CN113605848B - Pipe rod grabbing device applicable to various pipe rod diameter specifications - Google Patents
Pipe rod grabbing device applicable to various pipe rod diameter specifications Download PDFInfo
- Publication number
- CN113605848B CN113605848B CN202110917618.4A CN202110917618A CN113605848B CN 113605848 B CN113605848 B CN 113605848B CN 202110917618 A CN202110917618 A CN 202110917618A CN 113605848 B CN113605848 B CN 113605848B
- Authority
- CN
- China
- Prior art keywords
- manipulator
- gripping
- assembly
- clamping
- gripping device
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 claims description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
-
- 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
- E21B19/10—Slips; Spiders ; Catching devices
-
- 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
- E21B19/15—Racking of rods in horizontal position; Handling between horizontal and vertical position
- E21B19/155—Handling between horizontal and vertical position
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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 relates to a pipe rod grabbing device, comprising: the clamping assembly is used for clamping the sucker rod or the oil pipe; the gripping device comprises a gripping assembly, a driving assembly and a gripping assembly, wherein the gripping assembly is used for driving the gripping assembly to move between a clamping position and an opening position, and the gripping device is designed so that when gripping sucker rods or oil pipes with different diameters within a preset diameter range, the distances from the center of the sucker rod or the oil pipe to a reference surface are basically the same in the clamping state. Therefore, the device can be simultaneously suitable for grabbing operations of sucker rods and oil pipes with various specifications by using a simple and reliable structure.
Description
Technical Field
The invention belongs to the field of workover rigs, and particularly relates to a pipe rod grabbing device applicable to various pipe rod diameter specifications.
Background
Automated tubing handling modules are used to enable automated placement of sucker rods or tubing (which may be collectively referred to herein as "tubing") in tripping operations for automated or intelligent workover operations. The pipe-rod interface module is an important component in well workover equipment, and aims to discharge a sucker rod or an oil pipe to a fixed position and accurately position a single sucker rod or an oil pipe.
The grabbing of the sucker rod and the oil pipe is carried out by the grabbing device. The prior art pipe string gripping apparatus generally comprises hydraulic means for providing power, a pair of manipulators and corresponding connecting means. The hydraulic system provides power to realize the opening and closing of the paired manipulators. The workflow of the grabbing device can be decomposed into: (1) the oil cylinder of the hydraulic system is positioned at an initial position, and the manipulator is opened; (2) the sensor confirms that the sucker rod and the oil pipe enter the grabbing position; (3) the cylinder acts and the manipulator closes, thereby gripping the sucker rod or tubing.
However, existing gripping devices can only accommodate single gauge sucker rods and tubing. When well repair operation is carried out, in order to grasp sucker rods and oil pipes with different diameter specifications, the multiple specification dies are required to be carried once and the dies with different types are required to be replaced to adapt to the sucker rods and the oil pipes with different diameters, the degree of automation is low, the manual operation intensity is high, the operation efficiency is low, meanwhile, the field operation environment has a certain risk, and the safety of oil field operation is affected.
Disclosure of Invention
Aiming at the technical problems, the invention provides a manipulator which can adapt to sucker rods and oil pipes with different specifications.
Specifically, the invention provides the following technical scheme.
A tube wand gripping device comprising:
the clamping assembly is used for clamping the sucker rod or the oil pipe;
a drive assembly for driving the clamping assembly between a clamped position and an open position,
the gripping device is designed such that, in the clamped state, the distance from the center of the sucker rod or the oil pipe to the reference surface is substantially the same when gripping sucker rods or oil pipes of different diameters within a predetermined diameter range.
In the present invention, the "clamped state" is a state in which the gripping device is already in a fully closed state and the sucker rod or the tubing cannot continue to move in the gripping device.
As an improvement of the present invention, the clamping assembly includes a first manipulator and a second manipulator each including a clamping portion at one end and being pivotably connected to a fixed member at the other end remote from the clamping portion.
As an improvement of the present invention, two struts are further included, which are pivotally connected at one end to the first and second manipulators, respectively, and at the other end to the movable portion of the drive assembly.
As an improvement of the present invention, the strut is pivotally connected to a positioning seat provided at the end of the movable portion.
As an improvement of the present invention, the length between the two ends of the strut is 83mm, and the distance from the connection position of the strut with the first manipulator and the second manipulator to the connection position of the first manipulator and the second manipulator with the fixing member is 40mm.
As an improvement of the invention, the fixing part is an ear mount, and the ear mount is connected with the fixing part of the driving assembly.
As an improvement of the present invention, the grip portion is provided with a roughened portion.
As an improvement of the invention, the drive assembly takes the form of a hydraulic cylinder.
The pipe rod grabbing device has the beneficial effects that the pipe rod grabbing device can grab sucker rods and oil pipes with different diameter specifications, so that when the pipe rod grabbing device is in a clamping state, the distances from the centers of the grabbed sucker rods and the oil pipes to a reference surface are basically the same. Therefore, the device can be simultaneously suitable for grabbing operations of sucker rods and oil pipes with various specifications by using a simple and reliable structure.
Drawings
Exemplary embodiments of the present invention are described with reference to the accompanying drawings, in which:
fig. 1 schematically shows a perspective view of the pipe string gripping apparatus of the present invention in a manipulator open state.
Fig. 2 schematically shows a perspective view of the pipe string gripping apparatus of the present invention in a closed state of the manipulator.
Fig. 3 schematically shows a front view of the tube gripping device of the present invention.
All the figures are schematic and not necessarily to scale, and they show only those parts which are necessary in order to elucidate the invention, the other parts being omitted or merely mentioned. That is, the present invention may include other components in addition to those shown in the drawings.
Detailed Description
The following describes the technical scheme of the present invention in detail with reference to the accompanying drawings. The following detailed description is intended to explain the present general inventive concept in order to facilitate understanding by those skilled in the art and is not intended to limit the invention to the structures and possible embodiments thereof.
Referring to fig. 1, the pipe string gripping apparatus of the present invention mainly includes a driving assembly 1 and a gripping assembly. The drive assembly may take the form of, for example, a hydraulic ram for powering the operation of the clamp assembly. Of course, the drive assembly may take other forms, such as pneumatic or other mechanical drive, so long as the operation of the clamp assembly is powered. The clamping assembly comprises a pair of robots consisting of a first robot 3 and a second robot 4. The gripping portions 33 of the first manipulator 3 (this reference numeral is shown in fig. 3) cooperate with corresponding gripping portions of the second manipulator 4 to grip the pipe string when the pair of manipulators are closed. The ends of the first and second manipulators 3, 4 remote from the gripping portion (hereinafter referred to as "fixed ends") are pivotably connected to the fixed portion of the drive assembly 1, for example, by connecting pins to the ear mount 2 fixed to the drive assembly 1 (only the ear mount connecting pins 31 on the first manipulator 3 are shown in fig. 3 for simplicity). Thereby, the first robot 3 and the second robot 4 can pivot around the fixed ends to achieve opening or closing of the pair of robots under the action of the driving assembly 1.
As a preferred embodiment, the connection between the drive assembly 1 and the clamping assembly can be seen more clearly in connection with fig. 1 and 3. As can be seen from fig. 3, a positioning seat 5 is provided on a movable part 11 of the drive assembly 1, for example a piston rod of a hydraulic cylinder, and the first manipulator 3 and the second manipulator 4 are each connected to this positioning seat 5 by a strut 6. One end of the strut 6 is pivotably provided on the positioning seat 5, and the other end is pivotably connected to the corresponding first robot arm 3 or second robot arm 4. For example, for the strut 6 connected to the first manipulator 3, it may be connected to the positioning seat 5 by the intermediate pin 8, and it may be connected to the first manipulator 3 by the strut connecting pin 32 (for simplicity, only the corresponding parts of the first manipulator are shown with reference numerals in fig. 3). The movable part 11 may also be fixed to the positioning seat by means of the intermediate pin 8.
Advantageously, in order to increase the clamping force, roughness is provided on the first and second manipulators 3, 4 in order to increase the friction when the manipulators are in contact with the sucker rod or the oil pipe 9 when clamping. Similarly, a roughened portion may be provided at a portion where the positioning seat 5 contacts the sucker rod or the oil pipe 9. The roughened portions on the first and second manipulators 3, 4 and the positioning seat 5 may be knurled surfaces directly formed on the respective surfaces, or may be separate members provided thereon, such as a knurled plate.
In the initial state, the driving assembly drives the clamping assembly to enable the pair of manipulators to be in an open state. When the pipe string gripping apparatus is confirmed to be in place, that is, when the pipe string gripping apparatus and the sucker rod or the oil pipe are brought close to each other so that the pipe string reaches a position between the pair of manipulators 3, 4 so as to be able to grip the sucker rod or the oil pipe when the manipulators are closed, then the first manipulator 3 and the second manipulator 4 are closed under the drive of the drive assembly 1 so as to grip the sucker rod or the oil pipe.
The tube gripping device may be determined in place in a number of ways. The distance between the sucker rod or tubing and the tubing string grabbing device may be detected or obtained, for example, by providing a proximity switch, a distance sensor, or an image recognition device, etc.
With the specific construction shown in the figures, when the clamping action is performed, the drive assembly 1 is operated such that the movable part 11 of the drive assembly 1 is moved away from its fixed part (i.e. the piston rod protrudes relative to the cylinder in the case of a hydraulic cylinder of the drive assembly 1), thereby driving the positioning seat 5 away from the fixed part of the drive assembly 1. Because the positioning seat 5 is connected with the two manipulators through the supporting rod 6, and the fixed ends of the manipulators are connected with the ear seat 2 through the connecting pin 31, along with the movement of the positioning seat 5, the first manipulator 3 and the second manipulator 4 pivot with the connecting pin 31 as the center under the drive of the supporting rod 6, so that the manipulators are closed, and the grabbing of the sucker rod or the oil pipe 9 is realized.
Of course, the positioning seat 5 is not necessarily a component. One end of the strut 6 may be directly connected to the movable part 11, and may also be able to pivot the manipulator under the movement of the movable part 11.
In the grabbing process, because the sucker rods or the oil pipes to be grabbed have different diameter specifications, and the diameter difference between the sucker rods and the oil pipes is large, the structural dimensions of the pipe rod grabbing device are designed so that the distances between the centers of the sucker rods and the oil pipes grabbed in the clamping state and the reference surface are the same. The reference surface is, for example, a cylinder flange surface of a hydraulic cylinder. Of course, other reference surfaces may be chosen as reference surfaces, provided that the reference surfaces are stationary relative to the stationary part of the drive assembly 1. In particular, for the specific structure shown in fig. 3, three parts of the stroke of the movable part 11 of the drive assembly 1, the length of the strut 6 and the distance between the strut connecting pin and the ear mount connecting pin can be designed so that when gripping a sucker rod or tubing within a certain diameter range, the distance from the center of the sucker rod or tubing to the reference surface is substantially the same when the gripping state is reached.
As an exemplary embodiment, in connection with fig. 3, the invention proposes a specific dimension, wherein the effective length of the strut 6 is designed to be 83mm, and the centre-to-centre distance of the ear mount connection pin 31 and the strut connection pin 32 is 40mm. Here, the effective length of the strut 6 refers to the distance between the pivot centers of both ends of the strut 6; in fig. 3, this distance refers to the center-to-center distance of the middle pin 8 and the strut connecting pin 32.
For sucker rods/tubing diameters between 16-89mm as set forth in Table 1 below, the stroke of the corresponding cylinder piston was designed to be 32-40mm in a tubing string gripping device having the specific dimensions shown above. That is, for an oil pipe of 89mm diameter, the piston travel is 32mm, and for a sucker rod of 16mm diameter, the piston travel is 40mm. For sucker rods/tubing diameters between 89-16mm, the piston travel is between 32-40mm.
In the above specific example, after the manipulator is completely closed and the sucker rod/oil pipe is abutted against the positioning seat 5, the distance from the center of the gripped sucker rod/oil pipe to the reference surface is measured, and the result is shown in table 1. It can be seen from table 1 that for sucker rods/tubing having diameters between 16-89mm, the difference between the distances of the center of the sucker rods/tubing in the clamped state from the reference plane is within 30mm, which is consistent with the operating errors of the elevator, and is thus possible.
In addition, it is possible to detect whether the corresponding sucker rod/tubing has been clamped by the robot by providing a proximity switch on the positioning seat 5 or the movable part 11 of the drive assembly 1 or the like. It is also possible to determine whether the sucker rod/tubing is in a clamped state by a pressure sensor provided on the movable part of the drive assembly; for example, when the drive assembly 1 takes the form of a hydraulic ram, the pressure sensor may be mounted on a hydraulic control valve block. Here, in the clamped state, the sucker rod/oil tube is clamped by the first and second manipulators 3 and 4 and the movable portion 11 of the drive assembly 1 or the positioning seat 5 (when the positioning seat 5 is provided).
TABLE 1 tube (rod) diameter dimension, distance from center of gravity (center of circle) of tube (rod) to reference after gripping
| Diameter of pipe (rod) dimension/mm | Distance/mm from center of gravity (center of circle) of tube (rod) to reference |
| 89 | 300.46 |
| 73 | 295.06 |
| 25 | 276.28 |
| 22 | 274.96 |
| 19 | 273.62 |
| 16 | 272.28 |
Although the above description has been given of the gripping of sucker rods and tubing, it will be appreciated by those skilled in the art that the gripping device of the present invention may be used with other cylindrical components.
Likewise, although the gripping device has been specifically dimensioned with respect to the dimensions of the sucker rod/tubing having a diameter in the range of 16-89mm, the skilled person, in the art, may likewise, in the face of cylindrical parts such as sucker rods/tubing having other diameters, be correspondingly dimensioned such that the centre of each gripped cylindrical part is at substantially the same distance from the reference plane when the cylindrical parts are in the gripping state.
While the present invention has been described with respect to the above exemplary embodiments, it will be apparent to those skilled in the art that various other embodiments can be devised by modifying the disclosed embodiments without departing from the spirit and scope of the invention. Such embodiments should be understood to fall within the scope of the invention as determined based on the claims and any equivalents thereof.
Claims (5)
1. A tube wand gripping device comprising:
a clamping assembly for clamping a sucker rod or oil pipe (9), the clamping assembly comprising a first manipulator (3) and a second manipulator (4), the first manipulator (3) and the second manipulator (4) each comprising a clamping portion at one end and being pivotably connected to a fixed member at the other end remote from the clamping portion;
a drive assembly (1) for driving the clamping assembly between a clamped position and an open position, the drive assembly comprising a fixed portion and a movable portion (11);
two struts (6), which struts (6) are pivotably connected at one end to the first manipulator (3) and the second manipulator (4) by strut connecting pins, respectively, and at the other end to a movable part (11) of the drive assembly (1),
it is characterized in that the method comprises the steps of,
the fixed part is an ear seat (2) connected to the fixed part of the driving component, the first manipulator (3) and the second manipulator (4) are respectively connected with the ear seat through ear seat connecting pins,
the gripping device is designed such that the stroke of the movable part of the drive assembly, the length of the strut and the distance between the strut connecting pin and the ear mount connecting pin are designed such that, in gripping state, the distance from the centre of the sucker rod or oil pipe to the reference surface is substantially the same when gripping sucker rods or oil pipes of different diameters within a preset diameter range.
2. The tube gripping device of claim 1, wherein the tube gripping device comprises a tube gripping device,
the strut (6) is pivotally connected to a positioning seat (5) provided at the end of the movable part (11).
3. The tube gripping device of claim 1, wherein the tube gripping device comprises a tube gripping device,
the length between the two ends of the supporting rod is 83mm, and the distance between the ear seat connecting pin and the supporting rod connecting pin is 40mm.
4. A pipe wand gripping apparatus according to any one of claims 1 to 3, wherein,
the clamping portion is provided with a roughness.
5. A pipe wand gripping apparatus according to any one of claims 1 to 3, wherein,
the driving assembly (1) is in the form of a hydraulic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110917618.4A CN113605848B (en) | 2021-08-11 | 2021-08-11 | Pipe rod grabbing device applicable to various pipe rod diameter specifications |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110917618.4A CN113605848B (en) | 2021-08-11 | 2021-08-11 | Pipe rod grabbing device applicable to various pipe rod diameter specifications |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113605848A CN113605848A (en) | 2021-11-05 |
| CN113605848B true CN113605848B (en) | 2023-08-29 |
Family
ID=78308154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110917618.4A Active CN113605848B (en) | 2021-08-11 | 2021-08-11 | Pipe rod grabbing device applicable to various pipe rod diameter specifications |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113605848B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009411A (en) * | 2010-11-11 | 2011-04-13 | 高付生 | Improved manipulator paw |
| CN202412285U (en) * | 2012-02-23 | 2012-09-05 | 东北石油大学 | Manipulator device for clamping tubular columns during drilling and rework treatment |
| CN203867495U (en) * | 2014-04-17 | 2014-10-08 | 中国石油大学(华东) | Novel oil pipe grabbing mechanical arm for hydraulic automatic workover rig |
| CN204175208U (en) * | 2014-10-31 | 2015-02-25 | 四川宏华石油设备有限公司 | A kind of thribble clamping manipulator |
| CN204414109U (en) * | 2014-12-24 | 2015-06-24 | 中国人民解放军济南军区72465部队 | Repair workshop's tire catching robot |
| CN205255025U (en) * | 2015-12-28 | 2016-05-25 | 天津市中恒科贸有限公司 | Manipulator suitable for profile body plastic products snatch |
| CN205552530U (en) * | 2016-01-22 | 2016-09-07 | 马鞍山远荣机器人智能装备有限公司 | Wheel is grabbed by manipulator |
| CN207327020U (en) * | 2017-10-27 | 2018-05-08 | 安徽工程大学 | A kind of four paws catching robot |
| CN111152256A (en) * | 2020-02-03 | 2020-05-15 | 深圳市时维智能装备有限公司 | Manipulator for grabbing irregular objects and coal gangue screening equipment |
| CN112276987A (en) * | 2020-10-16 | 2021-01-29 | 胜利油田康贝石油工程装备有限公司 | Pipe grabbing mechanical arm for workover treatment and use method |
-
2021
- 2021-08-11 CN CN202110917618.4A patent/CN113605848B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009411A (en) * | 2010-11-11 | 2011-04-13 | 高付生 | Improved manipulator paw |
| CN202412285U (en) * | 2012-02-23 | 2012-09-05 | 东北石油大学 | Manipulator device for clamping tubular columns during drilling and rework treatment |
| CN203867495U (en) * | 2014-04-17 | 2014-10-08 | 中国石油大学(华东) | Novel oil pipe grabbing mechanical arm for hydraulic automatic workover rig |
| CN204175208U (en) * | 2014-10-31 | 2015-02-25 | 四川宏华石油设备有限公司 | A kind of thribble clamping manipulator |
| CN204414109U (en) * | 2014-12-24 | 2015-06-24 | 中国人民解放军济南军区72465部队 | Repair workshop's tire catching robot |
| CN205255025U (en) * | 2015-12-28 | 2016-05-25 | 天津市中恒科贸有限公司 | Manipulator suitable for profile body plastic products snatch |
| CN205552530U (en) * | 2016-01-22 | 2016-09-07 | 马鞍山远荣机器人智能装备有限公司 | Wheel is grabbed by manipulator |
| CN207327020U (en) * | 2017-10-27 | 2018-05-08 | 安徽工程大学 | A kind of four paws catching robot |
| CN111152256A (en) * | 2020-02-03 | 2020-05-15 | 深圳市时维智能装备有限公司 | Manipulator for grabbing irregular objects and coal gangue screening equipment |
| CN112276987A (en) * | 2020-10-16 | 2021-01-29 | 胜利油田康贝石油工程装备有限公司 | Pipe grabbing mechanical arm for workover treatment and use method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113605848A (en) | 2021-11-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109732555B (en) | Robot system with twisting and plugging mechanical arm end effector | |
| US10167688B2 (en) | Method of disconnecting a drill string at a drill rig | |
| CN108584425A (en) | A kind of Mobile Cargo robot arm | |
| EP4112870B1 (en) | Passive tubular connection guide | |
| CN113605848B (en) | Pipe rod grabbing device applicable to various pipe rod diameter specifications | |
| CN113441947B (en) | Motorcycle part assembling system and assembling method | |
| CN111002324A (en) | Pipe outer wall robot of crawling | |
| CN213197585U (en) | Multistation clamping jaw transport mechanism | |
| CN115156886B (en) | Full-automatic pneumatic clamping and tightening equipment | |
| CN112483555B (en) | Ball bearing riveting device | |
| CN210678717U (en) | Composite robot for online pressurized leakage stoppage | |
| CN211418799U (en) | Driving axle housing gripper device | |
| CN107614367B (en) | Vehicle body assembling method and vehicle body assembling device | |
| CN113386081A (en) | Vertical stretcher of oil pressure bumper shock absorber | |
| CN216130889U (en) | Pipe pole grabbing device suitable for various pipe pole diameter specifications | |
| CN210551292U (en) | Combined type execution mechanism, mechanical arm and robot | |
| CN109465846B (en) | Flexible tongs device for robot | |
| US11506002B2 (en) | Systems, devices, and methods to detect pipe with a gripperhead | |
| CN114183082A (en) | Electric control mechanical clamping jaw | |
| CN109015710B (en) | Pneumatic paw capable of weighing and collision detection | |
| CN115649857B (en) | A robot that reaches standard grade for slewing bearing, center connect | |
| CN113530477A (en) | Pipe pole grabbing device suitable for various pipe pole diameter specifications | |
| CN115255778B (en) | Fixed clamping equipment for forging and operation method thereof | |
| CN111058879A (en) | Electromagnetic gripper of trolley special for corrugated plate assembly | |
| CN219902204U (en) | Mechanical arm gripper adaptive to steel pipe size |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |