CN210176337U

CN210176337U - Snatch device and have its snatch car

Info

Publication number: CN210176337U
Application number: CN201920122728.XU
Authority: CN
Inventors: Changyan Pu; 蒲长晏; Zilong Yan; 闫子龙; Weili Kang; 康为丽; Wenguang Cheng; 成文广; Zhao Zhang; 张昭; Lijun Kang; 康立军
Original assignee: LANGFANG JINGLONG HEAVY MACHINERY CO Ltd
Current assignee: Hebei Jinglong Intelligent Equipment Co ltd
Priority date: 2019-01-24
Filing date: 2019-01-24
Publication date: 2020-03-24
Anticipated expiration: 2029-01-24

Abstract

The utility model provides a snatch device, snatch device includes: a snatch arm assembly having a free end; the grabbing and lifting assembly is arranged on the free end; the grabbing and lifting arm assembly is composed of a plurality of grabbing and lifting arms which are connected with each other, and at least one of the grabbing and lifting arms is telescopic. The technical scheme of the utility model the mode of having solved the adoption manual work among the prior art lift or hand block handling effectively carries out moving of pipeline, wastes time and energy the big and problem that factor of safety is low of intensity of labour.

Description

Snatch device and have its snatch car

Technical Field

The utility model relates to a pipeline erection equipment technical field particularly, relates to a snatch device and have its snatch car.

Background

The tunnel construction technical equipment is relatively laggard at present, lacks professional equipment, and tunnel or tunnel piping erection adopt artifical lift or the mode of hand block handling to move the pipeline from the tunnel bottom plate to the fixed bolster more, wastes time and energy, and intensity of labour is big, and the installation effectiveness is low, and the safety does not have the guarantee, seriously influences tunnel or tunnel pipeline installation construction progress and construction quality, brings certain influence for the business development of enterprises such as coal. The influence is larger especially in the pipeline installation process of coal mine tunnel.

SUMMERY OF THE UTILITY MODEL

A primary object of the utility model is to provide a snatch device and have its snatch car to the mode of the artifical lift of adoption or the hand block handling among the solution prior art carries out moving of pipeline, the big and low problem of factor of safety of intensity of labour that wastes time and energy.

In order to achieve the above object, according to an aspect of the present invention, there is provided a grasping device, including: a snatch arm assembly having a free end; the grabbing and lifting assembly is arranged on the free end; the grabbing and lifting arm assembly is composed of a plurality of grabbing and lifting arms which are connected with each other, and at least one of the grabbing and lifting arms is telescopic.

Further, the snatching arm assembly comprises a telescopic arm; the telescopic boom comprises a telescopic boom outer barrel and a telescopic boom inner arm, the telescopic boom outer barrel is connected with the telescopic boom inner arm in a sliding mode, and a transmission part is arranged in the telescopic boom outer barrel.

Further, the gripper arm assembly comprises: the first end of the first grabbing and lifting arm is a fixed end, and the second end of the first grabbing and lifting arm is a free end; the first end of the second grabbing and lifting arm is rotatably connected with the first grabbing and lifting arm, and the second end of the second grabbing and lifting arm is a free end; the first end of the third grabbing and lifting arm is rotatably connected with the second grabbing and lifting arm, and the second end of the third grabbing and lifting arm is a free end; wherein, the arm is grabbed for flexible arm to the second, grabs the subassembly of lifting and connects on the third grabs the free end of lifting the arm.

Further, the gripper arm assembly further comprises: the first end of the first telescopic structure is rotatably connected to the first grabbing and lifting arm, and the second end of the first telescopic structure is rotatably connected to the second grabbing and lifting arm, so that the second grabbing and lifting arm rotates relative to the first grabbing and lifting arm; and the first end of the second telescopic structure is rotatably connected to the second grabbing and lifting arm, and the second end of the second telescopic structure is rotatably connected to the third grabbing and lifting arm, so that the third grabbing and lifting arm rotates relative to the second grabbing and lifting arm.

Further, the grab lifting assembly is provided as a grab bucket assembly, comprising: an installation part; the first grab bucket is rotatably connected to the mounting part; the second grab bucket is rotatably connected to the mounting part and is arranged opposite to the first grab bucket; the first end of the first oil cylinder is rotatably connected to the mounting part, and the second end of the first oil cylinder is rotatably connected to the first grab bucket so as to control the first grab bucket to be close to or far away from the second grab bucket; and the first end of the second oil cylinder is rotatably connected to the mounting part, and the second end of the second oil cylinder is rotatably connected to the second grab bucket so as to control the second grab bucket to be close to or far away from the first grab bucket.

Further, the grabbing and lifting device further comprises: a base; the sliding mechanism is arranged on the base; and the rotary lifting mechanism is connected with the sliding mechanism, and the grabbing and lifting arm assembly is connected with the rotary lifting mechanism.

Further, the sliding mechanism includes a first sliding structure and a second sliding structure, and the sliding directions of the first sliding structure and the second sliding structure are different.

Further, the sliding direction of the first sliding structure is the same as the length direction of the base, and the sliding direction of the second sliding structure is the same as the width direction of the base.

Further, the slewing elevating mechanism includes: the rotary structure is at least partially connected with the grabbing and lifting arm assembly so as to drive the grabbing and lifting arm assembly to rotate; the lifting structure is connected with the rotary structure so as to lift the rotary structure.

According to the utility model discloses an on the other hand provides a snatch car, including snatching the device, snatch the device and be foretell snatch the device.

Use the technical scheme of the utility model, the setting of snatching the device can replace the manual work, and then reduces the manual work, reduces the human cost. The grabbing and lifting arm assembly is arranged to control the grabbing and lifting assembly to move, and the grabbing and lifting assembly is arranged to grab and lift a pipeline to cooperate the grabbing and lifting arm assembly to move to a specified position. The telescopic grabbing arm can save the occupied space of the grabbing device on the one hand, and on the other hand, the grabbing device can have a larger grabbing range, so that the grabbing arm is suitable for various different working conditions. The technical scheme of the utility model the mode of having solved the adoption manual work among the prior art lift or hand block handling effectively carries out moving of pipeline, wastes time and energy the big and problem that factor of safety is low of intensity of labour.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic structural view of a gripping device according to the invention;

figure 2 shows a schematic structural view of a grab arm assembly of the present invention;

figure 3 shows a schematic structural view of the inventive grab lift assembly;

fig. 4 shows a schematic structural view of the grab lift truck of the present invention;

fig. 5 shows a schematic view of the grabbing crane of the present invention in preparation for grabbing;

fig. 6 shows a schematic view of the grabbing vehicle of the present invention when grabbing;

fig. 7 shows a schematic diagram of the grabbing lift truck when preparing for lifting after grabbing;

fig. 8 shows the schematic diagram of the grabbing and lifting vehicle for installation after grabbing.

Wherein the figures include the following reference numerals:

10. a grabbing and lifting device; 11. a snatch arm assembly; 111. a first grasping arm; 112. a second grasping arm; 113. a third grasping arm; 114. a first telescoping structure; 115. a second telescoping structure; 12. a snatching component; 121. an installation part; 122. a first grab bucket; 123. a second grab bucket; 124. a first cylinder; 125. a second cylinder; 13. a base; 14. a sliding mechanism; 141. a first sliding structure; 142. a second sliding structure; 15. a rotary lifting mechanism; 20. a chassis; 30. a hydraulic leg; 40. a traveling device; 50. An operation platform.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art, in the drawings, the thicknesses of layers and regions are exaggerated for clarity, and the same devices are denoted by the same reference numerals, and thus the description thereof will be omitted.

As shown in fig. 1 to 3, in a gripping apparatus 10 of the present embodiment, the gripping apparatus 10 includes a gripping arm assembly 11 and a gripping assembly 12. The gripper arm assembly 11 has a free end. A gripper assembly 12 is mounted on the free end. Wherein, the grabbing and lifting arm assembly 11 is composed of a plurality of grabbing and lifting arms which are connected with each other, and at least one grabbing and lifting arm can be extended and retracted.

By using the technical scheme of the embodiment, the grabbing device 10 can replace manpower, so that the manpower is reduced, and the labor cost is reduced. The gripper arm assembly 11 is arranged to control the movement of the gripper assembly 12 and the gripper assembly 12 is arranged to grip the pipeline in coordination with the movement of the gripper arm assembly 11 to a given position. The telescopic grabbing arm can save the occupied space of the grabbing device 10 on one hand, and on the other hand, the grabbing device 10 can have a larger grabbing range, so that the telescopic grabbing arm is suitable for various different working conditions. The technical scheme of this embodiment has solved the mode that adopts artifical lift or hand block handling among the prior art effectively and has carried out moving of pipeline, wastes time and energy the big and low problem of factor of safety of intensity of labour.

As shown in fig. 1 to 3, in the solution of the present embodiment, the gripper arm assembly 11 comprises a telescopic arm. The telescopic boom comprises a telescopic boom outer barrel and a telescopic boom inner arm, the telescopic boom outer barrel is connected with the telescopic boom inner arm in a sliding mode, and a transmission part is arranged in the telescopic boom outer barrel. The arrangement of the telescopic arm in the above structure can be used to increase the working range of the snatching assembly 12 and reduce the occupied space of the snatching arm assembly 11. The telescopic arm outer cylinder and the telescopic arm inner arm realize telescopic control through a transmission part. Further, the transmission part is set to be a telescopic oil cylinder, so that the telescopic arm is more stable and reliable in telescopic.

As shown in fig. 1 to 3, in the present embodiment, the grasping arm assembly 11 includes a first grasping arm 111, a second grasping arm 112, and a first grasping arm 111. The first end of the first grasping arm 111 is a fixed end, and the second end of the first grasping arm 111 is a free end. A first end of the second grasping arm 112 is rotatably connected to the first grasping arm 111, and a second end of the second grasping arm 112 is a free end. The first end of the third grasping arm 113 is rotatably connected to the second grasping arm 112, and the second end of the third grasping arm 113 is a free end. Wherein the second gripper arm 112 is a telescopic arm and the gripper assembly 12 is attached to the free end of the third gripper arm 113. The above structure can provide the gripping assembly 12 with a higher degree of freedom, and the telescopic arm can be matched to grip a wider range of objects.

As shown in fig. 1 to 3, in the solution of the present embodiment, the gripper arm assembly 11 further includes a first telescopic structure 114 and a second telescopic structure 115. A first end of the first telescopic structure 114 is rotatably connected to the first grasping arm 111, and a second end of the first telescopic structure 114 is rotatably connected to the second grasping arm 112, so that the second grasping arm 112 rotates relative to the first grasping arm 111. A first end of the second telescoping structure 115 is pivotally connected to the second grasping arm 112 and a second end of the second telescoping structure 115 is pivotally connected to the third grasping arm 113 to allow the third grasping arm 113 to pivot relative to the second grasping arm 112. The structure makes the control of the grabbing arm assembly 11 more convenient and reliable. Further, the first telescopic structure 114 and the second telescopic structure 115 are provided as hydraulic structures, so that the same hydraulic system as the transmission is used, and the control of the whole grabbing device 10 is facilitated.

As shown in fig. 1 to 3, in the solution of the present embodiment, the grapple assembly 12 is configured as a grapple assembly, and includes a mounting portion 121, a first grapple 122, a second grapple 123, a first oil cylinder 124, and a second oil cylinder 125. The first grapple 122 is rotatably coupled to the mounting portion 121. The second grapple 123 is rotatably coupled to the mounting portion 121 and is disposed opposite to the first grapple 122. A first end of the first cylinder 124 is rotatably connected to the mounting portion 121, and a second end of the first cylinder 124 is rotatably connected to the first grapple 122 to control the first grapple 122 to approach or depart from the second grapple 123. A first end of the second cylinder 125 is rotatably connected to the mounting portion 121, and a second end of the second cylinder 125 is rotatably connected to the second grapple 123 to control the second grapple 123 to approach or separate from the first grapple 122. The grabbing process can be more stable and reliable after the grabbing and lifting assembly 12 is set as a grab bucket assembly in the structure. Access to the gripper assembly 12 may be achieved with the first grapple 122 being closer to or further from the second grapple 123. The provision of the first and

second cylinders

124, 125 may provide the gripper assembly 12 with greater gripping power.

As shown in fig. 1 to 3, in the solution of the present embodiment, the gripping and lifting device 10 further includes a base 13, a sliding mechanism 14, and a rotary lifting and lowering mechanism 15. The slide mechanism 14 is provided on the base 13. The rotary lifting mechanism 15 is connected with the sliding mechanism 14, and the grabbing arm assembly 11 is connected with the rotary lifting mechanism 15. The structure can further enlarge the grabbing and lifting operation range of the grabbing and lifting device 10, so that the grabbing and lifting device 10 can be randomly taken and placed in a certain space.

As shown in fig. 1 to 3, in the solution of the present embodiment, the sliding mechanism 14 includes a first sliding structure 141 and a second sliding structure 142, and the sliding directions of the first sliding structure 141 and the second sliding structure 142 are different. The structure can enable the sliding mechanism 14 to slide randomly in a plane, and the cooperation with the rotary lifting mechanism 15 can increase the grabbing and lifting range of the grabbing and lifting device 10.

As shown in fig. 1 to 3, in the solution of the present embodiment, the sliding direction of the first sliding structure 141 is the same as the length direction of the base 13, and the sliding direction of the second sliding structure 142 is the same as the width direction of the base 13. The structure can ensure that the sliding of the sliding mechanism 14 is more reliable and stable, and is convenient to position.

As shown in fig. 1 to 3, in the solution of the present embodiment, the revolving and lifting mechanism 15 includes a revolving structure and a lifting structure. The swivel structure is at least partially connected to the gripper arm assembly 11 to rotate the gripper arm assembly 11. The lifting structure is connected with the rotary structure so as to lift the rotary structure. The grabbing arm assembly 11 in the structure can adjust the overall orientation of the grabbing arm assembly 11 through the connection of the rotating structure, so that the grabbing arm assembly 11 can move in a certain space. The lifting structure can be matched with the rotary structure to enlarge the movable space of the grabbing and lifting arm assembly 11.

As shown in fig. 4, the gripping vehicle in this embodiment includes the gripping device 10, and the gripping device 10 is the above-mentioned gripping device 10. The grabbing and lifting vehicle provided with the grabbing and lifting device 10 can replace manpower, so that the manpower is reduced, and the labor cost is reduced. The gripper arm assembly 11 is arranged to control the movement of the gripper assembly 12 and the gripper assembly 12 is arranged to grip the pipeline in coordination with the movement of the gripper arm assembly 11 to a given position. The telescopic grabbing arm can save the occupied space of the grabbing device 10 on one hand, and on the other hand, the grabbing device 10 can have a larger grabbing range, so that the telescopic grabbing arm is suitable for various different working conditions.

It is worth noting that the utility model discloses a snatch car still includes chassis 20, snatchs and lifts device 10 and installs on chassis 20 through base 13, is provided with operation panel 50 on base 13 or the chassis 20, is provided with the control assembly that device 10 was grabbed in control on the operation panel 50, and chassis 20 bottom is provided with running gear 40. The chassis 20 is provided at both sides thereof with a plurality of hydraulic legs 30 for expanding a supporting range, so that the grab lift car can be more stable and reliable during a grab lift operation. The utility model discloses the pipeline snatchs the car and accomplishes grabbing to the pipeline, lifting, stretching, letting, change, the peer-to-peer action, can realize the adjustment of controlling around and reaching the horizontal direction angle. The equipment adopts a mature full hydraulic control technology, and the reliability of the equipment is enhanced. The pipeline installation device has reasonable and compact integral structure, realizes more actions, can adapt to the complex process of pipeline installation, greatly lightens the labor intensity of workers and improves the engineering quality.

In the technical solution of the present embodiment, the walking device 40 includes: explosion-proof actuating mechanism and 4 solid rubber tyers. The explosion-proof drive machine is mounted on the vehicle body 10. The 4 solid rubber wheels are at least partially connected with the explosion-proof driving mechanism through a transmission mechanism. The structure can facilitate the movement of the pipeline installation drilling vehicle. The anti-explosion driving machine and the 4 solid rubber wheels can ensure the safety and the reliability of the pipeline installation drilling vehicle. The arrangement of the solid rubber wheels can adapt to various terrains.

Furthermore, the explosion-proof driving machine is arranged as an explosion-proof diesel engine and is connected with the hydraulic pump to provide pressure for a hydraulic system of the whole vehicle. The arrangement of the explosion-proof diesel engine can enable the pipeline installation drilling vehicle to have better and powerful power. After the explosion-proof driving machine is connected with the hydraulic pump, large and controllable hydraulic pressure can be generated, and the requirements of hydraulic elements on all parts of the pipeline installation drilling vehicle are further met.

As shown in fig. 5 to 8, in the technical solution of this embodiment, the process of grabbing by the grabbing lift truck includes: grabbing preparation by a grabbing and lifting vehicle; starting to grab; lifting towards the preset position; grabbing to a preset position and starting to install; the gripper assembly 12 is retracted after installation. Wherein fig. 5 shows a schematic view of the gripper vehicle in preparation for gripping; FIG. 6 shows a schematic view of the gripper car as it grips; FIG. 7 shows a schematic view of the gripper car ready for elevation after it has been gripped; fig. 8 shows a schematic view of the gripper vehicle after it has been gripped and ready for installation.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: the setting of snatching device 10 can replace artifically, and then reduces artifically, reduces the human cost. The gripper arm assembly 11 is arranged to control the movement of the gripper assembly 12 and the gripper assembly 12 is arranged to grip the pipeline in coordination with the movement of the gripper arm assembly 11 to a given position. The telescopic grabbing arm can save the occupied space of the grabbing device 10 on one hand, and on the other hand, the grabbing device 10 can have a larger grabbing range, so that the telescopic grabbing arm is suitable for various different working conditions. The technical scheme of the utility model the mode of having solved the adoption manual work among the prior art lift or hand block handling effectively carries out moving of pipeline, wastes time and energy the big and problem that factor of safety is low of intensity of labour.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A gripping device, characterized in that the gripping device (10) comprises:

a gripper arm assembly (11), the gripper arm assembly (11) having a free end;

a gripper assembly (12), said gripper assembly (12) being mounted on said free end;

the grabbing and lifting arm assembly (11) is composed of a plurality of grabbing and lifting arms which are connected with each other, and at least one of the grabbing and lifting arms is telescopic.

2. A gripping arrangement according to claim 1, characterized in that the gripping arm assembly (11) comprises a telescopic arm;

the telescopic boom comprises a telescopic boom outer barrel and a telescopic boom inner arm, the telescopic boom outer barrel is connected with the telescopic boom inner arm in a sliding mode, and a transmission part is arranged in the telescopic boom outer barrel.

3. Gripper device according to claim 2, characterized in that the gripper arm assembly (11) comprises:

the first end of the first grabbing and lifting arm (111) is a fixed end, and the second end of the first grabbing and lifting arm (111) is a free end;

a second grasping arm (112), wherein a first end of the second grasping arm (112) is rotatably connected with the first grasping arm (111), and a second end of the second grasping arm (112) is a free end;

a third grasping arm (113), wherein a first end of the third grasping arm (113) is rotatably connected with the second grasping arm (112), and a second end of the third grasping arm (113) is a free end;

wherein the second grabbing and lifting arm (112) is the telescopic arm, and the grabbing and lifting assembly (12) is connected to the free end of the third grabbing and lifting arm (113).

4. Gripper device according to claim 3, characterized in that the gripper arm assembly (11) further comprises:

a first telescopic structure (114), a first end of the first telescopic structure (114) is rotatably connected to the first grabbing and lifting arm (111), and a second end of the first telescopic structure (114) is rotatably connected to the second grabbing and lifting arm (112), so that the second grabbing and lifting arm (112) rotates relative to the first grabbing and lifting arm (111);

second extending structure (115), the first end of second extending structure (115) rotate connect in arm (112) is grabbed to the second, the second end of second extending structure (115) rotate connect in arm (113) is grabbed to the third, so that arm (113) is grabbed to the third for arm (112) is grabbed to the second rotates.

5. The device according to claim 1, characterized in that the gripping assembly (12) is provided as a grapple assembly comprising:

a mounting portion (121);

a first grab bucket (122), wherein the first grab bucket (122) is rotatably connected to the mounting part (121);

the second grab bucket (123), the said second grab bucket (123) rotates and connects to the said mounting part (121), and set up opposite to said first grab bucket (122);

a first oil cylinder (124), wherein a first end of the first oil cylinder (124) is rotatably connected to the mounting part (121), and a second end of the first oil cylinder (124) is rotatably connected to the first grab bucket (122) so as to control the first grab bucket (122) to approach or depart from the second grab bucket (123);

the first end of the second oil cylinder (125) is rotatably connected to the mounting portion (121), and the second end of the second oil cylinder (125) is rotatably connected to the second grab bucket (123) to control the second grab bucket (123) to be close to or far away from the first grab bucket (122).

6. Gripper device according to claim 1, characterized in that the gripper device (10) further comprises:

a base (13);

a slide mechanism (14), the slide mechanism (14) being provided on the base (13);

and the rotary lifting mechanism (15), the rotary lifting mechanism (15) is connected with the sliding mechanism (14), and the grabbing and lifting arm assembly (11) is connected with the rotary lifting mechanism (15).

7. Gripper device according to claim 6, characterized in that the sliding mechanism (14) comprises a first sliding structure (141) and a second sliding structure (142), the sliding direction of the first sliding structure (141) and the second sliding structure (142) being different.

8. Gripper device according to claim 7, characterized in that the sliding direction of the first sliding structure (141) is the same as the length direction of the base (13) and the sliding direction of the second sliding structure (142) is the same as the width direction of the base (13).

9. Gripper device according to claim 6, characterized in that the swivel lifting mechanism (15) comprises:

a swivel structure at least partially connected to the gripper arm assembly (11) to rotate the gripper arm assembly (11);

the lifting structure is connected with the rotary structure so as to lift the rotary structure.

10. A gripping vehicle comprising a gripping device (10), characterized in that the gripping device (10) is a gripping device (10) according to any of claims 1-9.