CN110836097A - Petroleum drill pipe pushing and supporting robot system and application method thereof - Google Patents
Petroleum drill pipe pushing and supporting robot system and application method thereof Download PDFInfo
- Publication number
- CN110836097A CN110836097A CN201911311847.0A CN201911311847A CN110836097A CN 110836097 A CN110836097 A CN 110836097A CN 201911311847 A CN201911311847 A CN 201911311847A CN 110836097 A CN110836097 A CN 110836097A
- Authority
- CN
- China
- Prior art keywords
- arm
- hinged
- track
- drill pipe
- platform truck
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 7
- 239000003208 petroleum Substances 0.000 title claims description 6
- 238000005553 drilling Methods 0.000 claims abstract description 12
- 230000003028 elevating effect Effects 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 4
- 210000000245 forearm Anatomy 0.000 claims 2
- 239000000725 suspension Substances 0.000 description 2
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an oil drill pipe pushing and supporting robot system and an application method thereof, wherein the system comprises a robot and a groined track, wherein the robot is sequentially connected with a platform truck, a rotary table, a mechanical arm and a clamp, two sides of the groined track are respectively laid along one end of a side root area of an oil drilling platform and a passageway between the two root areas, the platform truck can walk on the groined track, the rotary table is fixed at the center of the top surface of the platform truck, the mechanical arm is fixed on the top surface of the rotary table, the clamp is hinged at the tail end of the mechanical arm, and the mechanical arm is a folding arm and can rotate, stretch and translate and move. When the system is not used, the equipment temporary storage area is stopped on the longitudinal track. When the platform truck works, the longitudinal travelling wheels of the platform truck travel to the well-shaped intersection along the longitudinal rails, then travel to the working position along the transverse rails through the transverse travelling wheels, and lock the platform truck on the transverse rails to wait for the cooperation with a crane. The mechanical arm can rotate, stretch and translate to adjust the front, back, left and right positions of the mechanical arm.
Description
Technical Field
The invention belongs to the field of intelligent robots, and particularly relates to an oil drill pipe pushing and supporting robot system and an application method thereof.
Background
When the drill rod on the current land oil drilling platform is installed, because the drill rod is generally twenty meters long, a crane is generally installed on a two-layer platform, the upper end of the drill rod is hoisted by the crane, the lower end of the drill rod is separated from the fixed position of a vertical root area, then the lower end of the drill rod is held by two workers, and the drill rod is moved to a specified position to be butted by the rotating position of the crane. On one hand, the efficiency is low through manual work and crane cooperation operation, and on the other hand, most of drilling platforms are in severe environment and are not suitable for manual outdoor operation.
Disclosure of Invention
The invention aims to provide a pushing and supporting robot system capable of automatically matching with a crane to quickly move a drill rod in a vertical root zone to a specified position for butt joint and an application method thereof.
The invention provides an oil drill pipe pushing and supporting robot system which comprises a robot and a groined track, wherein the robot is sequentially connected with a platform truck, a rotary table, a mechanical arm and a clamp, two sides of the groined track are respectively laid along one end of a side root area of an oil drilling platform and a passageway between the two root areas, the platform truck can walk on the groined track, the rotary table is fixed at the center of the top surface of the platform truck, the mechanical arm is fixed on the top surface of the rotary table, the clamp is hinged at the tail end of the mechanical arm, and the mechanical arm is a folding arm and can rotate, stretch and translate.
In an embodiment of the above technical solution, the longitudinal direction and the transverse direction of the well-shaped track both include two sleepers arranged in parallel, and ends of the longitudinal and transverse tracks intersect to form a shape of a well.
In an embodiment of above-mentioned technical scheme, the platform truck includes the frame and connects the vertical walking wheel on it, horizontal walking wheel, elevating gear and hydraulically operated fixture, vertical walking wheel sets up two sets of about frame length direction central plane symmetry setting respectively with horizontal walking wheel, vertical walking wheel sets up the position with horizontal walking wheel and corresponds with vertical track and horizontal track respectively, two walking wheels of the vertical walking wheel of every group are installed on a connecting axle, two connecting axles are connected on rectangular link, elevating gear connects between rectangular link and frame, realize the play of vertical walking wheel through elevating gear, fall, hydraulically operated fixture connects on the frame and corresponds between the horizontal walking wheel of every group, horizontal walking wheel walks to operating position, hydraulically operated fixture locks horizontal track.
In an embodiment of the above technical solution, the mechanical arm is an upper and a lower two-section hinged folding arm, the lower section arm includes a pair of front arms and a pair of rear arms, the two front arms and the two rear arms are respectively arranged in parallel from left to right, the front arms and the rear arms are arranged in parallel from front to back, the upper ends of the two front arms are hinged into a whole, the upper ends of the two rear arms are hinged into a whole with the front arms, the lower end of the lower section arm is hinged onto a hinged seat on the top surface of the turntable, the upper section arm includes a front and a rear parallel arranged auxiliary arms and a main arm, the upper ends of the main arm and the auxiliary arm are respectively hinged between the upper ends of the two front arms, and the lower ends.
In an embodiment of the above technical solution, the upper end of the front arm is hinged to the bearing seat through a connecting shaft, the upper end of the main arm is hinged to the connecting shaft through the bearing seat, the connecting shaft is connected with two hinged plates with corners, the corners of the hinged plates are hinged to the connecting shaft through bearings, the rear ends of the two hinged plates are hinged to the rear arm respectively, the front end of one hinged plate is connected to the upper end of the main arm, and the front end of the other hinged plate is hinged to the auxiliary arm.
In an embodiment of the above technical scheme, an oil cylinder is installed on the mechanical arm, a mounting seat is arranged at the cylinder body end of the oil cylinder, the mounting seat is fixed between the tops of the two front arms, a connecting plate is arranged at a position close to the mounting seat for fixing the robot between the two front arms, and the piston rod end of the oil cylinder is fixed at the bottom of the main arm through a hinged seat.
In an embodiment of the above technical scheme, the fixture includes an oil cylinder and a pair of clamping jaws symmetrically hinged to the head of a piston rod of the oil cylinder, and a cylinder body of the oil cylinder is fixed on the fixture mounting seat through a mounting seat.
In one embodiment of the above technical solution, the lifting device is an oil cylinder on a platform truck, and the rotary table is a hydraulic rotary table.
In an embodiment of the above technical scheme, the system further comprises a hydraulic station, the hydraulic station is fixed on one side of the top of the rotary table through a support plate, and the oil cylinder and the rotary table are connected with the hydraulic station through oil pipes.
The method for transferring the drill rod by using the system and the crane comprises the following steps:
(1) the longitudinal travelling wheels of the platform truck work to enable the platform truck to travel to the transverse rails of the well-shaped rails along the longitudinal rails;
(2) a piston rod of an oil cylinder between the connecting shaft between the longitudinal travelling wheels and the frame is retracted, so that the longitudinal travelling wheels leave the longitudinal track, and meanwhile, the transverse travelling wheels and the hydraulic clamp fall onto the transverse track;
(3) the transverse travelling wheels work to enable the platform to advance to a working position, and the hydraulic clamp locks the transverse track;
(4) the rotary table works to enable the mechanical arm to rotate to a position near the position of the petroleum drill rod to be hoisted in an appointed mode;
(5) a crane on a second-layer platform of the drilling platform lifts a specified oil drill pipe away from a fixed position of a vertical root zone, and a rotary table works to adjust the position of a mechanical arm so that a clamp at the tail end of the mechanical arm clamps the lifted oil drill pipe;
(6) and an oil cylinder and a rotary table on the mechanical arm work in cooperation with the motion trail of the suspension arm of the crane to move the petroleum drill rod to a specified position for butt joint.
(7) After the oil drill pipe is moved, the hydraulic clamp of the platform truck loosens the transverse rail, and the platform truck returns along the original path.
According to the invention, the longitudinal rails and the transverse rails are respectively laid in the aisle areas at the end parts of the three-root area of the drilling platform and the aisle area between the two three-root area, and the longitudinal rails and the transverse rails are intersected at the end heads to form the well-shaped rails. When the system is not used, the system stops at the temporary storage area of the equipment on the longitudinal track. When the drill rod needs to be lifted, the system walks to the well-shaped intersection along the longitudinal rail through the longitudinal walking wheels of the platform truck, then walks to the working position along the transverse rail through the transverse walking wheels, locks the platform truck on the transverse rail and waits for the matching work with a crane on a second-layer platform of the drilling platform. The rotary table on the top surface of the platform truck is connected with the lower end of the mechanical arm, so that the mechanical arm can rotate in the circumferential direction to adjust the working position, and the oil cylinder on the mechanical arm can open and fold the mechanical arm so as to adjust the front, back, left and right positions of the mechanical arm. Therefore, the mechanical arm can adapt to the pushing and the supporting of the oil drill pipe in the stand areas at two sides. The extension range of the mechanical arm is determined according to the plane size of the stand zone and the size of a passageway between the stand zones on two sides, so that the mechanical arm can be moved to each position of the stand zone.
Drawings
Fig. 1 is a schematic view of the laying of a groined track on a drilling platform according to an embodiment of the invention.
Fig. 2 is a schematic side view of the robot in this embodiment.
Figure 3 is a schematic side view of the cart in figure 2.
Detailed Description
As can be seen from fig. 1 to 3, the oil drill pipe pushing robot system disclosed in the present embodiment includes a robot and a groined track.
The robot comprises a platform truck 1, a hydraulic rotary table 2, a mechanical arm 3, a hydraulic clamping jaw 4 and a hydraulic station 5. The longitudinal direction and the transverse direction of the well-shaped track 6 both comprise two sleepers which are arranged in parallel, and the ends of the longitudinal track and the transverse track are intersected to form a well shape. The longitudinal rails 61 are laid along the corridor area at the end part of the drilling platform stand area, the transverse rails are laid along the width direction central plane of the corridor between the stand areas at two sides, and the ends of the transverse rails 62 are intersected with the longitudinal rails.
The platform truck 1 comprises a truck frame 11, and a longitudinal travelling wheel 12, a transverse travelling wheel 13, a lifting cylinder 14 and a hydraulic clamp 15 which are connected with the truck frame. The longitudinal walking wheels 12 and the transverse walking wheels 13 are respectively provided with two groups which are symmetrically arranged about the central plane of the length direction of the frame 11, the arrangement positions of the longitudinal walking wheels 12 and the transverse walking wheels 13 respectively correspond to the longitudinal rails and the transverse rails, two walking wheels of each group of longitudinal walking wheels are arranged on one connecting shaft, the two connecting shafts are connected to one rectangular connecting frame 16, the lifting oil cylinder 14 is connected between the rectangular connecting frame and the frame to realize the lifting and falling of the longitudinal walking wheels, and a support rod 17 is connected between the rectangular connecting frame and the frame. The hydraulic clamp 15 is connected between each group of corresponding transverse traveling wheels 13 on the frame 11, and when the transverse traveling wheels 13 travel to the working position, the hydraulic clamp 15 locks the transverse rails. The hydraulic clamp is commercially available.
The hydraulic rotary table 2 is fixed at the center of the top surface of the platform vehicle frame, and the lower end of the mechanical arm 3 is connected to the upper end of the hydraulic rotary table 2.
The mechanical arm 3 is a folding arm with an upper section and a lower section hinged.
The lower arm comprises a pair of front arms 31 and a pair of rear arms 32, the front arms and the rear arms are respectively arranged in a left-right parallel mode, the front arms and the rear arms are arranged in a front-back parallel mode, the upper ends of the front arms are hinged into a whole, the upper ends of the rear arms are hinged into a whole with the front arms, and the lower ends of the lower arm are hinged to a hinge seat on the top surface of the hydraulic rotary table 2.
The upper arm section comprises an auxiliary arm 33 and a main arm 34 which are arranged in parallel front and back, the upper ends of the main arm and the auxiliary arm are respectively hinged between the upper ends of the two front arms, and the lower ends of the main arm 34 and the auxiliary arm 33 are hinged with a clamp mounting seat 36.
The upper end of the front arm 31 is hinged with the bearing seat into a whole through the connecting shaft, the upper end of the main arm 34 is hinged with the connecting shaft through the bearing seat, the connecting shaft is connected with two hinged plates 35 with corners, the corners of the hinged plates are hinged with the connecting shaft through bearings, the rear ends of the two hinged plates are hinged with the rear arm respectively, the front end of one hinged plate is connected with the upper end of the main arm 34, and the front end of the other hinged plate is hinged with the auxiliary arm 33.
The mechanical arm 3 is provided with a push-pull oil cylinder TLYG, the cylinder body end of the push-pull oil cylinder is provided with a mounting seat, the mounting seat is fixed between the tops of the two front arms 31, a connecting plate is arranged between the two front arms at a position close to the fixing position of the mounting seat, and the piston rod end of the oil cylinder is fixed at the bottom of the main arm 34 by a hinged seat.
The hydraulic clamping jaws 4 comprise push-pull oil cylinders TLYG and a pair of clamping jaws 41 symmetrically hinged to the head parts of piston rods of the push-pull oil cylinders TLYG, and cylinder bodies of the oil cylinders are fixed on the clamp mounting seats 36 through mounting seats.
The hydraulic rotary table 2, the lifting oil cylinder 14 on the platform truck 1, the mechanical arm 3 and the push-pull oil cylinder TLYG on the clamp mounting seat 36 are respectively connected with the hydraulic station 5 through oil pipes. The hydraulic station is fixed on the hydraulic rotating platform 2 through a mounting plate.
When the system does not work, the platform truck 1 stops in the temporary storage area of the equipment on the longitudinal rail 61, at the moment, the piston rod of the lifting oil cylinder 14 on the platform truck 1 is in an extending state, the longitudinal walking wheel 12 is positioned on the longitudinal rail 61, and the mechanical arm 3 is in a folding state.
When the platform truck 1 needs to work, the platform truck travels to the crossing position of the transverse rail 62 along the longitudinal rail 61 through the longitudinal travelling wheel 12, then the piston rod of the lifting cylinder 14 retracts, the longitudinal travelling wheel 12 leaves the longitudinal rail 61, and the transverse travelling wheel 13 and the hydraulic clamp 15 fall onto the transverse rail 62. Then the transverse travelling wheels 13 travel to the designated working position along the transverse rails 62, and the hydraulic clamps 15 lock the transverse rails 62 to position the platform truck 1.
According to the position appointed to lift the drill rod, the hydraulic rotary table 2 works to enable the mechanical arm 3 to rotate to the drill rod accessory, a crane on a second-layer platform of the drilling platform lifts the appointed drill rod, a push-pull oil cylinder on the mechanical arm 3 works to adjust the position of the mechanical arm 3, and a hydraulic clamping jaw 4 at the tail end of the mechanical arm 3 moves to the position of the drill rod and clamps the drill rod tightly.
The crane continues to work, and the push-pull oil cylinders on the hydraulic rotary table 2 and the mechanical arm 3 work, so that the position of the mechanical arm 3 can be adjusted along with the motion track of the suspension arm, and the drill rod is moved to a specified position for butt joint.
When all designated drill rods are moved, the mechanical arm 3 is retracted to a folded state, the hydraulic clamp 15 releases the transverse rail 62, and the platform truck 1 returns.
The embodiment has developed a prototype, and the test results are good.
Claims (10)
1. The utility model provides an oil drill pipe pushing robot system which characterized in that: including robot and groined type track, the robot is including the platform truck that connects gradually, the revolving platform, arm and anchor clamps, the orbital both sides of groined type are laid along the one end of oil drilling platform one side root zone and the passageway between the coexistence root zone respectively, the platform truck can walk on groined type track, the revolving platform is fixed in the top surface central point department of putting of platform truck, the arm is fixed in the top surface of revolving platform, anchor clamps articulate in the end of arm, the arm is folding arm, can revolve, flexible and translation.
2. The oil drill pipe pushing robot system according to claim 1, wherein: the longitudinal direction and the transverse direction of the well-shaped track respectively comprise two sleepers which are arranged in parallel, and the ends of the longitudinal track and the transverse track are intersected to form a well shape.
3. The oil drill pipe pushing robot system according to claim 2, wherein: the platform truck includes the frame and connects vertical walking wheel on it, horizontal walking wheel, elevating gear and hydraulic fixture, vertical walking wheel sets up two sets of about frame length direction central plane symmetry setting respectively with horizontal walking wheel, the position that sets up of vertical walking wheel and horizontal walking wheel corresponds with vertical track and horizontal track respectively, two walking wheels of vertical walking wheel of every group are installed on a connecting axle, two connecting axles are connected on the rectangular link, elevating gear connects between rectangular link and frame, realize playing of vertical walking wheel through elevating gear, fall, hydraulic fixture connects on the frame and corresponds between the horizontal walking wheel of every group, when horizontal walking wheel is walked to operating position, hydraulic fixture locks horizontal track.
4. The oil drill pipe pushing robot system according to claim 1, wherein: the mechanical arm is upper and lower two-section hinged folding arm, the lower section arm comprises a pair of front arms and a pair of rear arms, the two front arms and the two rear arms are respectively arranged in a left-right parallel mode, the front arms and the rear arms are arranged in a front-back parallel mode, the upper ends of the two front arms are hinged into a whole, the upper ends of the two rear arms are hinged into a whole with the front arms, the lower end of the lower section arm is hinged onto a hinged seat on the top surface of the rotary table, the upper section arm comprises a front-back parallel arranged auxiliary arm and a main arm, the upper ends of the main arm and the auxiliary arm are hinged between the upper ends of the two front arms, and the lower ends.
5. The oil drill pipe pushing robot system according to claim 4, wherein: the upper end of the front arm is hinged with the bearing seat into a whole through the connecting shaft, the upper end of the main arm is hinged to the connecting shaft through the bearing seat, the connecting shaft is connected with two hinged plates with corners, the corners of the hinged plates are hinged to the connecting shaft through bearings, the rear ends of the two hinged plates are hinged with the rear arm respectively, the front end of one hinged plate is connected with the upper end of the main arm, and the front end of the other hinged plate is hinged with the auxiliary arm.
6. The oil drill pipe pushing robot system according to claim 5, wherein: install the hydro-cylinder on the arm, there is the mount pad cylinder body end of hydro-cylinder, and the mount pad is fixed in between the top of two forearms, and sets up the connecting plate near the fixed position department of exquisiteness of mount pad between two forearms, and the tailpiece of the piston rod of hydro-cylinder is fixed in by articulated seat, articulated seat the bottom of main arm.
7. The oil drill pipe pushing robot system according to claim 6, wherein: the clamp comprises an oil cylinder and a pair of clamping jaws symmetrically hinged to the head of a piston rod of the oil cylinder, and a cylinder body of the oil cylinder is fixed on a clamp mounting seat through a mounting seat.
8. The oil drill pipe pushing robot system according to claim 1, wherein: the lifting device is an oil cylinder on the platform truck, and the rotary table is a hydraulic rotary table.
9. The oil drill pipe pushing robot system according to claim 8, wherein: the system further comprises a hydraulic station, the hydraulic station is fixed on one side of the top of the rotary table through a supporting plate, and the oil cylinder and the rotary table are connected with the hydraulic station through oil pipes.
10. A method of transferring drill pipe using the system of claim 1 in conjunction with a crane, comprising the steps of:
(1) the longitudinal travelling wheels of the platform truck work to enable the platform truck to travel to the transverse rails of the well-shaped rails along the longitudinal rails;
(2) a piston rod of an oil cylinder between the connecting shaft between the longitudinal travelling wheels and the frame is retracted, so that the longitudinal travelling wheels leave the longitudinal track, and meanwhile, the transverse travelling wheels and the hydraulic clamp fall onto the transverse track;
(3) the transverse travelling wheels work to enable the platform to advance to a working position, and the hydraulic clamp locks the transverse track;
(4) the rotary table works to enable the mechanical arm to rotate to a position near the position of the petroleum drill rod to be hoisted in an appointed mode;
(5) a crane on a second-layer platform of the drilling platform lifts a specified oil drill pipe away from a fixed position of a vertical root zone, and a rotary table works to adjust the position of a mechanical arm so that a clamp at the tail end of the mechanical arm clamps the lifted oil drill pipe;
(6) an oil cylinder and a rotary table on the mechanical arm work in cooperation with the motion track of a crane boom to move the petroleum drill rod to a specified position for butt joint;
(7) after the oil drill pipe is moved, the hydraulic clamp of the platform truck loosens the transverse rail, and the platform truck returns along the original path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911311847.0A CN110836097A (en) | 2019-12-18 | 2019-12-18 | Petroleum drill pipe pushing and supporting robot system and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911311847.0A CN110836097A (en) | 2019-12-18 | 2019-12-18 | Petroleum drill pipe pushing and supporting robot system and application method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110836097A true CN110836097A (en) | 2020-02-25 |
Family
ID=69578491
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911311847.0A Pending CN110836097A (en) | 2019-12-18 | 2019-12-18 | Petroleum drill pipe pushing and supporting robot system and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110836097A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621709A (en) * | 2020-11-27 | 2021-04-09 | 中石化石油机械股份有限公司研究院 | Multifunctional walking track mechanism |
| CN113700499A (en) * | 2021-10-28 | 2021-11-26 | 中铁二十五局集团第三工程有限公司 | Vault prefabricated part and two lining tunnel trolleys |
-
2019
- 2019-12-18 CN CN201911311847.0A patent/CN110836097A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621709A (en) * | 2020-11-27 | 2021-04-09 | 中石化石油机械股份有限公司研究院 | Multifunctional walking track mechanism |
| CN113700499A (en) * | 2021-10-28 | 2021-11-26 | 中铁二十五局集团第三工程有限公司 | Vault prefabricated part and two lining tunnel trolleys |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107419625B (en) | Full-automatic numerical control hydraulic turnout tamping car | |
| US20210354735A1 (en) | Telescopic multifunctional working vehicle capable of operating in both directions and evacuating transversely and application method thereof | |
| CN109611112B (en) | Multi-head rock drilling machine for tunnel excavation and tunneling | |
| CN110836097A (en) | Petroleum drill pipe pushing and supporting robot system and application method thereof | |
| CN107620575B (en) | Pulling type pipe grabbing and transporting device | |
| CN107116558A (en) | A kind of robot device of power transformating and supplying facility detection | |
| CN111533055A (en) | Pipeline carrying equipment for trenchless pipe jacking construction | |
| CN205415599U (en) | Robot device with clamping function | |
| CN211549615U (en) | Oil drill pipe pushing and supporting robot system | |
| CN210621354U (en) | Rail running gear and railway switch replacing machine comprising same | |
| CN111764613A (en) | High-altitude equipment installation device in rail traveling area of rail transit engineering and construction method | |
| CN214366118U (en) | Tunnel arch center construction operation vehicle | |
| CN216040451U (en) | Railway switch laying and replacing operation vehicle | |
| CN213326604U (en) | High-altitude equipment installation device in rail traffic engineering rail traveling area | |
| CN209410059U (en) | A kind of manipulator upright bar flatcar | |
| CN111608685B (en) | Pipe piece assembling machine | |
| CN210659959U (en) | Automatic oil well workover robot | |
| CN113802421A (en) | Railway turnout replacing operation system and operation method | |
| CN112682076A (en) | Tunnel arch center construction operation vehicle | |
| CN112554068A (en) | Combined construction equipment and construction method for fully-prefabricated bridge pier and bridge | |
| CN214219401U (en) | Full-prefabricated pier and bridge combined construction equipment | |
| CN215621959U (en) | Variable-track hydraulic electric transverse beam moving vehicle | |
| CN211772943U (en) | Guide beam transfer trolley capable of driving guide beam to transversely expand or retract | |
| CN211848941U (en) | Guide beam transfer trolley with liftable trolley body | |
| CN211772944U (en) | Guide beam transfer trolley capable of walking on guide beam |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |