CN112555620A - Normal-pressure tool changing and pressure detecting mounting bracket for shield machine - Google Patents
Normal-pressure tool changing and pressure detecting mounting bracket for shield machine Download PDFInfo
- Publication number
- CN112555620A CN112555620A CN202011545183.7A CN202011545183A CN112555620A CN 112555620 A CN112555620 A CN 112555620A CN 202011545183 A CN202011545183 A CN 202011545183A CN 112555620 A CN112555620 A CN 112555620A
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- Prior art keywords
- rotating block
- pressure
- tool changing
- test bed
- normal
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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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 11
- 230000005641 tunneling Effects 0.000 claims description 9
- 230000003014 reinforcing effect Effects 0.000 claims description 5
- 238000003466 welding Methods 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 3
- 239000002002 slurry Substances 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 7
- 230000003068 static effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 3
- 238000005728 strengthening Methods 0.000 description 3
- 239000002689 soil Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/22—Undercarriages with or without wheels with approximately constant height, e.g. with constant length of column or of legs
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L11/00—Measuring steady or quasi-steady pressure of a fluid or a fluent solid material by means not provided for in group G01L7/00 or G01L9/00
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention relates to the field of normal-pressure tool changing of a slurry shield machine, in particular to a normal-pressure tool changing and pressure detecting mounting bracket for the shield machine, which comprises a machine body, a rear pin shaft, a front pin shaft and a bearing, the bottom end of the machine body is fixedly connected with a base, two groups of rear lugs are symmetrically arranged on the front side and the rear side of the base, the rear lug is hinged with an oil cylinder fixed end through a rear pin shaft, the oil cylinder telescopic end is hinged with a front lug through a front pin shaft, a cotter pin is pinned on the front pin shaft, the top end of the front lug is fixedly connected with a test bed, a rotating block is fixedly arranged in the middle of the bottom end of the test bed, the rotating block consists of a rotating block base body, a rotating block plane, a rotating block cylindrical surface and a rotating block side surface, the invention provides a normal-pressure tool changing and pressure detecting mounting bracket for a shield machine, which can conveniently detect the pressure of a tool changing of the shield machine and conveniently and manually mount and operate a pressure detecting component.
Description
Technical Field
The invention relates to the field of normal-pressure tool changing of a slurry shield machine, in particular to a normal-pressure tool changing and pressure detecting mounting bracket for a shield machine.
Background
The shield constructs the machine and excavates through the rotatory earth cutting of blade disc and mixing formation mud with water, different blade disc cutters of different geology soil needs to be selected and excavate, cutter on the blade disc also damages because of the operation wearing and tearing need artifical division of cabin more new cutter, because the shield constructs the machine excavation soil and can make the tunnel produce the atmospheric pressure difference and be unfavorable for manual work, consequently need to install fixedly to the pressure checking part of the used interior sword section of thick bamboo of shield constructs the machine and gate assembly and guarantee that the tool changing cabin is in the ordinary pressure state.
The normal pressure tool changing pressure detecting part for the shield machine in the prior art is large in size, multiple in types, various in specification and length and different in installation mode, and is inconvenient to install and operate manually.
Aiming at the problems, the invention designs a normal-pressure tool changing and pressure detecting mounting bracket for a shield tunneling machine.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a normal-pressure tool changing and pressure detecting mounting bracket for a shield tunneling machine. The problem is solved as far as possible to provide a shield constructs machine ordinary pressure tool changing pressure detection installing support that can be convenient carry out the pressure detection to the tool changing of shield constructs machine and make things convenient for the manual work to carry out installation operation to pressure detection part.
The invention is realized by the following technical scheme:
a normal-pressure tool changing and pressure detecting mounting bracket for a shield tunneling machine comprises a machine body, a rear pin shaft, a front pin shaft and a bearing, wherein a base is fixedly connected to the bottom end of the machine body, two groups of rear lugs are symmetrically arranged on the front side and the rear side of the base, the rear lugs are hinged to a fixed end of an oil cylinder through the rear pin shaft, a telescopic end of the oil cylinder is hinged to a front lug through the front pin shaft, a cotter pin is connected to the front pin shaft in a pin joint mode, a test table is fixedly connected to the top end of the front lug, a rotating block is fixedly arranged in the middle of the bottom end of the test table, the rotating block is composed of a rotating block base body, a rotating block plane, a rotating block cylindrical surface and a rotating block side surface, the rotating block cylindrical surface is fixedly connected to the outer side of the rotating block base body, the rotating block plane and the rotating block side surface are, the support is provided with the strengthening rib at the medial extremity, the support passes through the bearing and rotates the rotatory piece face of cylinder on the connection rotatory piece, support outside end fixed mounting has the apron, the cooperation recess has been seted up on the left side of organism top, cooperation recess bottom is equipped with the embedding recess, the cooperation recess cooperatees with the test bench, the embedding is provided with the brace rod in the embedding recess, the organism rear end is provided with the switch, test bench top fixed mounting has the pressure detecting part.
Preferably, the reinforcing rib and the inner side of the bracket are fixedly connected together through welding.
Preferably, the cover plate and the bracket are connected together in a screw fit mode.
Preferably, the bearing is in transition fit connection with the support and ensures the coaxiality of the bearing connected with the two ends of the support, and the bearing is in clearance fit connection with the rotating block.
Preferably, the plane of the rotating block and the plane of the test bed are fixedly connected together through bolt holes by bolts and nuts, the cylindrical surface of the rotating block is in clearance fit connection with a bearing shaft hole matched with the support, and the side surface of the rotating block and the cylindrical surface of the rotating block are provided with steps of 5 mm.
Preferably, the oil cylinder is electrically connected with a power supply.
Preferably, the test bed is provided with a plurality of groups of bolt holes, and the pressure detection component is fixedly installed in the threaded hole through bolts and nuts.
The invention has the beneficial effects that:
1. the swing part of the invention controls the air inlet direction of the oil cylinder through the switch to enable the test bed to have three forms of turning left, turning right and keeping a certain state static.
2. The test bed has limited positions in both leftward turning and rightward turning, so that the test bed is prevented from being turned over.
3. The inspection parts of various specifications can be installed and fixed for pressure detection through the overturning adjusting position of the test bed, and the test bed is convenient, rapid and multifunctional.
4. The whole device has simple and reasonable structure and low manufacturing cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a structural view of a rotary block in the present invention;
FIG. 5 is a schematic diagram of the switch of the present invention when pushed to the right;
FIG. 6 is a schematic diagram of the maximum limit of roll configuration of the switch of the present invention when pushed to the right;
FIG. 7 is a schematic diagram of the switch of the present invention when pushed to the left;
fig. 8 is a schematic diagram of the maximum limit of the flip when the switch of the present invention is pushed to the left.
In the figure: 1-machine body, 2-base, 3-back lug, 4-back pin shaft, 5-oil cylinder, 6-front pin shaft, 7-split pin, 8-front lug, 9-test bench, 10-rotating block, 1001-rotating block base body, 1002-rotating block plane, 1003-rotating block cylindrical surface, 1004-rotating block side surface, 11-support, 12-reinforcing rib, 13-bearing, 14-cover plate, 15-supporting rib, 16-switch and 17-pressure detecting component.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 8, a normal pressure tool changing and pressure detecting mounting bracket for a shield machine comprises a machine body 1, a rear pin shaft 4, a front pin shaft 6 and a bearing 13, wherein a base 2 is fixedly connected to the bottom end of the machine body 1, two groups of rear lugs 3 are symmetrically arranged on the front side and the rear side of the base 2, the rear lugs 3 are hinged to the fixed end of a cylinder 5 through the rear pin shaft 4, the telescopic end of the cylinder 5 is hinged to a front lug 8 through the front pin shaft 6, a cotter pin 7 is pinned on the front pin shaft 6, a test bed 9 is fixedly connected to the top end of the front lug 8, a rotating block 10 is fixedly arranged in the middle of the bottom end of the test bed 9, the rotating block 10 is composed of a rotating block base body 1001, a rotating block plane 1002, a rotating block cylindrical surface 1003 and a rotating block side surface 1004, the rotating block cylindrical surface 1003 is fixedly connected to the outer side of the rotating block base body 1001, the symmetry is provided with two sets of supports 11 around 1 left end upper portion of organism, 11 medial extremes of support are provided with strengthening rib 12, support 11 rotates the rotatory piece face of cylinder 1003 on connecting rotatory piece 10 through bearing 13, 11 outside end fixed mounting of support has apron 14, the cooperation recess has been seted up on the left of 1 top of organism, cooperation recess bottom is equipped with the embedding recess, the cooperation recess cooperatees with test bench 9, the embedding is provided with brace rod 15 in the embedding recess, 1 rear end of organism is provided with switch 16, test bench 9 top fixed mounting has pressure detecting part 17.
Referring to fig. 2, the reinforcing ribs 12 are fixedly connected with the inner side of the bracket 11 by welding, and the supporting strength of the bracket 11 can be improved by the reinforcing ribs 12.
The cover plate 14 and the bracket 11 are connected together by screw fit.
Bearing 13 and support 11 transition fit are connected and guarantee the bearing 13 axiality that support 11 both ends are connected, and bearing 13 is connected with rotatory piece 10 clearance fit, thereby reduces the friction increase life of rotatory piece 10 through the bearing 13 that sets up.
The oil cylinder 5 is electrically connected with a power supply, and the oil cylinder 5 can well drive the whole device to overturn.
Be equipped with a plurality of groups bolt hole on the test bench 9, pressure detecting part 17 passes through bolt and nut fixed mounting in the screw hole, and a plurality of groups bolt hole through the setting can make things convenient for the installation of the inspection part 17 of multiple specification to be fixed.
In the invention, when the device is required to be used, the inspection part 17 is fixedly connected in a plurality of groups of bolt holes arranged on the test bed 9 through an external fixed bolt, then the power supply of the whole device is switched on, the switch 16 is pushed to the middle to ensure that two air inlets of the two oil cylinders 5 are not aerated, the cylinder rod of the oil cylinder 5 keeps a certain state to stop moving, the cylinder rod of the oil cylinder 5 stops moving to prevent the test bed 9 from overturning, the test bed 9 stops overturning and also drives the rotating block 10 to stop rotating, and the test bed 9 is in a certain state to be static; when the switch 16 is pushed to the right side, the left air connecting pipe is opened, so that air inlets of the two oil cylinders 5 are filled with air, cylinder rods of the oil cylinders 5 are pushed to contract, the front support lugs 8 are driven to pull the test bed 9, and the test bed 9 is pulled by the obliquely downward pulling force to drive the rotating block 10 to rotate, so that the test bed 9 is driven to turn rightwards; when the switch 16 is pushed to the right side, the left air receiving pipe is opened to enable the air inlets of the two oil cylinders 5 to push the cylinder rods of the oil cylinders 5 to contract to drive the front support lugs 8 to pull the test bed 9, the test bed 9 is driven by the downward oblique pulling force to drive the rotating block 10 to rotate so as to drive the test bed 9 to turn right to a proper position to be static, the size of the detection part 17 is large, the turning range of the test bed 9 to the right needs to be limited to prevent over turning, the turning range to the right needs to be controlled by selecting the traveling path of the oil cylinders 5, and the maximum limit of turning the test bed 9 to the right. The lever of the oil cylinder 5 returns to complete the turning stop of the test bed 9; when the switch 16 is pushed to the left side, the right air connecting pipe is opened, so that the air inlets of the two oil cylinders 5 are filled with air to push the cylinder rods of the oil cylinders 5 to be elongated, the rear support lugs 3 are driven to push the test bed 9, and the test bed 9 is driven by the oblique downward thrust to drive the rotating block 10 to rotate, so that the test bed 9 is driven to turn left; when the switch 16 is pushed to the left side, the right air connecting pipe is opened to enable the two air inlets of the two oil cylinders 5 to be pushed, the cylinder rods of the oil cylinders 5 to be stretched to drive the rear support lug 3 to push the test bed 9, the test bed 9 is driven by the oblique downward thrust to drive the rotating block 10 to rotate, so that the test bed 9 is driven to turn leftwards to a proper position to be static, the size of the pressure detection part 17 is large, in order to facilitate manual installation and pressure detection, the left turning range of the test bed 9 is limited by selecting the welding position of the support rib 15, the plane of the test bed 9 is in parallel contact with the 15 planes of the support rib and is parallel to the ground to be the maximum limit of left turning, the test bed 9 and the support rib 15 stop turning, in the actual operation process, due to the fact that the pressure detection part 17 is large in size, multiple types, the specification lengths are inconvenient, installation operations are carried out by different workers in different installation modes, the proper position is adjusted The installation is fixed, and the pressure detecting part 17 is installed and fixed, and then the pressure detecting part 17 is turned over and debugged to the best pressure detecting position through the turning test bed 9 and then is subjected to air pressure or water pressure detection after being static, so that the effects of convenience, rapidness, multiple functions and the like are achieved.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. The utility model provides a shield constructs machine ordinary pressure tool changing pressure detecting installing support which characterized in that: the test bed comprises a machine body (1), a rear pin shaft (4), a front pin shaft (6) and a bearing (13), wherein the bottom end of the machine body (1) is fixedly connected with a base (2), two groups of rear support lugs (3) are symmetrically arranged on the front side and the rear side of the base (2), the rear support lugs (3) are hinged with a fixed end of an oil cylinder (5) through the rear pin shaft (4), the telescopic end of the oil cylinder (5) is hinged with a front support lug (8) through the front pin shaft (6), an opening pin (7) is connected to the front pin shaft (6) in a pin joint mode, the top end of the front support lug (8) is fixedly connected with a test bed (9), a rotating block (10) is fixedly installed in the middle of the bottom end of the test bed (9), the rotating block (10) is composed of a rotating block base body (1001), a rotating block plane (1002), a rotating block cylindrical surface (1003) and a rotating block, the rotating block plane (1002) and the rotating block side surface (1004) are respectively arranged at the bottom end and the outer side end of the rotating block base body (1001), the rotating block plane (1002) is fixedly connected with the bottom end of the test bed (9), two groups of brackets (11) are symmetrically arranged at the front and back of the upper part of the left end of the machine body (1), the inner side end of the bracket (11) is provided with a reinforcing rib (12), the bracket (11) is rotationally connected with a rotating block cylindrical surface (1003) on the rotating block (10) through a bearing (13), a cover plate (14) is fixedly arranged at the outer side end of the bracket (11), a matching groove is arranged at the left side of the top end of the machine body (1), the bottom end of the matching groove is provided with an embedded groove, the matching groove is matched with the test bed (9), support ribs (15) are embedded into the embedding grooves, a switch (16) is arranged at the rear end of the machine body (1), and a pressure detection component (17) is fixedly mounted at the top end of the test bed (9).
2. The normal-pressure tool changing and pressure detecting mounting bracket for the shield tunneling machine according to claim 1, characterized in that: the reinforcing ribs (12) are fixedly connected with the inner side of the bracket (11) through welding.
3. The normal-pressure tool changing and pressure detecting mounting bracket for the shield tunneling machine according to claim 1, characterized in that: the cover plate (14) is connected with the bracket (11) in a matched mode through screws.
4. The normal-pressure tool changing and pressure detecting mounting bracket for the shield tunneling machine according to claim 1, characterized in that: bearing (13) and support (11) transition fit are connected and bearing (13) axiality that support (11) both ends are connected is guaranteed, bearing (13) and rotatory piece (10) clearance fit are connected.
5. The normal-pressure tool changing and pressure detecting mounting bracket for the shield tunneling machine according to claim 1, characterized in that: the rotating block plane (1002) and the test bed (9) plane are fixedly connected together through bolt holes by bolts and nuts, the rotating block cylindrical surface (1003) is in clearance fit connection with a bearing (13) shaft hole matched with the support (11), and a 5mm step is arranged between the rotating block side surface (1004) and the rotating block cylindrical surface (1003).
6. The normal-pressure tool changing and pressure detecting mounting bracket for the shield tunneling machine according to claim 1, characterized in that: the oil cylinder (5) is electrically connected with a power supply.
7. The normal-pressure tool changing and pressure detecting mounting bracket for the shield tunneling machine according to claim 1, characterized in that: the test bed (9) is provided with a plurality of groups of bolt holes, and the pressure detecting component (17) is fixedly installed in the threaded holes through bolts and nuts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011545183.7A CN112555620A (en) | 2020-12-23 | 2020-12-23 | Normal-pressure tool changing and pressure detecting mounting bracket for shield machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011545183.7A CN112555620A (en) | 2020-12-23 | 2020-12-23 | Normal-pressure tool changing and pressure detecting mounting bracket for shield machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112555620A true CN112555620A (en) | 2021-03-26 |
Family
ID=75030409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011545183.7A Pending CN112555620A (en) | 2020-12-23 | 2020-12-23 | Normal-pressure tool changing and pressure detecting mounting bracket for shield machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112555620A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200993297Y (en) * | 2006-12-20 | 2007-12-19 | 松锜科技股份有限公司 | Angle limited rotary positioning mechanism |
| CN104526297A (en) * | 2014-12-05 | 2015-04-22 | 徐工集团凯宫重工南京有限公司 | Auxiliary cutter replacing device for shield tunneling machine cutter in tunnel |
| CN106051394A (en) * | 2016-07-18 | 2016-10-26 | 天津众世机电设备有限公司 | Monitor installation device |
| CN108968537A (en) * | 2018-08-28 | 2018-12-11 | 广东海翔教育科技有限公司 | A kind of new education science and technology show stand |
| CN209462415U (en) * | 2018-09-07 | 2019-10-01 | Oppo广东移动通信有限公司 | Mobile terminal |
| CN209717639U (en) * | 2019-04-09 | 2019-12-03 | 曲阜金升电机有限公司 | Device suitable for motor inclining experiment |
| CN110587575A (en) * | 2019-10-31 | 2019-12-20 | 中铁工程装备集团有限公司 | Efficient tool changing robot for shield machine |
-
2020
- 2020-12-23 CN CN202011545183.7A patent/CN112555620A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200993297Y (en) * | 2006-12-20 | 2007-12-19 | 松锜科技股份有限公司 | Angle limited rotary positioning mechanism |
| CN104526297A (en) * | 2014-12-05 | 2015-04-22 | 徐工集团凯宫重工南京有限公司 | Auxiliary cutter replacing device for shield tunneling machine cutter in tunnel |
| CN106051394A (en) * | 2016-07-18 | 2016-10-26 | 天津众世机电设备有限公司 | Monitor installation device |
| CN108968537A (en) * | 2018-08-28 | 2018-12-11 | 广东海翔教育科技有限公司 | A kind of new education science and technology show stand |
| CN209462415U (en) * | 2018-09-07 | 2019-10-01 | Oppo广东移动通信有限公司 | Mobile terminal |
| CN209717639U (en) * | 2019-04-09 | 2019-12-03 | 曲阜金升电机有限公司 | Device suitable for motor inclining experiment |
| CN110587575A (en) * | 2019-10-31 | 2019-12-20 | 中铁工程装备集团有限公司 | Efficient tool changing robot for shield machine |
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Application publication date: 20210326 |
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