CN114147756A - Gripper and mechanical arm for assembling large-tonnage prefabricated structural block - Google Patents
Gripper and mechanical arm for assembling large-tonnage prefabricated structural block Download PDFInfo
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- CN114147756A CN114147756A CN202111461404.7A CN202111461404A CN114147756A CN 114147756 A CN114147756 A CN 114147756A CN 202111461404 A CN202111461404 A CN 202111461404A CN 114147756 A CN114147756 A CN 114147756A
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- 230000008569 process Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
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- 238000010586 diagram Methods 0.000 description 3
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- 244000309464 bull Species 0.000 description 1
- 239000004567 concrete Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 239000011378 shotcrete Substances 0.000 description 1
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/08—Lining with building materials with preformed concrete slabs
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Abstract
The application discloses a gripper and a mechanical arm for assembling a large-tonnage prefabricated structural block, wherein the gripper comprises a swing mechanism, a first translation mechanism, a second translation mechanism and a clamping mechanism which are sequentially connected, and the moving directions of the two translation mechanisms are mutually vertical; the clamping mechanism comprises a top frame, a top die connecting assembly and a side die connecting assembly, the top frame and the second translation mechanism are rotatably connected, a swing oil cylinder is arranged between the top frame and the second translation mechanism, the top die connecting assembly comprises a clamping arm and a clamping oil cylinder, the clamping arm is used for clamping a first top die tool, and the side die connecting assembly comprises a shaft type part and a limiting part, the shaft type part is used for being clamped with a U-shaped groove in the side die tool, and the limiting part is used for enabling a side wall prefabricated structure block to keep vertical during clamping; the two ends of the arm frame are respectively hinged with the hand grips and the slewing bearing, and the hand grips, the arm frame pitching oil cylinder and the like are matched to form the mechanical arm. The structure has the installation freedom degree of a plurality of angles, meets the positioning requirement of a large-tonnage prefabricated member, and is safer and more efficient in operation.
Description
Technical Field
The invention relates to the technical field of tunnel supporting construction, in particular to a gripper and a mechanical arm for assembling large-tonnage prefabricated structural blocks.
Background
In the tunnel construction process, need set up supporting construction at side and top, prevent the incident such as collapse, rock drop. The traditional supporting structure adopts a sprayed concrete manufacturing process, but in recent years, the process of assembling prefabricated structural blocks to replace concrete into a permanent support is rapidly developing and widely applied.
At present, no special supporting equipment is provided in China to implement the new process, and the prefabricated structural blocks are generally positioned and assembled by hoisting with a crane. But limited by the space in the tunnel, the flexibility of the suspension arm is poor when in use, a large amount of manpower is consumed for assistance in the installation process, and the single prefabricated structure block is large in weight and size and dangerous in hoisting operation, so that the installation speed is slow and the operation efficiency is influenced in order to reduce collision and shaking. In addition, the hoisting trolley generally needs to finish walking by means of a rail, the moving flexibility is poor, and the flatness of the ground in the tunnel can not be guaranteed based on actual construction conditions, so that the higher track laying requirement is difficult to meet, the condition that the crane is uneven is caused, and the hoisting operation on the prefabricated structural blocks is further influenced.
In conclusion, the existing process has the defects of high working strength, limited working range, poor flexibility, high assembling difficulty of the prefabricated structural blocks, dangerous operation and the like, and the prefabricated structural blocks positioned at the tunnel arch top cannot be installed. Therefore, a new device for assembling large-tonnage prefabricated structural blocks in the tunnel is urgently needed to be designed so as to meet the requirement of the existing tunnel supporting construction.
Disclosure of Invention
An object of this application provides a tongs and arm for assembling large-tonnage prefabricated structural piece, carries out in the tunnel that prefabricated structural piece assembles and forms the advantage that the formation is strutted in having the removal flexibility, hoist and mount convenience are firm, assemble the precision height. The technical scheme of the application is as follows:
the gripper is matched with a tool pre-installed on a prefabricated structure block for use, the tool comprises a first top die tool installed on the prefabricated structure block at the top and a side die tool installed on the prefabricated structure block on the side wall, a clamping position is arranged on the first top die tool, and a U-shaped groove with a downward opening is formed in the side die tool; the gripper comprises a swing mechanism, a first translation mechanism, a second translation mechanism and a clamping mechanism, wherein the first translation mechanism is connected with a power output part of the swing mechanism, the second translation mechanism is connected with the power output part of the first translation mechanism, and the moving directions of the two translation mechanisms are perpendicular to each other;
the clamping mechanism comprises a top frame, a top die connecting assembly and a side die connecting assembly, wherein the top die connecting assembly and the side die connecting assembly are arranged on the top frame; the top frame is connected with the power output part of the second translation mechanism, the top die connecting assembly comprises at least one group of clamping arms connected with the clamping positions on the first top die tool and clamping oil cylinders used for providing power for the corresponding clamping arms, and the side die connecting assembly comprises shaft-shaped pieces used for being connected with U-shaped grooves in the side die tool in a clamped mode.
In some specific embodiments, the slewing mechanism includes a slewing reducer and a slewing pedestal, the first translation mechanism includes a first translation cylinder, a first slide rail and a sliding frame, the second translation mechanism includes a second translation cylinder, a second slide rail and a connecting frame, the first translation cylinder and the first slide rail are both fixedly disposed on the slewing pedestal, the sliding frame is slidably disposed on the first slide rail and connected to the power output end of the first translation cylinder, the second translation cylinder and the second slide rail are both fixedly disposed on the sliding frame, and the connecting frame is slidably disposed on the second slide rail and connected to the power output end of the second translation cylinder.
In some specific embodiments, the top frame is connected with the connecting frame through a rotating shaft, the gripper further comprises a swing oil cylinder, and two ends of the swing oil cylinder are respectively connected with the top frame and the connecting frame.
In some specific embodiments, the side die connecting assembly further includes a limiting member, the limiting member extends towards the side wall prefabricated structure block, and the extending length of the limiting member is set to be such that when the axial member is clamped with the U-shaped groove on the side die assembly, the side wall prefabricated structure block contacts with the limiting member and keeps a vertical state under the action of the limiting member.
In some specific embodiments, the number of the shaft-shaped parts is multiple and the shaft-shaped parts are arranged in the depth direction of the U-shaped groove.
In some specific embodiments, the shaft-shaped member is a bull-horn shaft.
In some specific embodiments, a second top die tool is further installed on the top prefabricated structure block, the second top die tool is of a cylindrical structure and is far away from one end opening of the top prefabricated structure block, and the top die connecting assembly further comprises a positioning piece which is used for being inserted into the second top die tool from the opening end and clamped.
The application still provides a arm for assembling large-tonnage precast structure piece, including slewing bearing, cantilever crane and above-mentioned tongs, the one end of cantilever crane is articulated with slewing bearing, and sets up the cantilever crane every single move hydro-cylinder that is used for controlling the cantilever crane every single move action in articulated department, the other end of cantilever crane is articulated with the supporting seat of tongs, and sets up the tongs every single move hydro-cylinder that is used for controlling tongs every single move action in articulated department.
In some specific embodiments, the arm support is divided into at least two sections along the length direction, and a telescopic oil cylinder is arranged in the arm support and used for driving each section of the arm support to extend or retract.
In some specific embodiments, the lifting device further comprises an arm support follow-up oil cylinder, one end of the arm support follow-up oil cylinder is connected with the slewing bearing, the other end of the arm support follow-up oil cylinder is connected with the bottom surface of the arm support, and the arm support follow-up oil cylinder and the gripper pitching oil cylinder are controlled in a linkage mode and are opposite in stretching direction.
The technical scheme provided by the application has at least the following beneficial effects:
according to the technical scheme, the prefabricated part is grabbed to the preset installation position by the aid of the telescopic and pitching functions of the arm support and the hand grab, then different oil cylinders and rotary speed reducers on the hand grab are controlled, the posture of the prefabricated part is further adjusted, finally, a worker moves to the working position to install and fix the prefabricated part, hydraulic driving is adopted in the whole process, stability and operability are better, the hand grab and the mechanical arm have installation freedom degrees of multiple angles, accurate positioning requirements of the prefabricated part can be met, the installation range is wider, the operation process is safer and more efficient, and the strength and the danger of manual operation can be greatly reduced.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that other drawings may be derived from those drawings without inventive effort for a person skilled in the art.
Fig. 1 is a structural diagram of a gripper for assembling large-tonnage prefabricated structural blocks according to an embodiment of the present application;
FIG. 2 is a front view of FIG. 1 (with the top prefabricated building block assembled);
FIG. 3 is a rear view of FIG. 1;
FIG. 4 is a left side view of FIG. 1;
FIG. 5 is a right side view of FIG. 1 (assembling the side wall preform structural blocks);
FIG. 6 is a top view of FIG. 5;
FIG. 7 is a block diagram of a first top die tooling and a second top die tooling;
FIG. 8 is a structural view of a side mold tooling;
FIG. 9 is a block diagram of a robotic arm for assembling large tonnage precast structural blocks as provided in an embodiment of the present application;
in the figure: 01. the device comprises a first top die tool, a clamping position 01.1, a second top die tool, a side die tool 03, a side die tool 03.1 and a U-shaped groove; 1. the device comprises a supporting seat, 2, a rotary speed reducer, 3, a rotary seat, 4, a first translation oil cylinder, 5, a first sliding rail, 6, a sliding frame, 7, a second translation oil cylinder, 8, a second sliding rail, 9, a connecting frame, 10, a rotating shaft, 11, a top frame, 12, a swing oil cylinder, 13, a clamping arm, 14, a clamping oil cylinder, 15, a positioning piece, 16, a shaft type piece, 17, a limiting piece, 18, an arm frame, 19, a rotary support, 20, an arm frame pitching oil cylinder, 21, a gripper pitching oil cylinder, 22 and an arm frame follow-up oil cylinder.
Detailed Description
In order to facilitate understanding of the present application, the technical solutions in the present application will be described more fully and in detail with reference to the drawings and the preferred embodiments, but the scope of protection of the present application is not limited to the following specific embodiments, and all other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the scope of protection of the present application.
It will be understood that when an element is referred to as being "coupled" or "connected" to another element, it can be directly coupled, connected or communicated with the other element or indirectly coupled, connected or communicated with the other element via other intervening elements.
Unless otherwise defined, all terms of art used hereinafter have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application.
Examples
Referring to fig. 1-8, a tongs for assembling large-tonnage prefabricated structure piece, the tongs is used with the frock cooperation of pre-installation on prefabricated structure piece, the frock is including installing first top mould frock 01, second top mould frock 02 on the prefabricated structure piece in top and installing the side form frock 03 on the prefabricated structure piece of lateral wall, be equipped with clamping position 01.1 on the first top mould frock 01, second top mould frock 02 is cylindrical structure and keeps away from the one end opening of the prefabricated structure piece in top, be equipped with U type groove 03.1 that the opening is down on the side form frock 03, the quantity of U type groove 03.1 can be designed according to actual conditions.
The gripper comprises a supporting seat 1, a swing mechanism, a first translation mechanism, a second translation mechanism and a clamping mechanism, wherein the first translation mechanism is connected with a power output part of the swing mechanism, the second translation mechanism is connected with the power output part of the first translation mechanism, and the moving directions of the two translation mechanisms are perpendicular to each other.
The clamping mechanism comprises a top frame 11, a top die connecting assembly and a side die connecting assembly, wherein the top die connecting assembly and the side die connecting assembly are arranged on the top frame; the top frame 11 is connected with the power take off part of second translation mechanism, side form coupling assembling including be used for with the side form frock on the axle type 16 of U type groove joint, top form coupling assembling include two be used for with first top form frock on the clamping arm 13 that the centre gripping position is connected and be used for corresponding the clamping cylinder 14 that presss from both sides the arm and provide power, top form coupling assembling still includes the setting element 15 that is used for inserting second top form frock in and the joint from the open end, setting element 15 sets up between two clamping arm 13. Considering that when the prefabricated structure blocks at the top are assembled, the clamping arms 13 play a role in fixing and supporting, in order to prolong the service life of equipment and enhance the operation safety, the pressure applied to the clamping arms 13 can be dispersed in a manner of increasing stress points, namely, the matched positioning piece 15 and the second top die tooling 02 are arranged to support the prefabricated structure blocks at the top, and the number of the positioning pieces can be increased or decreased according to the actual situation.
The slewing mechanism comprises a slewing reducer 2 and a slewing seat 3, the first translation mechanism comprises a first translation oil cylinder 4, a first slide rail 5 and a sliding frame 6, and the second translation mechanism comprises a second translation oil cylinder 7, a second slide rail 8 and a connecting frame 9.
One end of the rotary speed reducer 2 is connected with the supporting seat 1, the other end of the rotary speed reducer is connected with the rotary seat 3, and the rotation of the top frame 11 in the circumferential direction can be realized through hydraulic driving. The first translation oil cylinder 4 and the first slide rail 5 are both fixedly arranged on the rotary base 3, the sliding frame 6 is slidably arranged on the first slide rail 5 and is connected with the power output end of the first translation oil cylinder 4, the second translation oil cylinder 7 and the second slide rail 8 are both fixedly arranged on the sliding frame 6, and the connecting frame 9 is slidably arranged on the second slide rail 8 and is connected with the power output end of the second translation oil cylinder 7.
The slide rail can be a finished rail or a pressing plate gap arrangement to form a rail, the latter is the embodiment. The sliding frame 6 is transversely limited by the first sliding rail 5, the connecting frame 9 is longitudinally limited by the second sliding rail 8, and the top frame 11 can move in the axial direction by driving the corresponding translation oil cylinder.
Roof-rack 11 places on link 9 and the two is connected through pivot 10 between the two, sets up swing hydro-cylinder 12, roof-rack 11 and link 9 are connected respectively to the both ends of swing hydro-cylinder 12, make roof-rack 11 can revolute pivot 10 and rotate through hydraulic drive swing hydro-cylinder 12, and then realize roof-rack 11 rotation in vertical side.
The side form coupling assembling still includes locating part 17, locating part 17 sets up and extends length to the prefabricated structure piece direction of lateral wall and sets up to when the U type groove 03.1 joint on axial component 16 and the side form frock, the prefabricated structure piece of lateral wall contacts with the locating part and keeps vertical state under its effect. When side form coupling assembling cooperation frock was carried out the operation promptly, locating part 17 can support tightly on lateral wall prefabricated structure piece, avoids the prefab to rotate around axial type spare 16, plays limiting displacement. In other specific embodiments, the number of the shaft-shaped members 16 may be multiple and the shaft-shaped members 16 may be arranged in the depth direction of the U-shaped groove, a straight line may be determined according to two points, and the shaft-shaped members 16 arranged in a straight line may perform a similar limiting function on the U-shaped groove, and also prevent the side wall prefabricated structural block from shaking.
In the present embodiment, the shaft-shaped member 16 is a bull horn shaft structure.
Referring to fig. 9, the mechanical arm for assembling the large-tonnage prefabricated structural block comprises a slewing bearing 19, an arm support 18 and the grippers, wherein one end of the arm support 18 is hinged to the slewing bearing 19, the arm support is controlled to rotate in the horizontal direction through hydraulic drive, the arm support 18 is divided into three sections in the length direction, two-stage expansion and contraction are achieved through a hydraulic oil cylinder arranged inside the arm support to meet installation requirements of different heights, an arm support pitching oil cylinder 20 is arranged at the hinged position of the arm support 18 and the slewing bearing 19, one end of the arm support pitching oil cylinder 20 is connected with the slewing bearing 19, the other end of the arm support is connected with the side face of the arm support 18, pitching action of the arm support is controlled through hydraulic drive, the other end of the arm support 18 is hinged to a support base 1 of the grippers, a gripper pitching oil cylinder 21 is arranged at the hinged position, and pitching action of the grippers is controlled through the gripper pitching oil cylinder 21.
In the embodiment, an arm support follow-up oil cylinder 22 is further arranged in cooperation with the gripper pitching oil cylinder 21, one end of the arm support follow-up oil cylinder 22 is connected with the slewing bearing 19, and the other end of the arm support follow-up oil cylinder is connected with the bottom surface of the arm support 18, so that the arm support follow-up oil cylinder can move along with the pitching of the arm support. The arm support follow-up oil cylinder 22 and the gripper pitching oil cylinder 21 are in linkage control, the stretching directions of the two oil cylinders are opposite, namely when the arm support 18 follow-up oil cylinder 7 extends out, the gripper pitching oil cylinder 21 retracts, and therefore the whole gripper can be guaranteed to be always horizontal.
The tongs and the arm that this embodiment provided can satisfy the operation of assembling of 5 tons of prefabricated structure pieces and below.
The above description is only a few examples of the present application and does not limit the scope of the claims of the present application, and it will be apparent to those skilled in the art that various modifications and variations can be made in the present application. Any improvement or equivalent replacement directly or indirectly applicable to other related technical fields within the spirit and principle of the present application by using the contents of the specification and the drawings of the present application shall be included in the protection scope of the present application.
Claims (10)
1. The gripper for assembling the large-tonnage prefabricated structure block is characterized by being matched with a tool pre-installed on the prefabricated structure block for use, wherein the tool comprises a first top die tool (01) installed on the top prefabricated structure block and a side die tool (03) installed on the side wall prefabricated structure block, a clamping position (01.1) is arranged on the first top die tool, and a U-shaped groove (03.1) with a downward opening is formed in the side die tool; the gripper comprises a swing mechanism, a first translation mechanism, a second translation mechanism and a clamping mechanism, wherein the first translation mechanism is connected with a power output part of the swing mechanism, the second translation mechanism is connected with the power output part of the first translation mechanism, and the moving directions of the two translation mechanisms are perpendicular to each other;
the clamping mechanism comprises a top frame (11), and a top die connecting assembly and a side die connecting assembly which are arranged on the top frame; the top frame (11) is connected with the power output part of the second translation mechanism, the top die connecting assembly comprises at least one group of clamping arms (13) which are used for being connected with the clamping positions on the first top die tool and clamping oil cylinders (14) which are used for providing power for the corresponding clamping arms, and the side die connecting assembly comprises shaft-shaped pieces (16) which are used for being connected with U-shaped grooves on the side die tool in a clamped mode.
2. The gripper for assembling large-tonnage precast structural blocks according to claim 1, the slewing mechanism comprises a slewing reducer (2) and a slewing seat (3), the first translation mechanism comprises a first translation oil cylinder (4), a first slide rail (5) and a sliding frame (6), the second translation mechanism comprises a second translation oil cylinder (7), a second slide rail (8) and a connecting frame (9), the first translation oil cylinder (4) and the first slide rail (5) are both fixedly arranged on the rotary seat (3), the sliding frame (6) is arranged on the first sliding rail (5) in a sliding way and is connected with the power output end of the first translation oil cylinder (4), the second translation oil cylinder (7) and the second slide rail (8) are both fixedly arranged on the sliding frame (6), the connecting frame (9) is arranged on the second sliding rail (8) in a sliding mode and is connected with the power output end of the second translation oil cylinder (7).
3. The hand grip for assembling large-tonnage precast structural blocks according to claim 2, characterized in that the top frame (11) is connected with the connecting frame (9) through a rotating shaft (10), the hand grip further comprises a swing oil cylinder (12), and two ends of the swing oil cylinder (12) are respectively connected with the top frame (11) and the connecting frame (9).
4. The gripper for assembling the large-tonnage prefabricated structure blocks as claimed in claim 2, wherein the side mold connecting assembly further comprises a limiting member (17), the limiting member (17) extends towards the side wall prefabricated structure blocks, and the extending length of the limiting member is set to be such that when the side wall prefabricated structure blocks (16) are clamped with the U-shaped grooves on the side mold tooling, the side wall prefabricated structure blocks are in contact with the limiting member and keep a vertical state under the action of the limiting member.
5. The gripper for assembling large-tonnage precast structural blocks according to claim 2, characterized in that the number of the axial members (16) is plural and arranged in a depth direction of a U-shaped groove.
6. Gripper for assembling large tonnage prefabricated structural blocks according to claim 2, characterized in that said axial profile (16) is a bull-nose shaft.
7. The gripper for assembling the large-tonnage prefabricated structure block according to any one of claims 2-6, wherein a second top die tooling (02) is further mounted on the top prefabricated structure block, the second top die tooling is of a cylindrical structure and is open at one end far away from the top prefabricated structure block, and the top die connecting assembly further comprises a positioning piece (15) which is inserted into the second top die tooling from the open end and clamped.
8. A mechanical arm for assembling a large-tonnage prefabricated structural block, which is characterized by comprising a slewing bearing (19), an arm support (18) and the gripper as claimed in any one of claims 1 to 7, wherein one end of the arm support (18) is hinged to the slewing bearing (19), an arm support pitching cylinder (20) for controlling pitching of the arm support is arranged at the hinged position, the other end of the arm support (18) is hinged to a support base (1) of the gripper, and a gripper pitching cylinder (21) for controlling pitching of the gripper is arranged at the hinged position.
9. The mechanical arm for assembling the large-tonnage precast structural block according to claim 8, wherein the arm support (18) is divided into at least two sections along the length direction, and a telescopic cylinder is arranged in the arm support (18) and used for driving each section of the arm support to extend or retract.
10. The mechanical arm for assembling the large-tonnage precast structural block according to claim 9, further comprising an arm support follow-up cylinder (22), wherein one end of the arm support follow-up cylinder (22) is connected with the slewing bearing (19) and the other end is connected with the bottom surface of the arm support (18), and the arm support follow-up cylinder (22) and the gripper pitching cylinder (21) are controlled in a linkage manner and have opposite extension directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111461404.7A CN114147756A (en) | 2021-12-02 | 2021-12-02 | Gripper and mechanical arm for assembling large-tonnage prefabricated structural block |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111461404.7A CN114147756A (en) | 2021-12-02 | 2021-12-02 | Gripper and mechanical arm for assembling large-tonnage prefabricated structural block |
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| CN114147756A true CN114147756A (en) | 2022-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111461404.7A Pending CN114147756A (en) | 2021-12-02 | 2021-12-02 | Gripper and mechanical arm for assembling large-tonnage prefabricated structural block |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115369939A (en) * | 2022-09-23 | 2022-11-22 | 中铁十四局集团第一工程发展有限公司 | Mechanical gripper of side slope slotting lattice beam mounting operation vehicle and construction process |
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2021
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| CN209453553U (en) * | 2018-11-20 | 2019-10-01 | 四川蓝海智能装备制造有限公司 | A kind of multifunctional supporting manipulator |
| CN109571407A (en) * | 2018-12-26 | 2019-04-05 | 湖北三江航天红阳机电有限公司 | A kind of tunnel Operation Van and its snatch manipulator |
| CN210599044U (en) * | 2019-10-08 | 2020-05-22 | 中国铁建重工集团股份有限公司 | Hanging basket arm structure and anchor rod supporting trolley |
| CN113334362A (en) * | 2021-07-08 | 2021-09-03 | 中国铁建重工集团股份有限公司 | Steel mould grabbing mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115369939A (en) * | 2022-09-23 | 2022-11-22 | 中铁十四局集团第一工程发展有限公司 | Mechanical gripper of side slope slotting lattice beam mounting operation vehicle and construction process |
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Application publication date: 20220308 |