943 A CN 201811050943A CN 109139064 A CN109139064 A CN 109139064A
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- arch
- assembly
- tunnel
- installation manipulator
- lifting
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- 238000009434 installation Methods 0.000 title claims abstract description 52
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 238000010276 construction Methods 0.000 description 10
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/14—Lining predominantly with metal
- E21D11/18—Arch members ; Network made of arch members ; Ring elements; Polygon elements; Polygon elements inside arches
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The present invention provides a kind of tunnel arch installation manipulator and tunnel arch installation trolley.Tunnel arch installation manipulator includes arch grabbing assembly, it further include the lifting assembly for driving arch grabbing assembly to be moved to arch placement location or arch installation site, arch grabbing assembly is driven to turn to the hinge assembly close to or far from arch holding plane, and realize the multidirectional gyro black assembly of the multi-direction rotation of arch grabbing assembly, the multidirectional gyro black assembly includes two orthogonal rotary decelerators, the both ends of the hinge assembly are connect with the rotary decelerator of the lifting assembly and wherein one respectively, another rotary decelerator is connect with the arch grabbing assembly.It includes that trolley ontology and above-mentioned tunnel arch installation manipulator, tunnel arch installation manipulator are installed in trolley main body that tunnel arch, which installs trolley,.The present invention has many advantages, such as to realize that arch is automatically grabbed, ajusts and installed, and compact-sized, high safety and reliability.
Description
Technical field
The present invention relates to tunnel arch installing area domain more particularly to a kind of tunnel arch installation manipulators and tunnel arch
Trolley is installed.
Background technique
In tunnel steel arch frame construction field, the lifting splicing that artificial and crane carries out arch is generallyd use, is not only applied
Work not can guarantee safely, and large labor intensity, construction efficiency are low, construction quality is not high.In order to solve the above technical problems, existing skill
Art uses tunnel arch trolley, labor intensity of operating staff is substantially reduced, but existing tunnel steel arch frame mounting structure
It does not support to automatically grab steel arch-shelf from ground, human assistance cooperation is needed to move arch on hand grip to, that is, it is mechanical when working
Hand need to put down and open handgrip, and arch is transported on handgrip by construction personnel, then close handgrip and carry out arch lifting, existing knot
Structure there are still construction efficiency low, large labor intensity, and the problem of poor safety performance；And due to constructing tunnel there are narrow space,
Closed stuffy, country rock such as falls at the adverse circumstances, and excessive personnel's construction will increase accident casualty risk.Meanwhile grabbing device without
Method realizes the crawl operation of any position, so that the installation of tunnel arch cannot achieve whole-course automation.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, provide a kind of realization arch automatically grab,
It ajusts and installs, and compact-sized, high safety and reliability tunnel arch installation manipulator and tunnel arch install trolley.
In order to solve the above technical problems, technical solution proposed by the present invention are as follows:
A kind of tunnel arch installation manipulator, including arch grabbing assembly further include that arch grabbing assembly is driven to be moved to
Arch placement location or the lifting assembly of arch installation site drive arch grabbing assembly to turn to close to or far from arch placement
The hinge assembly of plane, and realize the multidirectional gyro black assembly of the multi-direction rotation of arch grabbing assembly, the multidirectional gyro black assembly
Including two orthogonal rotary decelerators, the both ends of the hinge assembly are respectively with the lifting assembly and wherein described in one
Rotary decelerator connection, another rotary decelerator are connect with the arch grabbing assembly.
As a further improvement of the above technical scheme:
The lifting assembly includes crane, lifting actuator and two vertical guide posts, the left and right sides of the crane
It is slidedly arranged on a vertical guide post respectively, the driving end of the lifting actuator is connect with the crane.
The lifting assembly is set in a mounting assembly, and the mounting assembly includes sequentially connected mounting seat, hanging basket
And support frame, the lifting actuator are set on support frame as described above, two vertical guide posts are set to the bottom of support frame as described above
Two sides.
The multidirectional gyro black assembly further includes the horizontal rotation part for driving arch grabbing assembly to horizontally rotate, and described horizontal time
Turn part to be set between the hanging basket and pedestal.
The hinge assembly includes flexible actuator, the first connecting rod on crane, and is set to rotary deceleration
Second connecting rod on device, the flexible actuator are articulated between the crane and rotary decelerator；The first connecting rod
And second connecting rod is hinged, and drives the arch grabbing assembly on rotary decelerator to turn under the drive of flexible actuator
It is dynamic.
The flexible actuator is set to the middle part of the crane and rotary decelerator, and the first connecting rod and second connect
Bar is two groups, and first connecting rod described in two groups and second connecting rod are divided into the two sides of the flexible actuator.
The arch grabbing assembly includes crawl arm, arch support member, fixes to clamp component and movable jaw member, institute
The both ends for stating crawl arm are connect with rotary decelerator and arch support member respectively, and the component that fixes to clamp is installed on arch
In support member, the movable jaw member includes cursor and the arch clamping section with cursor drive connection, the arch
Clamping section turns to and fixes to clamp that component is positioned opposite when arch grabs, to form the pinching chamber for clamping arch.
The cursor is L shape cursor, and one end of the L shape cursor is connect with arch clamping section, the L shape rotation
The other end of arm is connected with pivoted arm actuator, and the center of rotation of the L shape cursor is located at L shape cursor setting pivoted arm and drives
Moving part on one side on.
The arch support member includes arch support platform and mounting bracket, and the mounting bracket is hollow sting, institute
It states L shape cursor and pivoted arm actuator is set in the hollow sting, and be articulated in the mounting bracket by pin shaft；Institute
It states crawl arm to connect with the mounting bracket, the arch is placed in the arch support platform.
A kind of tunnel arch installation trolley, it is described including trolley ontology and tunnel arch installation manipulator described above
Tunnel arch installation manipulator is installed in the trolley main body.
Compared with the prior art, the advantages of the present invention are as follows:
Tunnel arch installation manipulator of the invention includes lifting assembly, hinge assembly and multidirectional gyro black assembly, wherein more
It include two orthogonal rotary decelerators to gyro black assembly, the both ends of hinge assembly are respectively with lifting assembly and wherein one time
Rotatable retarder connection, another rotary decelerator is connect with arch grabbing assembly, compared to traditional oil cylinder driving form
It is compact-sized, occupy little space, and transmission stability is higher.Meanwhile lifting assembly drives arch grabbing assembly to be moved to arch
Placement location or arch installation site, which increase the maximum operating ranges of manipulator, and manipulator is facilitated accurately to protrude into arch
Lower end is clamped, automatically grabbing and installing and provide the foundation for manipulator；Hinge assembly drives the rotation of arch grabbing assembly
Make manipulator ground proximity parallel to the ground extremely close to or far from arch holding plane, when close or with ground in low-angle
State realizes clamping to steel arch-shelf lower end to facilitate arch grabbing assembly flattened；Two rotary decelerators of multidirectional gyro black assembly
Ajusting after manipulator clamping arch can be achieved and manipulator ajust after fine tuning to guarantee effective docking of adjacent arch.
I.e. the present invention has tunnel arch installation manipulator in the form of the combination of lifting assembly, hinge assembly and multidirectional gyro black assembly
The function that standby arch is automatically grabbed, ajusts and install, arch are not necessarily to manual handling, improve the safety and steadily of arch installation
Reliability, and construction efficiency is high, it is at low cost.Tunnel arch installation trolley of the invention equally has the above advantages.
Detailed description of the invention
The invention will be described in more detail below based on embodiments and refering to the accompanying drawings.Wherein:
Fig. 1 is the overall structure diagram of tunnel arch installation manipulator of the present invention.
Fig. 2 is the main view of lifting assembly of the present invention.
Fig. 3 is the left view of lifting assembly of the present invention.
Fig. 4 is the main view of arch grabbing assembly of the present invention Yu multidirectional gyro black assembly positional relationship.
Fig. 5 is the left view of arch grabbing assembly of the present invention Yu multidirectional gyro black assembly positional relationship.
Fig. 6 is the main view of arch grabbing assembly of the present invention.
Fig. 7 is the left view of arch grabbing assembly of the present invention.
Fig. 8 is the operation schematic diagram of tunnel arch installation manipulator of the present invention.
Each label indicates in figure:
1, arch grabbing assembly；11, crawl arm；12, arch support member；121, arch support platform；122, installation branch
Frame；13, component is fixed to clamp；14, movable jaw member；141, cursor；142, arch clamping section；15, pivoted arm actuator；
16, pin shaft；17, locating part；18, connecting rod；2, lifting assembly；21, crane；22, actuator is gone up and down；23, vertical guide post；3,
Hinge assembly；31, stretch actuator；32, first connecting rod；33, second connecting rod；4, multidirectional gyro black assembly；41, rotary deceleration
Device；42, horizontal rotation part；5, mounting assembly；51, mounting seat；52, hanging basket；53, support frame.
Specific embodiment
The present invention is described in further details below in conjunction with Figure of description and specific embodiment, but not therefore and
It limits the scope of the invention.
As shown in Figures 1 to 8, the tunnel arch installation manipulator of the present embodiment, including arch grabbing assembly 1, lifting group
Part 2, hinge assembly 3 and multidirectional gyro black assembly 4.Wherein, multidirectional gyro black assembly 4 includes two orthogonal rotary decelerators
41, with lifting assembly 2 and wherein single-revolution formula retarder 41 is connect respectively at the both ends of hinge assembly 3, another rotary decelerator
41 connect with arch grabbing assembly 1, compact-sized compared to traditional oil cylinder driving form, occupy little space, and are driven flat
Stability is higher.
Meanwhile lifting assembly 2 drives arch grabbing assembly 1 to be moved to arch placement location or arch installation site, increases
The big maximum operating range of manipulator, and facilitate manipulator accurately to protrude into arch lower end and clamped, it is the automatic of manipulator
Crawl and installation provide the foundation；Hinge assembly 3 drives arch grabbing assembly 1 to turn to close to or far from arch holding plane,
Make manipulator ground proximity parallel to the ground when close or with ground in low-angle state, to facilitate arch grabbing assembly 1
It is flattened to realize clamping to arch lower end；After two rotary decelerators 41 of multidirectional gyro black assembly 4 can realize manipulator clamping arch
Ajust and manipulator ajust after fine tuning to guarantee effective docking of adjacent arch.I.e. the present invention using lifting assembly 2,
The form that hinge assembly 3 and multidirectional gyro black assembly 4 combine tunnel arch installation manipulator have arch to automatically grab, ajust
And the function of installation, arch are not necessarily to manual handling, improve the safety and steady reliability of arch installation, and construction efficiency
Height, it is at low cost.
As shown in Figures 2 and 3, lifting assembly 2 includes crane 21, actuator 22 and two vertical guide posts 23.Wherein, it rises
The left and right sides of drop frame 21 is slidedly arranged on respectively on a vertical guide post 23；The driving end of lifting actuator 22 is connect with crane 21,
To provide the vertically mobile driving force of guide post 23 of crane 21, which obviate the shake in 1 lifting process of arch grabbing assembly,
It ensure that the even running of arch grabbing assembly 1.
Further, as shown in Figure 1, lifting assembly 2 is set in a mounting assembly 5, mounting assembly 5 includes mounting seat
51, hanging basket 52 and support frame 53.Wherein, mounting seat 51 is set in moving trolley by cantilever crane；Hanging basket 52 is installed on installation bottom
On seat 51, the setting of hanging basket 52 facilitates operator to operate and subsequent construction；Support frame 53 is fixedly installed on hanging basket 52.
In the present embodiment, lifting actuator 22 is installed on support frame 53, and two vertical guide posts 22 are installed on the bottom two of support frame 53
Side realizes the reliable installation of lifting assembly 2.
Further, multidirectional gyro black assembly 4 further includes horizontal rotation part 42.Horizontal rotation part 42 is set to hanging basket 52 and pedestal
Between 51, so that hanging basket 52 can horizontally rotate, the arch crawl range of arch grabbing assembly 1 is effectively expanded.The present embodiment
In, horizontal rotation part 42 is rotary decelerator, the both ends of rotary decelerator by screw respectively with pedestal 51 and hanging basket 52
Connection.
In the present embodiment, hinge assembly 3 includes flexible actuator 31, first connecting rod 32 and second connecting rod 33.Wherein, it stretches
Actuator 31 is articulated between crane 21 and rotary decelerator 41；First connecting rod 32 is set on crane 21, second connecting rod
33 are set on rotary decelerator 41, meanwhile, first connecting rod 32 and second connecting rod 33 are hinged, first connecting rod 32 and the second company
Bar 33 drives the arch grabbing assembly 1 on rotary decelerator 41 to turn under the drive of flexible actuator 31 and puts close to arch
Horizontalization face, so that manipulator ground proximity is parallel to the ground or is in low-angle state with ground, to facilitate arch grabbing assembly 1
It is flattened to realize clamping to arch lower end.
Further, as shown in figures 2 and 5, the actuator 31 that stretches is set in crane 21 and rotary decelerator 41
Portion.First connecting rod 32 and second connecting rod 33 are two groups, and two groups of first connecting rods 32 and second connecting rod 33 are divided into flexible actuator 31
Two sides.Its compact layout and further improve arch grabbing assembly 1 driving stability and reliability.
If 4 to shown in Fig. 7, in the present embodiment, arch grabbing assembly 1 includes crawl arm 11, arch support member 12, fixes
Clamping component 13 and movable jaw member 14.Wherein, the both ends of crawl arm 11 are supported with rotary decelerator 41 and arch respectively
Component 12 connects.It fixes to clamp component 13 to be installed in arch support member 12, fixes to clamp component 13 and arch support platform 3
Setting so that arch can be automatically grabbed to grabbing device easily and fast from the side of arch, arch is not necessarily to
Manual handling improves the safety of arch installation, and construction efficiency is high, at low cost.
Meanwhile movable jaw member 14 includes cursor 141 and arch clamping section 142.Wherein, arch clamping section 142 with
Cursor 141 is drivingly connected, and it is positioned opposite that arch clamping section 142 turns to and fix to clamp component 13 when arch grabs, with
Form the pinching chamber for clamping arch.It to be clamped arch from the two sides of arch, clamping reliability and stabilization
Property it is high.
In the present embodiment, cursor 141 is L shape cursor.One end of L shape cursor is connect with arch clamping section 142, L
The other end of shape cursor is connected with pivoted arm actuator 15, and the center of rotation of L shape cursor is located at L shape cursor setting pivoted arm and drives
Moving part 15 on one side on, to provide the L driving force responsible of shape cursor.The setting of L shape cursor is so that arch clamping section 142 exists
Under the driving of pivoted arm actuator 15 can easily and fast far from or close to fixing to clamp component 13.In the present embodiment, pivoted arm driving
Part 15 is oil cylinder.
Further, arch clamping section 142 includes horizontal segment interconnected and vertical section.Wherein, horizontal segment passes through tight
Firmware is installed on the bottom of L shape cursor, facilitates the installation and replacement of arch clamping section 142, is encircleed with being suitable for different type
The crawl of frame is installed；Vertical section is adapted to the side of arch, to provide the active force that arch securely clamps.
As shown in Fig. 4 and Fig. 6, arch support member 12 includes arch support platform 121 and mounting bracket 122.Wherein, pacify
Dress bracket 122 is hollow sting, and L shape cursor and pivoted arm actuator 15 are set in hollow sting, L shape cursor and pivoted arm driving
Part 15 is articulated in mounting bracket 122 by pin shaft 16, and compact layout, the occupied space of movable jaw member 14 are made
It is small and easy to operate.Meanwhile arch support platform 121 is arranged in mounting bracket 122, to support placement arch；Crawl arm 11
It is connect with mounting bracket 122.In the present embodiment, mounting bracket 122 and arch support platform 121 are integrally formed or assemble company
It connects；
In the present embodiment, the L shape cursor of movable jaw member and arch clamping section 142 are two groups, to guarantee that arch is grabbed
The overall stability and reliability taken.In the present embodiment, locating part 17 is equipped between two L shape cursors, locating part 17 is installed on
It on pin shaft 16, is limited with the relative motion to L shape cursor, guarantees going on smoothly for arch crawl.Meanwhile pivoted arm drives
The driving end of part 15 is drivingly connected by connecting rod 18 and two L shape cursors, to drive the synchronous rotation of two L shape cursors.
As shown in figure 8, lifting assembly 2 is dropped with arch grabbing assembly 1 when tunnel arch installation manipulator is started to work
To lower end position, the actuator 31 that stretches stretches out, arch grabbing assembly 1 be pushed to ground level or with ground low-angle shape
State, adjusting rotary decelerator 41 later makes arch grabbing assembly 1 and arch holding plane keeping parallelism；Fine tuning lifting actuator
22, it is adjusted to arch grabbing assembly 1 positioned at the lower section of arch, pivoted arm actuator 15 stretches out later, and cursor 141 and arch clamp
Portion 142 is opened, under the transmission of cantilever crane, the underface for fixing to clamp component 13 and being sent to arch of arch grabbing assembly 1, and pivoted arm
Actuator 15 is shunk, and arch clamping section 142 clamps arch；Start the rotary decelerator 41 connecting with crawl arm 11 slowly to ajust
Arch, when arch is lifted to perpendicular to the ground, lifting actuator 22 is shunk, and arch continues to be lifted, when being lifted to highest
When point, the rotary decelerator 41 connecting with hinge assembly 3 is finely tuned, it is motionless after arch position is ajusted, wait two sections of left and right arch
Frame and its assembly.
Present embodiment illustrates tunnel archs to install trolley, and tunnel arch installation trolley includes trolley ontology and such as above-mentioned reality
Tunnel arch installation manipulator described in example is applied, tunnel arch installation manipulator is installed in trolley main body.
Although by reference to preferred embodiment, invention has been described, the case where not departing from the scope of the present invention
Under, various improvement can be carried out to it and can replace component therein with equivalent.Especially, as long as there is no structures to rush
Prominent, items technical characteristic mentioned in the various embodiments can be combined in any way.The invention is not limited to texts
Disclosed in specific embodiment, but include all technical solutions falling within the scope of the claims.
Claims (10)
1. a kind of tunnel arch installation manipulator, including arch grabbing assembly, which is characterized in that further include driving arch crawl group
Part be moved to arch placement location or arch installation site lifting assembly, drive arch grabbing assembly turn to close to or far from
The hinge assembly of arch holding plane, and realize the multidirectional gyro black assembly of the multi-direction rotation of arch grabbing assembly, it is described multidirectional
Gyro black assembly include two orthogonal rotary decelerators, the both ends of the hinge assembly respectively with the lifting assembly and its
In a rotary decelerator connection, another rotary decelerator connect with the arch grabbing assembly.
2. tunnel arch installation manipulator according to claim 1, which is characterized in that the lifting assembly includes lifting
Frame, lifting actuator and two vertical guide posts, the left and right sides of the crane are slidedly arranged on respectively on a vertical guide post, institute
The driving end for stating lifting actuator is connect with the crane.
3. tunnel arch installation manipulator according to claim 2, which is characterized in that the lifting assembly is set to an installation
On component, the mounting assembly includes sequentially connected mounting seat, hanging basket and support frame, and the lifting actuator is set to described
On support frame, two vertical guide posts are set to the two sides of the bottom of support frame as described above.
4. tunnel arch installation manipulator according to claim 3, which is characterized in that the multidirectional gyro black assembly further includes
The horizontal rotation part for driving arch grabbing assembly to horizontally rotate, the horizontal rotation part are set between the hanging basket and pedestal.
5. tunnel arch installation manipulator as claimed in any of claims 2 to 4, which is characterized in that described hinged
Component includes flexible actuator, the first connecting rod on crane, and the second connecting rod on rotary decelerator, institute
Flexible actuator is stated to be articulated between the crane and rotary decelerator；The first connecting rod and second connecting rod are mutually cut with scissors
It connects, and drives the arch grabbing assembly rotation on rotary decelerator under the drive of flexible actuator.
6. tunnel arch installation manipulator according to claim 5, which is characterized in that the flexible actuator is set to described
The middle part of crane and rotary decelerator, the first connecting rod and second connecting rod are two groups, first connecting rod described in two groups and the
Two connecting rods are divided into the two sides of the flexible actuator.
7. tunnel arch installation manipulator as claimed in any of claims 1 to 4, which is characterized in that the arch
Grabbing assembly includes crawl arm, arch support member, fixes to clamp component and movable jaw member, the both ends point of the crawl arm
It is not connect with rotary decelerator and arch support member, the component that fixes to clamp is installed in arch support member, described
Movable jaw member includes that cursor and the arch clamping section with cursor drive connection, the arch clamping section are grabbed in arch
When turn to and fix to clamp that component is positioned opposite, to form the pinching chamber for clamping arch.
8. tunnel arch installation manipulator according to claim 7, which is characterized in that the cursor is L shape cursor,
One end of the L shape cursor is connect with arch clamping section, and the other end of the L shape cursor is connected with pivoted arm actuator, institute
State L shape cursor center of rotation be located at the L shape cursor setting pivoted arm actuator on one side on.
9. tunnel arch installation manipulator according to claim 8, which is characterized in that it is characterized in that, the arch branch
Support part part includes arch support platform and mounting bracket, and the mounting bracket is hollow sting, and the L shape cursor and pivoted arm drive
Moving part is set in the hollow sting, and is articulated in the mounting bracket by pin shaft；The crawl arm and the installation
Bracket connection, the arch are placed in the arch support platform.
10. a kind of tunnel arch installs trolley, which is characterized in that including trolley ontology and such as any one of claim 1 to 9
The tunnel arch installation manipulator, the tunnel arch installation manipulator are installed in the trolley main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811050943.XA CN109139064B (en) | 2018-09-10 | 2018-09-10 | Tunnel arch center mounting mechanical arm and tunnel arch center mounting trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811050943.XA CN109139064B (en) | 2018-09-10 | 2018-09-10 | Tunnel arch center mounting mechanical arm and tunnel arch center mounting trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109139064A true CN109139064A (en) | 2019-01-04 |
| CN109139064B CN109139064B (en) | 2020-12-29 |
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ID=64824174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811050943.XA Active CN109139064B (en) | 2018-09-10 | 2018-09-10 | Tunnel arch center mounting mechanical arm and tunnel arch center mounting trolley |
Country Status (1)
| Country | Link |
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| CN (1) | CN109139064B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110159322A (en) * | 2019-06-05 | 2019-08-23 | 四川蓝海智能装备制造有限公司 | A kind of clamping device and steel arch-shelf installation trolley for steel arch-shelf |
| CN110566247A (en) * | 2019-10-08 | 2019-12-13 | 中国铁建重工集团股份有限公司 | Arch frame installation device |
| CN110671137A (en) * | 2019-10-31 | 2020-01-10 | 徐州徐工铁路装备有限公司 | Arch frame mounting manipulator for tunnel construction |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110159322A (en) * | 2019-06-05 | 2019-08-23 | 四川蓝海智能装备制造有限公司 | A kind of clamping device and steel arch-shelf installation trolley for steel arch-shelf |
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| CN110671137A (en) * | 2019-10-31 | 2020-01-10 | 徐州徐工铁路装备有限公司 | Arch frame mounting manipulator for tunnel construction |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109139064B (en) | 2020-12-29 |
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