CN115401787B - Large prefabricated member stretching pneumatic robot arm - Google Patents
Large prefabricated member stretching pneumatic robot arm Download PDFInfo
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- CN115401787B CN115401787B CN202211271816.9A CN202211271816A CN115401787B CN 115401787 B CN115401787 B CN 115401787B CN 202211271816 A CN202211271816 A CN 202211271816A CN 115401787 B CN115401787 B CN 115401787B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B23/00—Arrangements specially adapted for the production of shaped articles with elements wholly or partly embedded in the moulding material; Production of reinforced objects
- B28B23/02—Arrangements specially adapted for the production of shaped articles with elements wholly or partly embedded in the moulding material; Production of reinforced objects wherein the elements are reinforcing members
- B28B23/04—Arrangements specially adapted for the production of shaped articles with elements wholly or partly embedded in the moulding material; Production of reinforced objects wherein the elements are reinforcing members the elements being stressed
- B28B23/043—Wire anchoring or tensioning means for the reinforcements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to the technical field of mechanical arms and discloses a large prefabricated member stretching pneumatic robot arm which comprises a crawler chassis, a communication module, a power-assisted mechanical arm fixedly arranged on a movable arm of the crawler chassis, a control system and a stretching jack fixedly arranged on the power-assisted mechanical arm, wherein the crawler chassis is used for driving the power-assisted mechanical arm and the stretching jack on the power-assisted mechanical arm to move to a specific position at will; the communication module comprises a 5G communication module and a Bluetooth communication module; the control system is used for adjusting and controlling the specific position of the power-assisted mechanical arm. This large-scale prefab stretch-draw pneumatic robot arm, to the setting of caterpillar chassis and upper structure, system, available helping hand arm and accurately hover the stretch-draw jack on specific position to with its fixed mounting at the both ends of prestressing steel, make it less to the installation of this stretch-draw jack arrange the operation degree of difficulty, and can not take place the phenomenon of rocking at its in-process that hangs, efficiency is higher and the security is better.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a large prefabricated member stretching pneumatic robot arm.
Background
In the structure of the common reinforced concrete, the ultimate tensile strain of the concrete member is lower, and under the action of a using load, the strain of the steel bars in the member greatly exceeds the ultimate tensile strain of the concrete, so that the strength of the steel bars in the reinforced concrete member is not fully utilized;
in order to make up the gap between the tensile strain of the concrete and the steel bars, a plurality of prestressed steel bars which are arranged in a bundle in a steel bar cage are respectively fixed by an anchor before the concrete member is poured, two tensioning jacks are respectively used for stretching the two ends of the prestressed steel bars, then the poured concrete is loosened after the concrete reaches the requirement, the prestressed steel bars retract, and the tension area of the concrete member is stressed in advance by utilizing the retraction force of the prestressed steel bars;
when the concrete member bears external load to generate tension, the pre-compression force of the pre-stressed reinforcing steel bars in the concrete member in the tension zone is counteracted, and then the concrete member is stressed along with the increase of the load, so that the elongation of the concrete member is effectively limited, and the generation of cracks on the concrete member is delayed or avoided.
However, because the weight of the tensioning jack is large and the construction environment of the construction site is complex, the operation difficulty is high when the tensioning jack is arranged on the prestressed reinforcement, and when the tensioning jack is arranged by using the hoisting equipment, the tensioning jack is difficult to accurately suspend at a specific position due to long distance and large shaking, so that the efficiency is low and the potential safety hazard is high.
What is needed is a robotic arm structure for use in large preform tensioning jack mounting arrangements that addresses the shortcomings of the tensioning jack mounting arrangements described above in the prior art construction process.
Disclosure of Invention
(one) solving the technical problems
The invention provides a large prefabricated member stretching pneumatic robot arm which can accurately arrange a stretching jack at a specific position, has higher efficiency and lower operation difficulty, can be effectively suitable for various complex construction environments, and solves the problems that the stretching jack has higher weight and complex construction environment at a construction site, the operation difficulty is higher when the stretching jack is arranged on a prestressed reinforcement installation, and the stretching jack is difficult to accurately suspend at the specific position due to longer distance and larger shaking when the stretching jack is arranged on a hoisting device installation.
(II) technical scheme
The invention provides the following technical scheme: the large prefabricated member stretching pneumatic robot arm comprises a crawler chassis, a communication module, a power-assisted mechanical arm fixedly arranged on a movable arm of the crawler chassis, a control system and a stretching jack fixedly arranged on the power-assisted mechanical arm, wherein the crawler chassis is used for driving the power-assisted mechanical arm and the stretching jack on the power-assisted mechanical arm to move to a specific position at will;
the communication module comprises a 5G communication module and a Bluetooth communication module, wherein the 5G communication module is used for interacting with the production control platform, and the Bluetooth communication module is used for interacting information between two groups of corresponding power-assisted mechanical arms;
the control system is used for adjusting and controlling the specific position of the power-assisted mechanical arm and enabling the tensioning jack on the power-assisted mechanical arm to accurately hover at a specific height;
the automatic power assisting device comprises a power assisting mechanical arm, and is characterized in that a first movable support is arranged on one side of the bottom end of the inner cavity of the power assisting mechanical arm, a guide wheel group is arranged on the top end of the first movable support and is in rolling friction connection with the top of the inner cavity of the power assisting mechanical arm, a first hydraulic cylinder group is fixedly arranged on the other side of the inner cavity of the power assisting mechanical arm, transmission connection is formed between the power assisting mechanical arm and the first movable support through the first hydraulic cylinder group, a second movable support is movably sleeved in the middle of the inner cavity of the first movable support, a pressure spring is arranged on the bottom end of the inner cavity of the first movable support, the bottom end of the inner cavity of the first movable support is in transmission connection with the bottom end of the second movable support through the pressure spring, a second hydraulic cylinder group is fixedly arranged on the top of the inner cavity of the first movable support, a tensioning jack is fixedly arranged on the top of one side of the second movable support through a bolt, a balance hydraulic cylinder is in pin joint on the bottom of the other side of the first movable support, and the other side of the balance hydraulic cylinder is in pin joint with the bottom end of the power assisting mechanical arm.
Preferably, a group of pressure wheel sets are respectively arranged on the left side and the right side of the top end of the first movable support, and a group of piezoelectric magnetic rings with annular structures are arranged on the outer surfaces of the pressure wheel sets.
Preferably, a comparison circuit is arranged between the two pressure wheel sets and used for detecting and feeding back the pressure difference born by the two pressure wheel sets, and an electric feedback connection is formed between the two pressure wheel sets and the production control platform.
Preferably, the balance hydraulic cylinder is not affected by hydraulic pressure in an initial state, and when the positions of all structures on the power-assisted mechanical arm are determined, when the pressure difference between the two groups of pressure wheel sets is larger, the length of the balance hydraulic cylinder correspondingly changes under the action of the hydraulic pressure until the piezoelectric difference between the two groups of pressure wheel sets is zero.
Preferably, the method comprises the following operation steps:
s1, according to the relative position of prestressed reinforcement on a concrete member, the relative position of a second movable support on a power-assisted mechanical arm is transversely and longitudinally adjusted through a first hydraulic cylinder group and a second hydraulic cylinder group, then the first hydraulic cylinder group and the second hydraulic cylinder group are locked, the relative position relation of the second movable support is determined, and then a tensioning jack is fixedly arranged at the top of one side of the second movable support through bolts;
s2, when the tensioning jack is fixedly arranged at the top of one side of the second movable support, the center of gravity of the first movable support changes, so that the first movable support has a tendency of tilting to the right, different pressures are generated on two groups of pressure wheel groups on the top of the first movable support, and piezoelectric differences are generated, so that under the action of a comparison circuit, the pressure differences between the two groups of pressure wheel groups are detected and fed back to a production control platform, and the length of a balance hydraulic cylinder is forced to correspondingly change under the action of hydraulic pressure until the piezoelectric differences between the two groups of pressure wheel groups are zero;
s3, the number and the position coordinates of the prestressed reinforcement to be tensioned are sent to a control system through a 5G communication module, related operators verify and start the crawler chassis through fingerprints and faces, and the booster mechanical arm is moved to a preset place under the action of the laser range finder;
s4, then, under the assistance of a power-assisted mechanical arm, the two groups of tensioning jacks are respectively and fixedly arranged at two ends of the prestressed reinforcement, and the Bluetooth communication module is utilized to respectively compare self-checking information, the number, the position, the prestress preset value, the elongation and the hole position of the two groups of tensioning jacks, so that the information between the two groups of tensioning jacks is ensured to be free;
and S5, finally, synchronously triggering two groups of tensioning jacks through the Bluetooth communication module, collecting relevant tensioning data in real time, interacting with the production control platform through the 5G communication module, and analyzing and comparing through a calculation analysis module in the production control platform.
(III) beneficial effects
The invention has the following beneficial effects:
1. this large-scale prefab stretch-draw pneumatic robot arm, to the setting of caterpillar chassis and upper structure, system, available helping hand arm and accurately hover the stretch-draw jack on specific position to with its fixed mounting at the both ends of prestressing steel, compare with prior art, the installation of arranging the operation degree of difficulty to the stretch-draw jack is less, and can not take place the phenomenon of rocking at its in-process of hanging, and efficiency is higher and the security is better, makes it can be applicable to various complicated construction environment effectively.
2. This large-scale prefab stretch-draw pneumatic robot arm to helping hand arm and the setting of structure on it, through the piezoelectricity difference between two sets of pressure wheelsets in contrast first movable support top, detect the pressure difference between the first movable support top both sides of feedback, and apply a set of opposite pressure to one side of first movable support bottom under the effect of balanced pneumatic cylinder, make it be in a state of relative equilibrium, and then effectively prevent the top of first movable support because of the unbalanced pressure causes irregular wearing and tearing phenomenon, stability and reliability are higher, and prolonged its life under complicated operating mode.
Drawings
FIG. 1 is a system diagram of the structure of the present invention;
FIG. 2 is a schematic view of a power-assisted mechanical arm and the structure thereof according to the present invention;
FIG. 3 is a front view of the power-assisted mechanical arm of the present invention;
FIG. 4 is a schematic diagram of an actuation system of the power-assisted mechanical arm of the present invention.
In the figure: 1. a power-assisted mechanical arm; 2. a first movable bracket; 3. a first hydraulic cylinder group; 4. a guide wheel set; 5. a pressure wheel set; 6. a second movable bracket; 7. tensioning jack; 8. a pressure spring; 9. a second hydraulic cylinder group; 10. and (5) balancing the hydraulic cylinder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a large prefabricated member stretching pneumatic robot arm comprises a crawler chassis, a communication module, a power-assisted mechanical arm 1 fixedly installed on a movable arm of the crawler chassis, a control system and a stretching jack 7 fixedly installed on the power-assisted mechanical arm 1, wherein the crawler chassis is driven by electric power and is powered by a lithium battery to drive the power-assisted mechanical arm 1 and the stretching jack 7 thereon to move to a specific position at will;
the communication module comprises a 5G communication module and a Bluetooth communication module, wherein the 5G communication module is used for interacting with the production control platform, and the Bluetooth communication module is used for corresponding to information interaction between two groups of power-assisted mechanical arms;
the control system is used for adjusting and controlling the specific position of the power-assisted mechanical arm 1 and enabling the tensioning jack 7 on the power-assisted mechanical arm to accurately hover at a specific height;
as shown in fig. 2, one side of the bottom end of the inner cavity of the power-assisted mechanical arm 1 is provided with a first movable support 2, the top end of the inner cavity of the first movable support 2 is provided with a guide wheel set 4 in rolling friction connection with the top end of the inner cavity of the power-assisted mechanical arm 1, the other side of the inner cavity of the power-assisted mechanical arm 1 is fixedly provided with a first hydraulic cylinder set 3, transmission connection is formed between the power-assisted mechanical arm 1 and the first movable support 2 through the first hydraulic cylinder set 3, the first hydraulic cylinder set 3 is used for driving the first movable support 2 to move left and right along the axial track of the power-assisted mechanical arm 1, the middle part of the inner cavity of the first movable support 2 is movably sleeved with a second movable support 6, the bottom end of the inner cavity of the first movable support 2 is provided with a pressure spring 8, the bottom end of the second movable support 6 is in transmission connection through the pressure spring 8, the top end of the inner cavity of the first movable support 2 is fixedly provided with a second hydraulic cylinder set 9, the bottom end of the second hydraulic cylinder set 9 is fixedly connected with the top end of the second movable support 6, the second hydraulic cylinder set 9 is used for driving the second movable support 6 and a tensioning jack 7 on the second movable support 6 to move up and down along the axial track of the first movable support 2, the tensioning jack 7 is matched with the bottom end of the first movable support 2, the first movable support 3 is further matched with the other side of the tensioning jack 7, the other side of the tensioning jack 7 is in a balance cylinder 10 is in a position of the top end of the second movable support 10 is in parallel with the top of the first movable support, and the other side is in parallel to the position of the jack is in the opposite a cylinder, and the top of the jack is in the opposite well has a jack 10, and the well-mounted to be well-mounted.
The equipment is provided with the laser range finder, the fingerprint and the face recognition system, so that the accuracy and the safety of the equipment in the operation process are effectively improved, and the safety accidents caused by false triggering of other people can be effectively prevented.
As shown in fig. 3, in the present technical solution, a set of pressure wheel sets 5 are respectively disposed on the left and right sides of the top end of the first movable support 2, and a set of piezoelectric magnetic rings with annular structures are disposed on the outer surfaces of the pressure wheel sets 5, so that piezoelectric effects with different sizes can be generated when the two sets of pressure wheel sets 5 are subjected to different pressures.
As shown in fig. 4, in the present technical solution, a comparison circuit is provided between the two sets of pressure wheel sets 5, so as to detect and feedback the pressure difference between the two sets of pressure wheel sets 5, and an electrical feedback connection is formed between the two sets of pressure wheel sets 5 and the production control platform.
As shown in fig. 4, in this technical solution, the balance hydraulic cylinder 10 is not affected by hydraulic pressure in the initial state, and then the length of the balance hydraulic cylinder 10 can be freely extended and contracted when the first movable bracket 2 moves left and right along the axial track of the power-assisted mechanical arm 1, and when the positions of all structures on the power-assisted mechanical arm 1 are determined, when the pressure difference between the two groups of pressure wheel sets 5 is larger, the length of the balance hydraulic cylinder 10 is correspondingly changed under the action of hydraulic pressure until the piezoelectric difference between the two groups of pressure wheel sets 5 is zero.
The technical scheme comprises the following operation steps:
s1, according to the relative position of prestressed reinforcement on a concrete member, the relative position of a second movable support 6 on a power-assisted mechanical arm 1 is transversely and longitudinally adjusted through a first hydraulic cylinder group 3 and a second hydraulic cylinder group 9, then the first hydraulic cylinder group 3 and the second hydraulic cylinder group 9 are locked, the relative position relation of the second movable support 6 is determined, and then a tensioning jack 7 is fixedly installed on the top of one side of the second movable support 6 through bolts;
s2, when the tensioning jack 7 is fixedly arranged at the top of one side of the second movable support 6, the center of gravity of the first movable support 2 changes, so that the first movable support 2 has a tendency of tilting to the right side, different pressures are generated on two groups of pressure wheel sets 5 on the top end of the first movable support 2, and piezoelectric differences are generated, so that under the action of a comparison circuit, the pressure differences between the two groups of pressure wheel sets 5 are detected and fed back to a production control platform, and the length of the balance hydraulic cylinder 10 is forced to correspondingly change under the action of hydraulic pressure until the piezoelectric differences between the two groups of pressure wheel sets 5 are zero;
s3, the number and position coordinates of the prestressed reinforcement to be tensioned are sent to a control system through a 5G communication module, related operators including tensioning operators, laboratory personnel and safety management personnel verify and start the crawler chassis through fingerprints and faces, and the power-assisted mechanical arm 1 is moved to a preset place under the action of a laser range finder;
s4, under the assistance of the power-assisted mechanical arm 1, the two groups of tensioning jacks 7 are respectively and fixedly installed at two ends of the prestressed reinforcement, and the Bluetooth communication module is utilized to respectively compare self-checking information, the number, the position, the prestress preset value, the elongation and the hole position on the two groups of tensioning jacks 7, so that the information between the two groups of tensioning jacks 7 is ensured to be free of errors;
and S5, finally, synchronously triggering two groups of tensioning jacks 7 through a Bluetooth communication module, collecting the prestress value, the elongation and the like of related tensioning data in real time, interacting with a production control platform through a 5G communication module, and analyzing and comparing through a calculation and analysis module in the production control platform.
Meanwhile, the device is provided with the onboard high-definition camera, so that the whole process of the device can be visually monitored, and the safety and the reliability of the device in the running process can be effectively ensured.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a large-scale prefab stretch-draw pneumatic robot arm, includes caterpillar band chassis, communication module, fixed mounting helping hand arm (1) on caterpillar band chassis expansion arm, control system and fixed mounting stretch-draw jack (7) on helping hand arm (1), its characterized in that:
the crawler chassis is used for driving the booster mechanical arm (1) and the tensioning jack (7) on the booster mechanical arm to move to a specific position at will;
the communication module comprises a 5G communication module and a Bluetooth communication module, wherein the 5G communication module is used for interacting with the production control platform, and the Bluetooth communication module is used for interacting information between two groups of corresponding power-assisted mechanical arms (1);
the control system is used for adjusting and controlling the specific position of the power-assisted mechanical arm (1) and enabling the tensioning jack (7) on the power-assisted mechanical arm to accurately hover at a specific height;
one side of helping hand arm (1) inner chamber bottom is equipped with first movable support (2) to be equipped with guide pulley group (4) and helping hand arm (1) inner chamber's top rolling friction connection on the top of first movable support (2), the opposite side fixed mounting of helping hand arm (1) inner chamber has first pneumatic cylinder group (3), and forms the transmission through first pneumatic cylinder group (3) between helping hand arm (1) and first movable support (2), second movable support (6) have been cup jointed in the middle part activity of first movable support (2) inner chamber, the bottom of first movable support (2) inner chamber is equipped with compression spring (8) to be connected with the bottom transmission of second movable support (6) through compression spring (8), the top fixed mounting of first movable support (2) inner chamber has second pneumatic cylinder group (9), the bottom of second pneumatic cylinder group (9) and the top fixed connection of second movable support (6), and the top of second movable support (6) one side has tensioning bolt (7) through fixed mounting, the bottom of first movable support (2) and the balanced other side of jack (10) of balanced pneumatic cylinder pin joint (10).
2. A large preform stretching pneumatic robot arm as claimed in claim 1, wherein: the left side and the right side at the top end of the first movable support (2) are respectively provided with a group of pressure wheel sets (5), and the outer surface of each pressure wheel set (5) is provided with a group of piezoelectric magnetic rings with annular structures.
3. A large preform stretching pneumatic robot arm as claimed in claim 2, wherein: and a comparison circuit is arranged between the two pressure wheel sets (5) and used for detecting and feeding back the pressure difference born by the two pressure wheel sets (5), and an electric feedback connection is formed between the two pressure wheel sets (5) and the production control platform.
4. A large preform stretching pneumatic robot arm as claimed in claim 3, wherein: when the pressure difference between the two groups of pressure wheel sets (5) is larger, the length of the balance hydraulic cylinder (10) is correspondingly changed under the action of hydraulic force until the piezoelectric difference between the two groups of pressure wheel sets (5) is zero when the positions of all structures on the power-assisted mechanical arm (1) are determined.
5. A large preform stretching pneumatic robot arm according to claim 4, comprising the following operative steps:
s1, according to the relative position of prestressed reinforcement on a concrete member, the relative position of a second movable support (6) on a power-assisted mechanical arm (1) is transversely and longitudinally adjusted through a first hydraulic cylinder group (3) and a second hydraulic cylinder group (9), then the first hydraulic cylinder group (3) and the second hydraulic cylinder group (9) are locked, the relative position relation of the second movable support (6) is determined, and then a tensioning jack (7) is fixedly installed on the top of one side of the second movable support (6) through bolts;
s2, when the tensioning jack (7) is fixedly arranged at the top of one side of the second movable support (6), the gravity center of the first movable support (2) changes, so that the first movable support has a tendency of tilting to the right, different pressures are generated on two groups of pressure wheel sets (5) on the top of the first movable support (2) and piezoelectric differences are generated, and then under the action of a comparison circuit, the pressure differences between the two groups of pressure wheel sets (5) are detected and fed back to a production control platform, and the length of the balance hydraulic cylinder (10) is forced to correspondingly change under the action of hydraulic force until the piezoelectric differences between the two groups of pressure wheel sets (5) are zero;
s3, the number and position coordinates of the prestressed reinforcement to be tensioned are sent to a control system through a 5G communication module, a related operator verifies and starts the crawler chassis through fingerprints and faces, and the power-assisted mechanical arm (1) is moved to a preset place under the action of a laser range finder;
s4, under the assistance of a power-assisted mechanical arm (1), the two groups of tensioning jacks (7) are respectively and fixedly installed at two ends of the prestressed reinforcement, and the Bluetooth communication module is utilized to respectively compare self-checking information, the number, the position, the prestress preset value, the elongation and the hole position of the two groups of tensioning jacks (7) and ensure that the information between the two groups of tensioning jacks (7) is correct;
and S5, synchronously triggering two groups of tensioning jacks (7) through a Bluetooth communication module, collecting relevant tensioning data in real time, interacting with a production control platform through a 5G communication module, and analyzing and comparing by a calculation and analysis module in the production control platform.
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| CN202211271816.9A CN115401787B (en) | 2022-10-18 | 2022-10-18 | Large prefabricated member stretching pneumatic robot arm |
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| CN202211271816.9A CN115401787B (en) | 2022-10-18 | 2022-10-18 | Large prefabricated member stretching pneumatic robot arm |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2777875B2 (en) * | 1995-03-13 | 1998-07-23 | 旭コンクリート工業株式会社 | PC box culvert PC steel bar tensioner |
| CN101435268B (en) * | 2008-12-16 | 2010-07-14 | 中铁大桥局集团第五工程有限公司 | Stretching device of case beam in case |
| CN103832932B (en) * | 2014-03-31 | 2016-01-20 | 葛洲坝集团第一工程有限公司 | Prestressed stretch-draw hydraulic jack suspention mobile device |
| CN107401123B (en) * | 2017-08-11 | 2019-03-12 | 中铁六局集团有限公司 | Mobile prestressed stretch-draw auxiliary device |
| CN209179514U (en) * | 2018-12-04 | 2019-07-30 | 河北建设集团股份有限公司 | A kind of prestressed stretch-draw jacking equipment |
| CN217106209U (en) * | 2021-09-02 | 2022-08-02 | 柳州泰姆预应力机械有限公司 | Downward freedom mechanism for releasing jack of intelligent tensioning robot |
| CN114030077B (en) * | 2021-11-15 | 2023-04-14 | 中国建筑土木建设有限公司 | Tensioning jack mounting equipment for beam field and prestressed cable tensioning method for precast beam |
| CN217703951U (en) * | 2022-03-07 | 2022-11-01 | 河南省交通预应力有限责任公司 | Sliding device of tensioning jack |
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