CN105905594A - Clamping head for full-automatic hydroelectric engineering drain pipe - Google Patents
Clamping head for full-automatic hydroelectric engineering drain pipe Download PDFInfo
- Publication number
- CN105905594A CN105905594A CN201610348748.XA CN201610348748A CN105905594A CN 105905594 A CN105905594 A CN 105905594A CN 201610348748 A CN201610348748 A CN 201610348748A CN 105905594 A CN105905594 A CN 105905594A
- Authority
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- China
- Prior art keywords
- gripper jaw
- fixed
- clamping device
- slide block
- connecting rod
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0276—Tubes and pipes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention relates to a clamping head for a full-automatic hydroelectric engineering drain pipe. The clamping head comprises a delta parallel mechanism and a clamping device, wherein the delta parallel mechanism is positioned just above the clamping device, and the lower end of the delta parallel mechanism is connected with the clamping device. According to the clamping head, a series of operations of grabbing, handling and stacking water and hydroelectric pipelines can be realized, the clamping head has the advantages of high degree of automation, stability and flexibility in movement and high operating efficiency, and the problems of high operating cost, low efficiency, large danger and the like of manual handling are solved; the delta parallel mechanism of the clamping head can move in space in six degrees-of-freedom directions including three translations and three rotations, the movement space is small, the movement speed is high, and the movement flexibility is good; according to the clamping head, the whole clamping device is driven to flexibly and slightly move in space by the delta parallel mechanism, and the delta parallel mechanism is mainly used for adjusting the local small size when the clamping head is used for handling and stacking the water and hydroelectric pipelines.
Description
Technical field
The present invention relates to Hydraulic and Hydro-Power Engineering mechanical field, a kind of full-automatic hydro-electric power project drain pipe gripping head.
Background technology
Water power belongs to water economic system noun, is meant that water and electricity, hydroelectric generation etc.；Water power is clean energy resource, renewable, nothing
Pollute, operating cost low, it is simple to carry out power peak regulation, be conducive to improving resource utilization and the comprehensive benefit of economic society.?
In the case of earth traditional energy growing tension, countries in the world universal preferential development water power, utilize hydraulic power potentials energetically；China is not
Opinion is explored potential hydroenergy, or the hydraulic power potentials that may develop, and all ranks first in the world.Hydroelectric resources is for I
The superior resources of state, hydroelectric resource development is the requirement of energy industry development and structural adjustment, is that land resources utilization is shaken with regional economy
Emerging requirement, is the requirement of national environmental protection and sustainable development.Through construction and the practice of decades, China's hydropower technology
The most at the forefront in the world, it is sufficient to support the flourish of hydropower Industry.The reform of State Grid's system is polynary with water power investment subject
Change, new vitality will be injected to the development of hydropower Industry.Along with economical and the further development of society, day by day carrying of environmental requirement
Implementing in full of height, optimizing and revising of electric structure, and strategy to develop western regions, China's hydropower Industry welcomes development opportunity and increases
Add.
Hydraulic and Hydro-Power Engineering relates to most be also modal engineering be exactly pipe laying, and in Hydraulic and Hydro-Power Engineering
The pipeline used is all heavy large-diameter pipeline, and in Hydraulic and Hydro-Power Engineering, construction site is all rugged hollow area, general wheeled vehicle
It is difficult to enter, and manually lifts fortune or rolling fortune now for the many employings of the pipeline used in water conservancy and hydropower, do not only take up
Substantial amounts of labour force, landed cost is high, and it is low to carry stacking efficiency, and its interprocedual easily causes certain dangerous peace simultaneously
Full accident.In consideration of it, the invention provides a kind of full-automatic hydro-electric power project drain pipe gripping head.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of full-automatic hydro-electric power project drain pipe gripping head.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of full-automatic hydro-electric power project drain pipe gripping head, including delta parallel institution and clamping device；Described delta
Parallel institution is positioned at directly over clamping device, and delta parallel institution lower end is connected with clamping device.
As a further improvement on the present invention, described delta parallel institution includes fixed platform, moving platform, motor cabinet, parallel connection
Motor, the first rotating shaft, first connecting rod, rotational pin, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described
Fixed platform and moving platform the most rounded shape structure, moving platform is positioned at immediately below fixed platform, and the quantity of motor cabinet and rotating basis is
Three, motor cabinet is fixed on fixed platform bottom face in equilateral triangle shape centered by the center of circle of fixed platform, and rotating basis is with moving platform
The center of circle centered by be arranged on moving platform top end face in equilateral triangle shape, and motor cabinet installation site and rotating basis installation site
One_to_one corresponding respectively, parallel-connected induction motors is fixed installation by motor cabinet, and parallel-connected induction motors uses adjustable speed twin shaft output motor,
First rotating shaft one end is connected with parallel-connected induction motors main shaft, and the first rotating shaft other end is connected with first connecting rod upper end, under first connecting rod
Using rotational pin to be attached between end and second connecting rod upper end, second connecting rod lower end is connected with second rotating shaft one end, second turn
The axle other end is arranged on rotating basis, and rotating basis lower end is provided with swivel bearing, and swivel bearing and moving platform upper surface phase
Fixing, rotating basis upper end is provided with the double end sleeve matched with the second rotating shaft, in first connecting rod middle inside and second connecting rod
Middle side part is provided with the first mounting seat and the second mounting seat respectively, limit spring between the first mounting seat and the second mounting seat,
And limit spring upper end is connected with the first mounting seat, limit spring lower end is connected with the second mounting seat；During specific works, logical
That crosses parallel-connected induction motors rotates the rotation driving the first rotating shaft, and first connecting rod and the first rotating shaft are coaxially connected, thus by first
The rotation rotating drive second connecting rod of connecting rod, and then drive the motion of moving platform, and reduce delta also by limit spring
Jitter during connection mechanism kinematic, adds the stationarity of delta parallel institution motion, delta parallel institution and serial mechanism phase
Specific stiffness is big, and flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and delta parallel institution can enter in space in motion
Row three translates the motion in three rotations six-freedom degree direction altogether, and space is little, movement velocity is fast, kinematic dexterity is good,
In the present invention, drive the whole clamping device flexible small movements in space, delta parallel machine by delta parallel institution
Structure be mainly used in the present invention carry out water conservancy and hydropower pipeline carrying stack operation time the minute sized adjustment in local.
As a further improvement on the present invention, described clamping device includes fixed plate and clamping device, and clamping device quantity is
Three；Described clamping device is positioned at immediately below fixed plate, and clamping device is the most equidistant along the central transverse axis of fixed plate
Arrange；Described clamping device includes directive slide track, the first slide block, upper gripper jaw, lower gripper jaw, stretching spring, connects spiral shell
Post, the second slide block, hydraulic cylinder, mobile ear mount, mobile ship and resell on another market, air-leg, fixed ear base and fixing swing pin；Described leads
Being strip structure to slide rail, and the directive slide track left and right sides is respectively arranged with baffle plate, directive slide track vertical cross section is I shape knot
Structure, the first slide block is arranged on directive slide track, and the first slide block is respectively symmetrically layout, upper clamping along the central axis of directive slide track
Pawl upper end is fixed on immediately below the first slide block, and upper gripper jaw is quadrant shape column structure, and lower gripper jaw is positioned at clamping
Immediately below pawl, lower gripper jaw is also quadrant shape column structure, stretching spring between upper gripper jaw and lower gripper jaw,
And stretching spring is arranged side by side between upper gripper jaw and lower gripper jaw, stretching spring upper end is by under connecting stud and upper gripper jaw
End face is connected, and stretching lower spring end is connected with lower gripper jaw upper surface by connecting stud, and the second slide block is positioned at the first slide block
Outside, and the second slide block is arranged on directive slide track, hydraulic cylinder upper end is fixed on the second slide block, and hydraulic cylinder uses single-acting
Single-stage telescoping hydraulic cylinder, hydraulic cylinder lower end is fixed with mobile ear mount, uses mobile turning between air-leg one end and mobile ear mount
Pin is attached, and the air-leg other end is connected with fixed ear base by fixing swing pin, and fixed ear base is fixed on outside lower gripper jaw
On sidewall, and move ear mount and the most U-shaped structure of fixed ear base；During specific works, first pass through directive slide track, the first slide block
Clamping diameter during gripping apparatus grips is adjusted with the second slide block；Then upper gripper jaw and lower gripper jaw are placed into water to be handled
The outside of diuretic electric pipe, wherein on the one hand stretching spring serves clamping diameter dimension tune when the present invention clamps water conservancy and hydropower pipeline
The effect of whole change, the effect resetted after on the other hand serving clamping water conservancy and hydropower pipeline；Transported by the stretching, extension of air-leg again
The lower gripper jaw compressional movement to inner side of dynamic drive, further clamps water conservancy and hydropower pipeline, prevents water conservancy and hydropower pipeline from removing
Slippage during fortune；Finally after water conservancy and hydropower pipeline is transported to destination, drive lower folder by the contractile motion of air-leg
Hold pawl extension movement laterally so that lower gripper jaw opens, water conservancy and hydropower pipeline is discharged.
Compared with prior art, the invention have the advantages that
(1) present invention can realize the crawl to water conservancy and hydropower pipeline, carry and a series of operations such as stacking, and automaticity is high,
Stable movement is flexible, working performance is high, the problem such as solve that a dead lift operating cost is high, efficiency is low and danger is big.
(2) the delta parallel institution of the present invention can carry out the motion in three translations three rotation six-freedom degree directions altogether in space,
And space is little, movement velocity is fast, kinematic dexterity is good, in the present invention, whole folder is driven by delta parallel institution
Holding the device flexible small movements in space, delta parallel institution is mainly used in the present invention and carries out water conservancy and hydropower pipeline carrying heap
The minute sized adjustment in local when putting operation.
(3) clamping device level interval and the vertical interval of the present invention are the most adjustable, it is simple to the water conservancy and hydropower pipe to different-diameter size
Road captures, and captures and stack fast and easy, and in handling process, clamping is stable firmly, is difficult to slip, and safety is good.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the front view of delta parallel institution of the present invention；
Fig. 3 is the perspective view of clamping device of the present invention；
Fig. 4 is the perspective view of clamping device of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 4, a kind of full-automatic hydro-electric power project drain pipe gripping head, including delta parallel institution 4 He
Clamping device 5；Described delta parallel institution 4 is positioned at directly over clamping device 5, and delta parallel institution 4 lower end with
Clamping device 5 is connected.
As depicted in figs. 1 and 2, described delta parallel institution 4 include fixed platform 41, moving platform 42, motor cabinet 43,
Parallel-connected induction motors the 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod the 48, second rotating shaft 49, rotating basis
410 and limit spring 411；Described fixed platform 41 and moving platform 42 the most rounded shape structure, moving platform 42 is positioned at fixed platform
Immediately below 41, the quantity of motor cabinet 43 and rotating basis 410 is three, and motor cabinet 43 is centered by the center of circle of fixed platform 41
Be fixed in equilateral triangle shape on fixed platform 41 bottom face, rotating basis 410 centered by the center of circle of moving platform 42 in positive triangle
Arrangements is on moving platform 42 top end face, and one a pair respectively of motor cabinet 43 installation site and rotating basis 410 installation site
Should, parallel-connected induction motors 44 is fixed installation by motor cabinet 43, and parallel-connected induction motors 44 uses adjustable speed twin shaft output motor, the
One rotating shaft 45 one end is connected with parallel-connected induction motors 44 main shaft, and first rotating shaft 45 other end is connected with first connecting rod 46 upper end,
Rotational pin 47 is used to be attached between first connecting rod 46 lower end and second connecting rod 48 upper end, second connecting rod 48 lower end and second
Rotating shaft 49 one end is connected, and second rotating shaft 49 other end is arranged on rotating basis 410, and rotating basis 410 lower end is provided with
Swivel bearing, and swivel bearing fixes with moving platform 42 upper surface, rotating basis 410 upper end is provided with and the second rotating shaft 49
The double end sleeve matched, first connecting rod 46 middle inside and second connecting rod 48 middle inside are provided with the first mounting seat respectively
With the second mounting seat, limit spring 411 is between the first mounting seat and the second mounting seat, and limit spring 411 upper end and the
One mounting seat is connected, and limit spring lower end is connected with the second mounting seat；During specific works, the rotation of motor 44 in parallel
Drive the rotation of the first rotating shaft 45, and first connecting rod 46 is coaxially connected with the first rotating shaft 45, thus by first connecting rod 46
Rotate the rotation driving second connecting rod 48, and then drive the motion of moving platform 42, and reduce delta by limit spring 411
Jitter when parallel institution 4 moves, adds the stationarity of delta parallel institution 4 motion, delta parallel institution 4 and string
Online structure phase specific stiffness is big, and flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and delta parallel institution 4 exists in motion
Three translations three can be carried out in space and rotate the motion in six-freedom degree direction altogether, and space is little, movement velocity fast, motion spirit
Activity is good, in the present invention, drives the whole clamping device 5 flexible small movements in space by delta parallel institution 4,
Delta parallel institution 4 be mainly used in the present invention carry out water conservancy and hydropower pipeline carrying stack operation time the minute sized adjustment in local.
As shown in Figure 3 and Figure 4, described clamping device 5 includes fixed plate 51 and clamping device 52, and clamping device 52 number
Amount is three；Described clamping device 52 is positioned at immediately below fixed plate 51, and clamping device 52 is along the transverse center of fixed plate 51
Axis is linearly equally spaced；Described clamping device 52 include directive slide track the 521, first slide block 522, upper gripper jaw 523,
Lower gripper jaw 524, stretching spring 525, connecting stud the 526, second slide block 527, hydraulic cylinder 528, mobile ear mount 529, shifting
Dynamic ship and resell on another market 5210, air-leg 5211, fixed ear base 5212 and fixing swing pin 5213；Described directive slide track 521 is in bar shaped
Shape structure, and directive slide track 521 left and right sides is respectively arranged with baffle plate, directive slide track 521 vertical cross section is I-shaped structure,
First slide block 522 is arranged on directive slide track 521, and the first slide block 522 is respectively symmetrically along the central axis of directive slide track 521
Arranging, upper gripper jaw 523 upper end is fixed on immediately below the first slide block 522, and upper gripper jaw 523 is in quadrant shape cylinder
Structure, lower gripper jaw 524 is positioned at immediately below gripper jaw 523, and lower gripper jaw 524 is also quadrant shape column structure,
Stretching spring 525 between upper gripper jaw 523 and lower gripper jaw 524, and stretching spring 525 upper gripper jaw 523 and under
Being arranged side by side between gripper jaw 524, stretching spring 525 upper end is connected with upper gripper jaw 523 lower surface by connecting stud 526
Connecing, stretching spring 525 lower end is connected with lower gripper jaw 524 upper surface by connecting stud 526, and the second slide block 527 is positioned at
Outside first slide block 522, and the second slide block 527 is arranged on directive slide track 521, and it is sliding that hydraulic cylinder 528 upper end is fixed on second
On block 527, and hydraulic cylinder 528 uses single-acting single-stage telescoping hydraulic cylinder, hydraulic cylinder 528 lower end to be fixed with mobile ear mount 529,
Mobile shipping and reselling on another market is used 5210 to be attached between air-leg 5211 one end and mobile ear mount 529, air-leg 5211 other end
Being connected with fixed ear base 5212 by fixing swing pin 5213, fixed ear base 5212 is fixed on lower gripper jaw 5247 lateral wall,
And move ear mount 529 and the most U-shaped structure of fixed ear base 5212；During specific works, first pass through directive slide track 521, first
Slide block 522 and the second slide block 527 adjust clamping diameter during gripping apparatus grips；Then by upper gripper jaw 523 and lower gripper jaw
524 outsides being placed into water conservancy and hydropower pipeline to be handled, wherein stretching spring 525 1 aspect serves the present invention and clamps water conservancy
Clamp diameter dimension during water power pipeline and adjust the effect of change, the effect resetted after on the other hand serving clamping water conservancy and hydropower pipeline；
The lower gripper jaw 524 compressional movement to inner side is driven again, further by water conservancy and hydropower by the stretching of air-leg 5211
Pipeline clamps, and prevents the slippage in handling process of the water conservancy and hydropower pipeline；Finally after water conservancy and hydropower pipeline is transported to destination,
Lower clamping 524 pawls extension movement laterally is driven so that lower gripper jaw 524 opens by the contractile motion of air-leg 5211,
Water conservancy and hydropower pipeline is discharged.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (1)
1. a full-automatic hydro-electric power project drain pipe gripping head, it is characterised in that: include delta parallel institution and clamping dress
Put；Described delta parallel institution is positioned at directly over clamping device, and delta parallel institution lower end is connected with clamping device；
Wherein:
Described delta parallel institution include fixed platform, moving platform, motor cabinet, parallel-connected induction motors, the first rotating shaft, first connecting rod,
Rotational pin, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described fixed platform and moving platform the most rounded shape knot
Structure, moving platform is positioned at immediately below fixed platform, and the quantity of motor cabinet and rotating basis is three, and motor cabinet with the center of circle of fixed platform is
Center is that equilateral triangle shape is fixed on fixed platform bottom face, rotating basis centered by the center of circle of moving platform in equilateral triangle shape cloth
Put on moving platform top end face, and motor cabinet installation site and rotating basis installation site one_to_one corresponding respectively, parallel-connected induction motors passes through
Motor cabinet is fixed installation, and parallel-connected induction motors uses adjustable speed twin shaft output motor, first rotating shaft one end and parallel-connected induction motors main shaft
Being connected, the first rotating shaft other end is connected with first connecting rod upper end, uses and turn between first connecting rod lower end and second connecting rod upper end
Untie-sell is attached, and second connecting rod lower end is connected with second rotating shaft one end, and the second rotating shaft other end is arranged on rotating basis,
Rotating basis lower end is provided with swivel bearing, and swivel bearing fixes with moving platform upper surface, rotating basis upper end be provided with
The double end sleeve that second rotating shaft matches, first connecting rod middle inside and second connecting rod middle inside are provided with the first installation respectively
Seat and the second mounting seat, limit spring is between the first mounting seat and the second mounting seat, and limit spring upper end is installed with first
Seat is connected, and limit spring lower end is connected with the second mounting seat；
Described clamping device includes fixed plate and clamping device, and clamping device quantity is three；Described clamping device is positioned at solid
Determine immediately below plate, and clamping device is linearly equally spaced along the central transverse axis of fixed plate；Described clamping device includes
Directive slide track, the first slide block, upper gripper jaw, lower gripper jaw, stretching spring, connecting stud, the second slide block, hydraulic cylinder, shifting
Dynamic ear mount, mobile ship and resell on another market, air-leg, fixed ear base and fixing swing pin；Described directive slide track is strip structure, and leads
Be respectively arranged with baffle plate to the slide rail left and right sides, directive slide track vertical cross section is I-shaped structure, and it is sliding that the first slide block is arranged on guiding
On rail, and the first slide block is respectively symmetrically layout along the central axis of directive slide track, upper gripper jaw upper end be fixed on the first slide block just under
Just, and upper gripper jaw is quadrant shape column structure, and lower gripper jaw is positioned at immediately below gripper jaw, and lower gripper jaw is also four
/ mono-circular cylinder structure, stretching spring between upper gripper jaw and lower gripper jaw, and stretching spring upper gripper jaw and under
Being arranged side by side between gripper jaw, stretching spring upper end is connected with upper gripper jaw lower surface by connecting stud, stretches lower spring end
Being connected with lower gripper jaw upper surface by connecting stud, the second slide block is positioned at outside the first slide block, and the second slide block is arranged on and leads
On slide rail, hydraulic cylinder upper end is fixed on the second slide block, and hydraulic cylinder uses single-acting single-stage telescoping hydraulic cylinder, hydraulic cylinder
Lower end is fixed with mobile ear mount, uses mobile shipping and reselling on another market to be attached between air-leg one end and mobile ear mount, air-leg another
End is connected with fixed ear base by fixing swing pin, and fixed ear base is fixed on lower gripper jaw lateral wall, and mobile ear mount is with fixing
The most U-shaped structure of ear mount.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610348748.XA CN105905594A (en) | 2016-05-24 | 2016-05-24 | Clamping head for full-automatic hydroelectric engineering drain pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610348748.XA CN105905594A (en) | 2016-05-24 | 2016-05-24 | Clamping head for full-automatic hydroelectric engineering drain pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105905594A true CN105905594A (en) | 2016-08-31 |
Family
ID=56742464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610348748.XA Pending CN105905594A (en) | 2016-05-24 | 2016-05-24 | Clamping head for full-automatic hydroelectric engineering drain pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105905594A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161679A (en) * | 2017-05-12 | 2017-09-15 | 陈汉元 | A kind of high efficiency collator for Different Rule beverage container resource reclaim |
| CN108045929A (en) * | 2017-11-27 | 2018-05-18 | 马鞍山云林百成机械制造有限公司 | A kind of liner blank transports positioner |
| CN108655778A (en) * | 2018-05-21 | 2018-10-16 | 芜湖牧羿自动化科技有限公司 | A kind of clamping tool of processing pipe tube kind part |
| CN109719753A (en) * | 2017-10-27 | 2019-05-07 | 江苏维福特科技发展股份有限公司 | Movable hanging handgrip |
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| CA2641321A1 (en) * | 2007-10-23 | 2009-04-23 | Tim Martin | Pipe grapple apparatus and method |
| CN101600642A (en) * | 2006-11-23 | 2009-12-09 | 派内曼设备有限责任公司 | Article holder |
| CN102689309A (en) * | 2012-05-29 | 2012-09-26 | 江南大学 | Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton |
| CN102730549A (en) * | 2012-06-20 | 2012-10-17 | 中国石油大学(北京) | Pipeline clamping tool and pipeline lifting method |
| CN103787077A (en) * | 2014-02-27 | 2014-05-14 | 张家港市华机环保新能源科技有限公司 | LNG cylinder clamping device |
| CN203779488U (en) * | 2014-03-30 | 2014-08-20 | 上海理工大学 | Delta parallel robot |
| CN104175325A (en) * | 2013-05-23 | 2014-12-03 | 江南大学 | Self-locking boosting type flexible and smooth tail end gripper for serial connection loose hinge |
| CN105114697A (en) * | 2015-07-31 | 2015-12-02 | 国网山东五莲县供电公司 | Electric power tube laying working vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2557059A1 (en) * | 1975-12-18 | 1977-06-23 | Kilian Kaup Kg Ges Fuer Maschi | Round load handling equipment - has linked components forming pressure member with force exerted between end ones |
| WO1999066244A3 (en) * | 1998-06-19 | 2000-03-23 | Ryan Inc Eastern | Apparatus and methods for placing and engaging elongate workpieces |
| CN101600642A (en) * | 2006-11-23 | 2009-12-09 | 派内曼设备有限责任公司 | Article holder |
| CA2641321A1 (en) * | 2007-10-23 | 2009-04-23 | Tim Martin | Pipe grapple apparatus and method |
| CN102689309A (en) * | 2012-05-29 | 2012-09-26 | 江南大学 | Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton |
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| CN104175325A (en) * | 2013-05-23 | 2014-12-03 | 江南大学 | Self-locking boosting type flexible and smooth tail end gripper for serial connection loose hinge |
| CN103787077A (en) * | 2014-02-27 | 2014-05-14 | 张家港市华机环保新能源科技有限公司 | LNG cylinder clamping device |
| CN203779488U (en) * | 2014-03-30 | 2014-08-20 | 上海理工大学 | Delta parallel robot |
| CN105114697A (en) * | 2015-07-31 | 2015-12-02 | 国网山东五莲县供电公司 | Electric power tube laying working vehicle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161679A (en) * | 2017-05-12 | 2017-09-15 | 陈汉元 | A kind of high efficiency collator for Different Rule beverage container resource reclaim |
| CN109719753A (en) * | 2017-10-27 | 2019-05-07 | 江苏维福特科技发展股份有限公司 | Movable hanging handgrip |
| CN108045929A (en) * | 2017-11-27 | 2018-05-18 | 马鞍山云林百成机械制造有限公司 | A kind of liner blank transports positioner |
| CN108655778A (en) * | 2018-05-21 | 2018-10-16 | 芜湖牧羿自动化科技有限公司 | A kind of clamping tool of processing pipe tube kind part |
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Application publication date: 20160831 |