CN111558950A - Arch clamping manipulator - Google Patents
Arch clamping manipulator Download PDFInfo
- Publication number
- CN111558950A CN111558950A CN202010574176.3A CN202010574176A CN111558950A CN 111558950 A CN111558950 A CN 111558950A CN 202010574176 A CN202010574176 A CN 202010574176A CN 111558950 A CN111558950 A CN 111558950A
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- Prior art keywords
- clamping
- auxiliary arm
- base
- hinged
- arch
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 229920002635 polyurethane Polymers 0.000 claims description 5
- 239000004814 polyurethane Substances 0.000 claims description 5
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of engineering machinery, in particular to an arch center clamping manipulator. An arch center clamping manipulator comprises a clamping body, two clamping devices for clamping an arch center, an auxiliary arm and an auxiliary arm swing oil cylinder; one end of the auxiliary arm swing oil cylinder is hinged with the clamping body, and the other end of the auxiliary arm swing oil cylinder is hinged with the auxiliary arm; one end of the auxiliary arm is hinged with the upper part of the clamping body, and the other end of the auxiliary arm is fixedly provided with one clamping device; the other clamping device is fixed on the upper part of the clamping body. The invention can realize two-point clamping of the arch frame, has better fit with the arch frame and is convenient for adjusting the angle posture of the arch frame.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to an arch center clamping manipulator.
Background
When the existing clamping device clamps a tunnel arch centering, one clamping point is unstable, when two clamping points are clamped, the two clamping points cannot be effectively and completely attached, the range of clamping positions is narrow, and a hanging basket platform is separated from a manipulator arm frame.
For example, patent CN201821070082 discloses a gripping device for a tunnel arch, and one end of a clamping component of the gripping device adopts a gear and a rack, which is inconvenient, and the clamping process is jerky and may not be tight. The distance between the two clamping points is short, which is not beneficial to the stability of the arch frame. The middle position of the arch frame needs to be clamped, the clamping device and the hanging basket platform cannot be simultaneously arranged on one arm frame, and the clamping device and the hanging basket platform need to be respectively hinged with one arm frame.
For another example, CN201611208626 discloses an adjustable clamping mechanism for an arch centering, which is complex in clamping manner and small in swing arm of the clamping device.
Disclosure of Invention
The invention aims to solve the technical problems at least to a certain extent, and provides an arch center clamping manipulator which is simple and convenient in clamping device, capable of clamping at two points and adjusting the joint angle, and large in distance between the two clamping points.
The technical scheme of the invention is as follows: an arch center clamping manipulator comprises a clamping body, two clamping devices for clamping an arch center, an auxiliary arm and an auxiliary arm swing oil cylinder;
one end of the auxiliary arm swing oil cylinder is hinged with the clamping body, and the other end of the auxiliary arm swing oil cylinder is hinged with the auxiliary arm; one end of the auxiliary arm is hinged with the upper part of the clamping body, and the other end of the auxiliary arm is fixedly provided with one clamping device; the other clamping device is fixed on the upper part of the clamping body.
Furthermore, the arch center clamping manipulator further comprises a manipulator telescopic arm, a base and a manipulator swinging oil cylinder; the base be fixed in on the manipulator telescopic arm, the bottom of centre gripping body is articulated with the base, manipulator swing hydro-cylinder is articulated with base and centre gripping body respectively.
Furthermore, a positioning part is fixed on the clamping body, one end of the auxiliary arm is hinged with the positioning part, and one clamping device is fixed on the positioning part.
Further, the base comprises a base bottom plate, a base limiting plate, a base first hinge part and a base second hinge part, the lower part of the base bottom plate is fixed with the manipulator telescopic arm, and the base limiting plate is arranged at the upper part of the base bottom plate; the first base hinging part is arranged on the base limiting plate, and the bottom of the clamping body is hinged with the base through the first base hinging part; the second hinge part of the base is arranged on the side part of the base bottom plate.
Furthermore, the number of the base limiting plates is two, and the clamping body is arranged in a space between the two base limiting plates.
Furthermore, the clamping body comprises a first clamping body hinging part arranged on one side and a second clamping body hinging part arranged on the other side, one end of the manipulator swinging oil cylinder is hinged with the second base hinging part, and the other end of the manipulator swinging oil cylinder is hinged with the first clamping body hinging part;
and the second hinge part of the clamping body is hinged with one end of the auxiliary arm swing oil cylinder.
Furthermore, the auxiliary arm comprises an auxiliary arm main body, an auxiliary arm first hinge part and an auxiliary arm second hinge part, and the auxiliary arm main body is hinged with the positioning component through the auxiliary arm first hinge part; the auxiliary arm second hinged part is arranged on the inner side of the auxiliary arm main body, one end of the auxiliary arm swing oil cylinder is hinged with the auxiliary arm second hinged part, and the other end of the auxiliary arm swing oil cylinder is hinged with the clamping body second hinged part.
Furthermore, clamping device including press from both sides tight hydro-cylinder, press from both sides tight hook, press from both sides tight locating plate, the tight locating plate of clamp be fixed in the outside of assisting arm main part or locating part, press from both sides tight hook quantity 2, 2 press from both sides tight hook and all articulate with pressing from both sides tight locating plate, press from both sides the both ends of tight hydro-cylinder and articulate with 2 press from both sides tight hooks respectively.
Furthermore, the clamping hook is of a 7-shaped structure, the lower part of the clamping hook is provided with a clamping hook connecting part, and two ends of the clamping oil cylinder are respectively hinged with the clamping hook connecting part.
Furthermore, the two sides of the clamping positioning plate are provided with clamping positioning plate hinged parts, and the middle lower part of the clamping hook is hinged with the clamping positioning plate hinged parts.
Furthermore, a clamping body cavity is further arranged on the clamping body, and a clamping oil cylinder of a clamping device fixed on the positioning component penetrates through the clamping body cavity.
Furthermore, the auxiliary arm and the positioning component are also provided with polyurethane plates.
Compared with the prior art, the beneficial effects are: the invention can realize two-point clamping of the arch frame, has better fit with the arch frame and is convenient for adjusting the angle posture of the arch frame. And the clamping device has simple structure and can effectively clamp the arch centering, the arch centering grabs two points to clamp tightly, and the distance between the two points is larger, and the joint angle of the second clamping point can be adjusted according to the curvature radius of the arch centering to ensure that the two points are clamped tightly. The manipulator swing oil cylinder has larger acting force arm, and can effectively reduce the cylinder diameter of the oil cylinder and reduce the pressure of the oil cylinder.
Polyurethane board fixed mounting can increase the bow member frictional force and prevent that the bow member from pressing from both sides unstably on the locating part and the auxiliary arm of centre gripping body, can prevent simultaneously that the bow member from pressing from both sides the deformation.
Drawings
FIG. 1 is a schematic overall side view of the present invention.
Fig. 2 is a schematic view of the structure of the clamping device of the present invention.
Fig. 3 is a schematic overall perspective structure of the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
As shown in fig. 1-3, an arch center clamping manipulator comprises a clamping body 3, two clamping devices 4 for clamping an arch center, an auxiliary arm 6 and an auxiliary arm swing oil cylinder 5;
one end of the auxiliary arm swing oil cylinder 5 is hinged with the clamping body 3, and the other end is hinged with the auxiliary arm 6; one end of the auxiliary arm 6 is hinged with the upper part of the clamping body 3, and the other end is fixedly provided with one clamping device 4; the other clamping device 4 is fixed to the upper part of the clamping body 3.
The arch center clamping manipulator further comprises a manipulator telescopic arm 100, a base 1 and a manipulator swinging oil cylinder 2; the base 1 is fixed on the manipulator telescopic arm 100, the bottom of the clamping body 3 is hinged to the base 1, and the manipulator swinging oil cylinder 2 is hinged to the base 1 and the clamping body 3 respectively. A positioning part 7 is fixed on the clamping body 3, one end of the auxiliary arm 6 is hinged with the positioning part 7, and one clamping device 4 is fixed on the positioning part 7.
In this embodiment, the entire arch clamping manipulator is mounted on the manipulator telescopic arm 100, and is responsible for arch grabbing work. The bottom of the clamping body 3 is hinged to the base 1, the clamping body 3 can rotate around the axis of the first hinged portion 13 of the base, the manipulator swinging oil cylinder 2 is hinged to the base 1 and the clamping body 3 respectively, and the manipulator swinging oil cylinder 2 drives the clamping body 3 to swing left and right (as shown in fig. 1).
In addition, one end of the auxiliary arm swing oil cylinder 5 is hinged with the clamping body 3, the other end of the auxiliary arm swing oil cylinder is hinged with the auxiliary arm 6, one end of the auxiliary arm 6 is hinged with the positioning component 7, and the auxiliary arm swing oil cylinder 5 drives the auxiliary arm 6 to swing up and down around the auxiliary arm first hinge part 62.
The two clamping devices 4 are respectively fixed at the end part of the auxiliary arm 6 and the positioning part 7 on the clamping body 3, the arch frame grabs two points for clamping, the distance between the two points is large, the joint angle of the second clamping point can be adjusted according to the curvature radius of the arch frame, and the two points are ensured to be clamped. The arm of force of the manipulator swing oil cylinder 2 is large, so that the cylinder diameter of the oil cylinder can be effectively reduced, and the pressure of the oil cylinder can be reduced.
As shown in fig. 1-3, further, the base 1 includes a base bottom plate 11, a base limit plate 12, a base first hinge 13, and a base second hinge 14, wherein the lower portion of the base bottom plate 11 is fixed to the manipulator telescopic arm 100, and the base limit plate 12 is disposed on the upper portion of the base bottom plate 11; the base first hinge part 13 is arranged on the base limiting plate 12, and the bottom of the clamping body 3 is hinged with the base 1 through the base first hinge part 13; the base second hinge portion 14 is provided on a side portion of the base bottom plate 11.
In this embodiment, the base plate 11 plays a role of supporting and holding the body 3, and the base plate 11 is fixed to the manipulator telescopic arm 100 by bolts or other means. The base limiting plate 12 is welded on the base bottom plate 11, the bottom of the clamping body 3 is hinged to the base 1 through the first base hinging portion 13, and the manipulator swinging oil cylinder 2 drives the clamping body 3 to swing left and right.
Further, the number of the base limiting plates 12 is two, and the clamping body 3 is arranged in a space between the two base limiting plates 12. In this embodiment, because the clamping body 3 is to support the arch with a larger weight, the base limiting plate 12 clamps the clamping body 3 from both sides of the clamping body 3, so that the clamping body 3 is safer and more stable in the working state, and accidents are prevented.
Further, the clamping body 3 comprises a first clamping body hinging part 31 arranged on one side and a second clamping body hinging part 32 arranged on the other side, one end of the manipulator swinging oil cylinder 2 is hinged with the second base hinging part 14, and the other end of the manipulator swinging oil cylinder is hinged with the first clamping body hinging part 31;
the second hinge part 32 of the holding body is hinged with one end of the auxiliary arm swing cylinder 5.
The auxiliary arm 6 comprises an auxiliary arm main body 61, an auxiliary arm first hinge part 62 and an auxiliary arm second hinge part 63, wherein the auxiliary arm main body 61 is hinged with the positioning component 7 through the auxiliary arm first hinge part 62; the auxiliary arm second hinge part 63 is arranged at the inner side of the auxiliary arm main body 61, one end of the auxiliary arm swing oil cylinder 5 is hinged with the auxiliary arm second hinge part 63, and the other end is hinged with the clamping body second hinge part 32.
In this embodiment, the auxiliary arm main body 61 is an elongated arm-shaped structure extending outward from the side of the holding body 3, and the entire auxiliary arm 6 can swing up and down around the auxiliary arm first hinge 62 under the action of the auxiliary arm swing cylinder 5.
Specifically, the clamping device 4 includes a clamping cylinder 41, clamping hooks 42, and a clamping positioning plate 44, the clamping positioning plate 44 is fixed to the outside of the auxiliary arm main body 61 or the positioning part 7, the number of the clamping hooks 42 is 2, 2 clamping hooks 42 are hinged to the clamping positioning plate 44, and two ends of the clamping cylinder 41 are hinged to the 2 clamping hooks 42 respectively.
In this embodiment, one of the clamp devices 4 is fixed to the end of the sub-arm body 61, and the other clamp device 4 is fixed to the positioning member 7. The clamping cylinder 41 drives the clamping hook 42 to clamp or release the arch frame when acting.
Specifically, the clamping hook 42 is of a 7-shaped structure, a clamping hook connecting portion 46 is arranged at the lower portion of the clamping hook 42, and two ends of the clamping cylinder 41 are hinged to the clamping hook connecting portion 46 respectively. Clamping positioning plate hinge portions 45 are provided on both side portions of the clamping positioning plate 44, and the middle-lower portion of the clamping hook 42 is hinged to the clamping positioning plate hinge portions 45.
In this embodiment, the clamping hook 42 is a "7" shaped structure, which can be adapted to the shape of the arch, and safely and reliably clamp the arch. Each clamping device 4 is provided with two clamping hooks 42, the two clamping hooks 42 can rotate around a clamping positioning plate hinge part 45, and the clamping cylinder 41 drives the clamping hooks 42 to open and clamp when stretching.
The holding body 3 is further provided with a holding body cavity 33, and a clamping cylinder 41 of the clamping device 4 fixed to the positioning member 7 passes through the holding body cavity 33. The provision of the clamp body cavity portion 33 makes it easier to assemble the clamping device 4.
Specifically, the auxiliary arm 6 and the positioning member 7 are further provided with a polyurethane plate 43. The polyurethane plate 43 is fixedly mounted on the positioning part 7 and the auxiliary arm 6 of the clamping body 3, so that the friction force of the arch can be increased to prevent the arch clamp from being unstable, and meanwhile, the deformation of the arch clamp can be prevented.
The working principle of the invention is as follows:
the arch center is firstly horizontally placed on the ground, the manipulator telescopic arm 100 is bent downwards to be matched with the clamping device 4 on the clamping body 3 to clamp the bottom surface of the arch center firstly, then the auxiliary arm swing oil cylinder 5 drives the auxiliary arm 6 to rotate, when the bottom surface of the clamping device 4 on the auxiliary arm 6 is contacted with the bottom surface of the arch center, the auxiliary arm swing oil cylinder 5 stops acting, then the clamping device 4 on the auxiliary arm 6 clamps the bottom surface of the arch center, and the clamping action of the whole arch center is completed. The manipulator swing oil cylinder 2 drives the arch centering to swing, so that the angle of the mounting surface can be conveniently adjusted when the two arms are in butt joint with the arch centering, and further, the bolts can be conveniently penetrated.
The invention has the advantages that: 1. the long-distance two-point clamping is firm and stable, and can clamp any position of the arch center; 2. the position of the auxiliary arm clamping point can be adjusted according to the diameter of the arch, and the arch is not deformed due to forced clamping; 3. the posture adjustment is simple when the arch centering is butted, and the labor intensity when the bolt is penetrated is reduced.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An arch center clamping manipulator is characterized by comprising a clamping body (3), two clamping devices (4) for clamping an arch center, an auxiliary arm (6) and an auxiliary arm swing oil cylinder (5);
one end of the auxiliary arm swing oil cylinder (5) is hinged with the clamping body (3), and the other end of the auxiliary arm swing oil cylinder is hinged with the auxiliary arm (6); one end of the auxiliary arm (6) is hinged with the upper part of the clamping body (3), and the other end is fixedly provided with one clamping device (4); the other clamping device (4) is fixed on the upper part of the clamping body (3).
2. An arch clamping robot as claimed in claim 1, wherein: the arch center clamping manipulator further comprises a manipulator telescopic arm (100), a base (1) and a manipulator swinging oil cylinder (2); the manipulator swinging oil cylinder (2) is hinged to the base (1) and the clamping body (3) respectively.
3. An arch clamping robot as claimed in claim 2, wherein: a positioning part (7) is fixed on the clamping body (3), one end of the auxiliary arm (6) is hinged with the positioning part (7), and one clamping device (4) is fixed on the positioning part (7).
4. An arch clamping robot as claimed in claim 3, wherein: the base (1) comprises a base bottom plate (11), a base limiting plate (12), a base first articulated part (13) and a base second articulated part (14), the lower part of the base bottom plate (11) is fixed with a manipulator telescopic arm (100), and the base limiting plate (12) is arranged at the upper part of the base bottom plate (11); the base first hinge part (13) is arranged on the base limiting plate (12), and the bottom of the clamping body (3) is hinged with the base (1) through the base first hinge part (13); the second hinge part (14) of the base is arranged at the side part of the base bottom plate (11).
5. An arch clamping robot as claimed in claim 4, wherein: the clamping device is characterized in that the number of the base limiting plates (12) is two, and the clamping body (3) is arranged in a space between the two base limiting plates (12).
6. An arch clamping robot as claimed in claim 5, wherein: the clamping body (3) comprises a first clamping body hinging part (31) arranged on one side and a second clamping body hinging part (32) arranged on the other side, one end of the manipulator swinging oil cylinder (2) is hinged with the second base hinging part (14), and the other end of the manipulator swinging oil cylinder is hinged with the first clamping body hinging part (31);
the second articulated part (32) of the clamping body is articulated with one end of the auxiliary arm swing oil cylinder (5).
7. An arch clamping robot as claimed in claim 6, wherein: the auxiliary arm (6) comprises an auxiliary arm main body (61), an auxiliary arm first hinge part (62) and an auxiliary arm second hinge part (63), and the auxiliary arm main body (61) is hinged with the positioning component (7) through the auxiliary arm first hinge part (62); the auxiliary arm second hinging part (63) is arranged on the inner side of the auxiliary arm main body (61), one end of the auxiliary arm swinging oil cylinder (5) is hinged with the auxiliary arm second hinging part (63), and the other end of the auxiliary arm swinging oil cylinder is hinged with the clamping body second hinging part (32).
8. An arch clamping robot as claimed in claim 7, wherein: clamping device (4) including pressing from both sides tight hydro-cylinder (41), press from both sides tight hook (42), press from both sides tight locating plate (44) and be fixed in the outside of assisting arm main part (61) or locating part (7), press from both sides tight hook (42) quantity be 2, 2 press from both sides tight hook (42) all with press from both sides tight locating plate (44) articulated, press from both sides the both ends of tight hydro-cylinder (41) and press from both sides tight hook (42) articulated with 2 respectively.
9. An arch clamping robot as claimed in claim 8, wherein: the clamping hook (42) is of a 7-shaped structure, a clamping hook connecting part (46) is arranged at the lower part of the clamping hook (42), and two ends of the clamping oil cylinder (41) are respectively hinged with the clamping hook connecting part (46);
two sides of the clamping positioning plate (44) are provided with clamping positioning plate hinge parts (45), and the middle lower part of the clamping hook (42) is hinged with the clamping positioning plate hinge parts (45);
the clamping body (3) is also provided with a clamping body cavity part (33), and a clamping oil cylinder (41) of the clamping device (4) fixed on the positioning component (7) penetrates through the clamping body cavity part (33).
10. An arch clamping robot as claimed in any one of claims 3 to 9, wherein: and polyurethane plates are also arranged on the auxiliary arm (6) and the positioning part (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010574176.3A CN111558950A (en) | 2020-06-22 | 2020-06-22 | Arch clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010574176.3A CN111558950A (en) | 2020-06-22 | 2020-06-22 | Arch clamping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111558950A true CN111558950A (en) | 2020-08-21 |
Family
ID=72075321
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010574176.3A Pending CN111558950A (en) | 2020-06-22 | 2020-06-22 | Arch clamping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111558950A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114991836A (en) * | 2022-08-02 | 2022-09-02 | 湖南鹏翔星通汽车有限公司 | Propelling beam of anchor drilling and grouting integrated trolley |
| CN116085005A (en) * | 2023-04-10 | 2023-05-09 | 湖南鹏翔星通汽车有限公司 | Vertical arch frame manipulator with danger eliminating function and arch frame trolley |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106703844A (en) * | 2016-12-23 | 2017-05-24 | 湖南五新隧道智能装备股份有限公司 | Adjustable corner arch support clamping mechanism |
| CN208441878U (en) * | 2018-07-06 | 2019-01-29 | 中国铁建重工集团有限公司 | A kind of tunnel arch installation manipulator |
| CN209742928U (en) * | 2019-04-17 | 2019-12-06 | 河南省耿力工程设备有限公司 | Vertical arch frame lifting and grabbing mechanism |
| CN210003302U (en) * | 2018-12-05 | 2020-01-31 | 湖南五新隧道智能装备股份有限公司 | manipulator for supporting arch installation |
| CN212553887U (en) * | 2020-06-22 | 2021-02-19 | 湖南鹏翔星通汽车有限公司 | Arch clamping manipulator |
-
2020
- 2020-06-22 CN CN202010574176.3A patent/CN111558950A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106703844A (en) * | 2016-12-23 | 2017-05-24 | 湖南五新隧道智能装备股份有限公司 | Adjustable corner arch support clamping mechanism |
| CN208441878U (en) * | 2018-07-06 | 2019-01-29 | 中国铁建重工集团有限公司 | A kind of tunnel arch installation manipulator |
| CN210003302U (en) * | 2018-12-05 | 2020-01-31 | 湖南五新隧道智能装备股份有限公司 | manipulator for supporting arch installation |
| CN209742928U (en) * | 2019-04-17 | 2019-12-06 | 河南省耿力工程设备有限公司 | Vertical arch frame lifting and grabbing mechanism |
| CN212553887U (en) * | 2020-06-22 | 2021-02-19 | 湖南鹏翔星通汽车有限公司 | Arch clamping manipulator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114991836A (en) * | 2022-08-02 | 2022-09-02 | 湖南鹏翔星通汽车有限公司 | Propelling beam of anchor drilling and grouting integrated trolley |
| CN114991836B (en) * | 2022-08-02 | 2022-11-11 | 湖南鹏翔星通汽车有限公司 | Propelling beam of anchor drilling and grouting integrated trolley |
| CN116085005A (en) * | 2023-04-10 | 2023-05-09 | 湖南鹏翔星通汽车有限公司 | Vertical arch frame manipulator with danger eliminating function and arch frame trolley |
| CN116085005B (en) * | 2023-04-10 | 2023-06-27 | 湖南鹏翔星通汽车有限公司 | Vertical arch frame manipulator with danger eliminating function and arch frame trolley |
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