CN216945952U - Pipeline snatch car for coal mine - Google Patents
Pipeline snatch car for coal mine Download PDFInfo
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- CN216945952U CN216945952U CN202220824385.3U CN202220824385U CN216945952U CN 216945952 U CN216945952 U CN 216945952U CN 202220824385 U CN202220824385 U CN 202220824385U CN 216945952 U CN216945952 U CN 216945952U
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Abstract
The application discloses a pipeline grabbing and lifting vehicle for a coal mine, which comprises a front vehicle assembly, a rear vehicle assembly, a working arm and a sliding seat; the upper part of the front vehicle assembly is connected with a working arm through a sliding seat, and the working arm comprises a large rotary drive, a supporting seat, a primary arm, a secondary arm and a grabbing and lifting head; the large-rotation driving device is respectively connected with the sliding seat and the supporting seat, and the supporting seat forms a mounting seat of the primary arm; the primary arm comprises a telescopic arm cylinder, a telescopic arm, a telescopic oil cylinder and a lifting oil cylinder, wherein the telescopic arm is driven by the telescopic oil cylinder to move in a reciprocating manner along the central axis of the telescopic arm cylinder and driven by the lifting oil cylinder to move in a reciprocating manner in the vertical direction; the secondary arm comprises a swing arm, an adjusting oil cylinder and a small rotary drive, the swing arm is connected with the telescopic arm and the grabbing and lifting head, and the swing arm is driven by the adjusting oil cylinder to swing in a reciprocating mode by taking the joint of the swing arm and the telescopic arm as a rotation center. The application provides a snatch car snatch the precision high, be applicable to tunnel work, can effectively promote piping erection's factor of safety and operating efficiency.
Description
Technical Field
The application relates to the technical field of underground coal mine pipeline installation equipment, in particular to a pipeline grabbing and lifting vehicle for a coal mine.
Background
Coal, which is a traditional energy source on which human beings live, is called as 'black gold', plays a vital role in national economic development and has irreplaceable strategic significance. The exploitation of coal resources is a complex project, which is full of risks and challenges, and many people pay precious lives for the project.
In the coal mining process, safety is the 'central importance' of all work, and a large amount of manpower, material resources and financial resources are put into operation safety of many mines so as to ensure that coal mine workers are prevented from being injured. In the construction of all coal mine tunnels, a large number of pipelines are used for solving the problems of water supply, dust fall, water drainage, slurry discharge, ventilation, gas drainage and the like. However, the space under the coal mine is narrow, the light is dark, the construction environment brings a lot of obstacles to the pipeline construction operation, and the problem of pipeline installation is more.
At present, a plurality of mines have no professional equipment, can only depend on manpower lifting, or lift the pipeline by a chain block, so that the time and the labor are wasted, the efficiency is low, a very large potential safety hazard exists, the personal safety of coal mine workers is greatly threatened, and the mine hoisting device is a bottleneck of the current coal mine tunnel construction operation.
Therefore, it is necessary to provide a new technical solution to solve the problems in the prior art.
SUMMERY OF THE UTILITY MODEL
The application provides a pipeline snatch car for coal mine for to solve among the prior art coal mine tunnel construction operation and waste time and energy, inefficiency, still have the problem of great potential safety hazard.
In order to achieve the above purpose, the present application provides the following technical solutions:
the application provides a pipeline grabbing vehicle for a coal mine, which comprises a front vehicle assembly, a rear vehicle assembly, a working arm and a sliding seat;
the front vehicle assembly is connected with the rear vehicle assembly through a hinge shaft, the upper part of the front vehicle assembly is connected with a working arm through a sliding seat, and the working arm comprises a large rotary drive, a supporting seat, a primary arm, a secondary arm and a grabbing and lifting head; one end of the large rotary drive is connected with the sliding seat, the other end of the large rotary drive is connected with the supporting seat, and the supporting seat forms an installation seat of the primary arm;
the primary arm comprises a telescopic arm cylinder, a telescopic arm and a telescopic oil cylinder, the telescopic oil cylinder comprises a body and a movable end, the body of the telescopic oil cylinder is arranged in the telescopic arm cylinder, the movable end of the telescopic oil cylinder is connected with the telescopic arm, and the telescopic arm is driven by the telescopic oil cylinder to reciprocate along the central axis of the telescopic arm cylinder;
the primary arm further comprises a lifting oil cylinder, the body of the lifting oil cylinder is connected with the supporting seat, the movable end of the lifting oil cylinder is connected with one end, far away from the supporting seat, of the telescopic arm cylinder, and the telescopic arm cylinder is driven by the lifting oil cylinder to reciprocate in the vertical direction;
the two-stage arm comprises a swing arm, an adjusting oil cylinder and a small rotary drive, one end of the swing arm is connected with the telescopic arm, the other end of the swing arm is connected with the grabbing and lifting head, the body of the adjusting oil cylinder is connected with the telescopic arm, the movable end of the adjusting oil cylinder is connected with the side wall of the swing arm close to the grabbing and lifting head, and the swing arm is driven by the adjusting oil cylinder to swing in a reciprocating mode by taking the joint of the swing arm and the telescopic arm as a rotation center; the swing arm is connected with the grabbing and lifting head through a small rotary drive.
Preferably, the grabbing and lifting head comprises two oppositely-arranged holding claws and a clamping oil cylinder, and the two holding claws are driven by the clamping oil cylinder to be close to each other so as to clamp the pipeline or driven by the clamping oil cylinder to be away from each other so as to release the pipeline.
Preferably, the rotation of the grabbing and lifting head is realized by the secondary arm through the small rotary drive, so that the grabbing and lifting head rotates by taking the central axis of the small rotary drive as a rotating shaft.
Preferably, the upper portion of front truck assembly be provided with the sliding tray of sliding seat adaptation, the sliding tray is in reciprocating sliding in the sliding tray, the sliding tray includes horizontal sliding tray and vertical sliding tray.
Preferably, the working arm is driven by the large rotary drive to rotate along the central axis of the large rotary drive.
Preferably, the supporting seat, the telescopic arm cylinder and the lifting oil cylinder are arranged in a triangular shape.
Preferably, the telescopic arm, the swing arm and the adjusting oil cylinder are arranged in a triangular shape.
Preferably, still include state adjustable landing leg mechanism, landing leg mechanism installs in the front end of front truck assembly, plays the effect of stabilizing the fuselage, prevents that the pipeline from snatching when the operation rocks and sways all around.
Preferably, the coal mine pipeline grabbing and lifting vehicle further comprises rubber wheels, wherein the two rubber wheels are arranged below the front vehicle assembly, the two rubber wheels are arranged below the rear vehicle assembly, and the rubber wheels form a travelling mechanism of the coal mine pipeline grabbing and lifting vehicle.
Preferably, the rear vehicle assembly comprises a transmission control system and a power mechanism for providing power for the transmission control system.
Preferably, the power mechanism comprises an explosion-proof diesel engine, the transmission control system comprises a hydraulic transmission mechanism, and the telescopic oil cylinder, the lifting oil cylinder and the adjusting oil cylinder on the working arm are driven by the hydraulic transmission mechanism to act respectively.
Compared with the prior art, the method has the following beneficial effects:
the pipeline grabbing and lifting vehicle for the coal mine provides a special device for mine pipeline installation operation, the device can be used for reducing the degree of dependence on manpower in the mine pipeline installation operation, and the problems that in the prior art, the mine pipeline installation operation is lifted by manpower, or a chain block is used for lifting a pipeline, so that time and labor are wasted, and huge potential safety hazards exist; the equipment improves the operation efficiency of the installation of the underground pipeline of the coal mine, ensures the life safety of operators, and avoids the occurrence of accidental injuries and accidents caused by more manual operations; this equipment has realized the location adjustment to the work arm through hydraulic cylinder's use, has realized mechanized operation, and the work arm realizes the accurate regulation to the work arm angle under the effect of flexible hydro-cylinder, lift cylinder and adjusting cylinder, and realizes the direction regulation of work arm through big swing drive, and is further, and the work arm still realizes the rotation adjustment to grabbing the lifting head through little swing drive. Therefore, the pipeline snatching car for coal mine that this application provided realizes all-round angle modulation through each hydraulic cylinder and slewing drive's effect, can adapt to the construction operation of each angle, has reduced the artifical participation degree of colliery pipeline installation under the coal mine, has guaranteed operating personnel life safety.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. It should be understood that the specific shapes, configurations and illustrations in the drawings are not to be construed as limiting, in general, the practice of the present application; for example, it is within the ability of those skilled in the art to make routine adjustments or further optimizations based on the technical concepts disclosed in the present application and the exemplary drawings, for the increase/decrease/attribution of certain units (components), specific shapes, positional relationships, connection manners, dimensional ratios, and the like.
FIG. 1 is a front view of a pipeline grab lift truck for a coal mine according to one embodiment of the present disclosure;
fig. 2 is a top view of a pipeline grabbing car for a coal mine according to an embodiment of the present disclosure.
Description of reference numerals:
1. a rear vehicle assembly;
2. hinging a shaft;
3. a front vehicle assembly;
4. a working arm; 41. a sliding seat; 42. large rotation driving; 43. a supporting seat; 44. a telescopic arm cylinder (a built-in telescopic oil cylinder); 441. lifting the oil cylinder; 45. a telescopic arm; 451. adjusting the oil cylinder; 46. a swing arm; 47. small rotation driving; 48. grabbing and lifting the head; 481. clamping the oil cylinder; 482. embracing a claw;
5. a leg mechanism.
Detailed Description
The present application will be described in further detail below with reference to specific embodiments thereof, with reference to the accompanying drawings.
In the description of the present application: "plurality" means two or more unless otherwise specified. The terms "first", "second", "third", and the like in this application are intended to distinguish one referenced item from another without having a special meaning in technical connotation (e.g., should not be construed as emphasizing a degree or order of importance, etc.). The terms "comprising," "including," "having," and the like, are intended to be inclusive and mean "not limited to" (some elements, components, materials, steps, etc.).
In the present application, terms such as "upper", "lower", "left", "right", "middle", and the like are generally used for easy visual understanding with reference to the drawings, and are not intended to absolutely limit the positional relationship in an actual product. Changes in these relative positional relationships are also considered to be within the scope of the present disclosure without departing from the technical concepts disclosed in the present disclosure.
In order to solve the problem that exists among the prior art, this application provides a pipeline snatcher for coal mine. The concrete structure of the pipeline grabbing vehicle for the coal mine is described in detail below with reference to the accompanying drawings.
The utility model provides a pipeline snatchs car for coal mine can include preceding car assembly 3, back car assembly 1, work arm 4, sliding seat 41 and landing leg mechanism. Referring to fig. 1 and 2, the front vehicle assembly 3 and the rear vehicle assembly 1 may be connected by a hinge shaft 2. Referring to fig. 1, the upper portion of the front vehicle assembly 3 is connected to the working arm 4 through a sliding seat 41.
In one embodiment, the working arm 4 may include a large swing drive 42, a support base 43, a primary arm, a secondary arm, and a gripper head 48. Referring to fig. 1, one end of the large swing drive 42 is connected to the slide base 41, and the other end is connected to the support base 43, and the support base 43 forms a mounting base for the primary arm.
With continued reference to fig. 1, the primary arm may include a telescopic arm cylinder 44, a telescopic arm 45 and a telescopic cylinder, the telescopic cylinder includes a body and a movable end, the body of the telescopic cylinder is disposed in the telescopic arm cylinder 44, the movable end of the telescopic cylinder is connected to the telescopic arm 45, and the telescopic arm 45 reciprocates along the central axis of the telescopic arm cylinder 44 under the driving of the telescopic cylinder. The telescopic arm 45 can thus be extended or shortened relative to the telescopic arm cylinder 44, and the position adjustment of the gripper head 48 is effected by means of the telescopic cylinder and the telescopic arm, but is more biased towards adjustment in the horizontal direction.
In order to realize the position adjustment of the grabbing and lifting head 48 in the vertical direction, the primary arm further comprises a lifting oil cylinder 441, the lifting oil cylinder 441 is matched with a telescopic oil cylinder, the body of the lifting oil cylinder 441 is connected with the supporting seat 43, the movable end of the lifting oil cylinder 441 is connected with one end of the telescopic arm cylinder 44 far away from the supporting seat 43, and the telescopic arm cylinder 44 is driven by the lifting oil cylinder 441 to reciprocate in the vertical direction. Therefore, the gripper head 48 can be adjusted in position and height in the horizontal direction and the vertical direction in cooperation with the lift cylinder 441 and the telescopic cylinder.
In order to realize accurate adjustment of the grabbing and lifting angle of the grabbing and lifting head 48, the secondary arm is provided with a swing arm 46, an adjusting oil cylinder 451 and a small rotary drive 47, one end of the swing arm 46 is connected with a telescopic arm, the other end of the swing arm 46 is connected with the grabbing and lifting head 48, the body of the adjusting oil cylinder 451 is connected with the telescopic arm, the movable end of the adjusting oil cylinder 451 is connected with the side wall of the swing arm 46 close to the grabbing and lifting head 48, and the swing arm 46 is driven by the adjusting oil cylinder 451 to swing in a reciprocating manner by taking the joint of the swing arm and the telescopic arm as a rotation center; the swing arm 46 is connected to a gripper head 48 by a small swing drive 47. Therefore, the swing arm 46 and the adjusting cylinder 451 can be used for adjusting the offset angle of the grabbing head, and accurate adjustment in a small direction is achieved. Furthermore, accurate adjustment of the gripping angle of the gripping head can be achieved through the small rotary drive 47.
In one embodiment, the gripper head 48 may include two holding claws 482 arranged oppositely, and a clamping cylinder 481, wherein the two holding claws 482 are driven by the clamping cylinder 481 to approach each other to clamp the pipeline, or driven by the clamping cylinder 481 to move away from each other to release the pipeline. The secondary arm realizes the rotation of the grabbing and lifting head 48 through the small rotary drive 47, so that the grabbing and lifting head 48 rotates by taking the central axis of the small rotary drive 47 as a rotating axis. The working arm 4 can rotate along the central axis of the large rotary drive 42 under the drive of the large rotary drive 42.
With continued reference to fig. 1, the support base 43, the telescopic arm cylinder 44 and the lift cylinder 441 are arranged in a triangular shape; the telescopic arm, the swing arm 46, and the adjusting cylinder 451 are arranged in a triangular shape. The structures are arranged in a triangular shape, so that the whole structure is more stable, and the oil cylinder can more firmly support the working arm.
In an embodiment, the supporting leg mechanism 5 is an auxiliary supporting structural member with an adjustable state, and the supporting leg mechanism 5 is installed at the front end of the front vehicle assembly 3, so that the body can be stabilized, and the body can be prevented from swinging back and forth and left and right and swinging during pipeline grabbing and lifting operation. Further, this pipeline snatcher for coal mine still includes the rubber tyer, and two rubber tyers are installed in the below of front truck assembly 3, and two rubber tyers are installed in the below of rear truck assembly 1, and the rubber tyer forms the running gear of pipeline snatch car for coal mine.
In one embodiment, the rear vehicle assembly 1 includes a transmission control system, and a power mechanism for providing power to the transmission control system; the power mechanism comprises an explosion-proof diesel engine, the transmission control system comprises a hydraulic transmission mechanism, and the telescopic oil cylinder, the lifting oil cylinder 441 and the adjusting oil cylinder 451 on the working arm 4 are driven by the hydraulic transmission mechanism respectively to act. The power and hydraulic control part of the pipeline snatch lift car for the coal mine that this application provided has been integrated on back car assembly 1, under a condition, can adopt explosion-proof diesel engine as power, adopts hydraulic transmission and control principle simultaneously, provides hydraulic energy for rubber tyer walking and hydraulic transmission system, maintains the normal operating condition of complete machine.
In one embodiment, the upper portion of the front vehicle assembly 3 is provided with a sliding groove adapted to the sliding seat 41, and the sliding seat 41 slides back and forth in the sliding groove, and the sliding groove includes a transverse sliding groove and a longitudinal sliding groove.
The following is the operation process of the pipeline snatch car for coal mine that this application provided simply explains:
the working arm 4 is used as an actuating mechanism of the pipeline grabbing and lifting vehicle for the coal mine and is installed on the front vehicle assembly 3, and during operation, the position of the whole vehicle needs to be adjusted firstly, so that the working arm 4 can grab and place the pipeline. The spatial position and attitude of the gripper head 48 are then adjusted based on the particular starting position of the pipeline so that the gripper head 48 can smoothly grip and lift the pipeline to a desired location. In the process, it may be necessary to adjust the longitudinal and transverse positions of the sliding seat 41 on the front vehicle assembly 3, and adjust the rotation angle of the large rotation drive 42 to align the opening of the grabbing and lifting head 48 with the middle position of the pipeline, and at the same time, by adjusting the lifting cylinder 441, the telescopic cylinder, the adjusting cylinder 451 and the small rotation drive 47, the specific position of the grabbing and lifting head 48 can be adjusted, thereby ensuring that the pipeline is reliably grabbed. In the specific implementation process, the opening degree of the holding claw 482 of the grabbing and lifting head 48 can be adjusted by adjusting the clamping oil cylinder 481 of the grabbing and lifting head 48, so that the pipeline is held and clamped, and then the pipeline is placed at a specified position.
The pipeline grabbing and lifting vehicle for the coal mine provides a special device for mine pipeline installation operation, the device can be used for reducing the degree of dependence on manpower in the mine pipeline installation operation, and the problems that in the prior art, the mine pipeline installation operation is lifted by manpower, or a chain block is used for lifting a pipeline, so that time and labor are wasted, and huge potential safety hazards exist; the equipment improves the operation efficiency of the installation of the underground pipeline of the coal mine, ensures the life safety of operators, and avoids the occurrence of accidental injuries and accidents caused by more manual operations; this equipment has realized the location adjustment to the work arm through hydraulic cylinder's use, has realized mechanized operation, and the work arm realizes the accurate regulation to the work arm angle under the effect of flexible hydro-cylinder, lift cylinder and adjusting cylinder, and realizes the direction regulation of work arm through big swing drive, and is further, and the work arm still realizes the rotation adjustment to grabbing the lifting head through little swing drive. Therefore, the pipeline snatching car for coal mine that this application provided realizes all-round angle modulation through each hydraulic cylinder and slewing drive's effect, can adapt to the construction operation of each angle, has reduced the artifical participation degree of colliery pipeline installation under the coal mine, has guaranteed operating personnel life safety.
In conclusion, the pipeline grabbing and lifting vehicle for the coal mine, provided by the utility model, has the advantages of reasonable and compact structural design, high stability, diversified functions, convenience for quick and effective operation in a roadway, and capability of effectively improving the safety coefficient and the operation efficiency of pipeline installation.
All the technical features of the above embodiments can be arbitrarily combined (as long as there is no contradiction between the combinations of the technical features), and for brevity of description, all the possible combinations of the technical features in the above embodiments are not described; these examples, which are not explicitly described, should be considered to be within the scope of the present description.
The present application has been described in considerable detail with reference to certain embodiments and examples thereof. It should be understood that several conventional adaptations or further innovations of these specific embodiments may also be made based on the technical idea of the present application; however, such conventional modifications and further innovations may also fall within the scope of the claims of the present application as long as they do not depart from the technical idea of the present application.
Claims (6)
1. A pipeline grabbing and lifting vehicle for a coal mine is characterized by comprising a front vehicle assembly (3), a rear vehicle assembly (1), a working arm (4) and a sliding seat (41);
the front vehicle assembly (3) is connected with the rear vehicle assembly (1) through a hinge shaft (2), the upper part of the front vehicle assembly (3) is connected with a working arm (4) through a sliding seat (41), and the working arm (4) comprises a large rotary drive (42), a supporting seat (43), a primary arm, a secondary arm and a grabbing and lifting head (48); one end of the large rotary drive (42) is connected with the sliding seat (41), the other end of the large rotary drive is connected with the supporting seat (43), and the supporting seat (43) forms an installation seat of the primary arm;
the primary arm comprises a telescopic arm cylinder (44), a telescopic arm (45) and a telescopic oil cylinder, the telescopic oil cylinder comprises a body and a movable end, the body of the telescopic oil cylinder is arranged in the telescopic arm cylinder (44), the movable end of the telescopic oil cylinder is connected with the telescopic arm (45), and the telescopic arm (45) is driven by the telescopic oil cylinder to reciprocate along the central axis of the telescopic arm cylinder (44);
the primary arm further comprises a lifting oil cylinder (441), the body of the lifting oil cylinder (441) is connected with the supporting seat (43), the movable end of the lifting oil cylinder (441) is connected with one end, away from the supporting seat (43), of the telescopic arm cylinder (44), and the telescopic arm cylinder (44) is driven by the lifting oil cylinder (441) to reciprocate in the vertical direction;
the secondary arm comprises a swing arm (46), an adjusting oil cylinder (451) and a small rotary drive (47), one end of the swing arm (46) is connected with the telescopic arm, the other end of the swing arm is connected with the grabbing and lifting head (48), the body of the adjusting oil cylinder (451) is connected with the telescopic arm, the movable end of the adjusting oil cylinder (451) is connected with the side wall, close to the grabbing and lifting head (48), of the swing arm (46), and the swing arm (46) is driven by the adjusting oil cylinder (451) to swing in a reciprocating mode by taking the joint of the swing arm and the telescopic arm as a rotation center; the swing arm (46) is connected with the grabbing and lifting head (48) through a small rotary drive (47).
2. The coal mine pipeline gripping and lifting vehicle as claimed in claim 1, wherein the gripping and lifting head (48) comprises two oppositely arranged clasps (482) and a clamping cylinder (481), the two clasps (482) are driven by the clamping cylinder (481) to approach each other to grip a pipeline, or driven by the clamping cylinder (481) to move away from each other to release the pipeline;
the secondary arm realizes the rotation of the grabbing and lifting head (48) through the small rotary drive (47), so that the grabbing and lifting head (48) rotates by taking the central axis of the small rotary drive (47) as a rotating shaft.
3. The pipeline grabbing vehicle for the coal mine according to claim 1, wherein the upper part of the front vehicle assembly (3) is provided with a sliding groove matched with the sliding seat (41), the sliding seat (41) slides in the sliding groove in a reciprocating manner, and the sliding groove comprises a transverse sliding groove and a longitudinal sliding groove.
4. The pipeline grabbing vehicle for the coal mine according to claim 1, wherein the working arm (4) is driven by the large rotary drive (42) to rotate along the central axis of the large rotary drive (42);
the supporting seat (43), the telescopic arm cylinder (44) and the lifting oil cylinder (441) are arranged in a triangular shape;
the telescopic arm, the swing arm (46) and the adjusting oil cylinder (451) are arranged in a triangular shape.
5. The pipeline grabbing and lifting vehicle for the coal mine according to claim 1, further comprising a supporting leg mechanism (5) with adjustable state, wherein the supporting leg mechanism (5) is installed at the front end of the front vehicle assembly (3) to play a role in stabilizing a machine body and prevent the pipeline grabbing and lifting operation from shaking and swaying front and back and left and right;
the coal mine pipeline grabbing and lifting vehicle is characterized by further comprising rubber wheels, wherein the two rubber wheels are installed below the front vehicle assembly (3), the two rubber wheels are installed below the rear vehicle assembly (1), and the rubber wheels form a travelling mechanism of the coal mine pipeline grabbing and lifting vehicle.
6. The coal mine pipeline grab lift car of claim 1,
the rear vehicle assembly (1) comprises a transmission control system and a power mechanism for providing power for the transmission control system;
the power mechanism comprises an explosion-proof diesel engine, the transmission control system comprises a hydraulic transmission mechanism, and the telescopic oil cylinder, the lifting oil cylinder (441) and the adjusting oil cylinder (451) on the working arm (4) are driven by the hydraulic transmission mechanism respectively to act.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220824385.3U CN216945952U (en) | 2022-04-11 | 2022-04-11 | Pipeline snatch car for coal mine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220824385.3U CN216945952U (en) | 2022-04-11 | 2022-04-11 | Pipeline snatch car for coal mine |
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| Publication Number | Publication Date |
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| CN216945952U true CN216945952U (en) | 2022-07-12 |
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| CN202220824385.3U Active CN216945952U (en) | 2022-04-11 | 2022-04-11 | Pipeline snatch car for coal mine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118270660A (en) * | 2024-04-23 | 2024-07-02 | 河北景隆智能装备股份有限公司 | Multi-degree-of-freedom grabbing and lifting device and pipeline grabbing and lifting vehicle |
-
2022
- 2022-04-11 CN CN202220824385.3U patent/CN216945952U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118270660A (en) * | 2024-04-23 | 2024-07-02 | 河北景隆智能装备股份有限公司 | Multi-degree-of-freedom grabbing and lifting device and pipeline grabbing and lifting vehicle |
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