CN109322682A - A kind of arch trolley manipulator - Google Patents
A kind of arch trolley manipulator Download PDFInfo
- Publication number
- CN109322682A CN109322682A CN201811398744.8A CN201811398744A CN109322682A CN 109322682 A CN109322682 A CN 109322682A CN 201811398744 A CN201811398744 A CN 201811398744A CN 109322682 A CN109322682 A CN 109322682A
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- arm
- forearm
- oil cylinder
- connecting rod
- arch
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- 210000000245 forearm Anatomy 0.000 claims abstract description 54
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 29
- 239000010959 steel Substances 0.000 claims abstract description 29
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 20
- 238000004804 winding Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 101100437784 Drosophila melanogaster bocks gene Proteins 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a kind of arch trolley manipulators, it includes the reverse fold mechanism (1) that one end is installed on trolley chassis, the other end of reverse fold mechanism is sequentially connected telescoping mechanism (3), automatic leveling forearm (4), multifunctional platform (5), and pitching oil cylinder (2) are arranged between reverse fold mechanism and telescoping mechanism.Reverse fold mechanism includes the first slewing equipment (11) that lowermost end is arranged in, undersetting (12) are set on first slewing equipment, the two sides of undersetting are respectively articulated with one end of first connecting rod (13) and second connecting rod (15), the other end of first connecting rod and second connecting rod is hinged on upper bracket (14), undersetting, first connecting rod, upper bracket, second connecting rod is set to constitute four-bar mechanism, the first oil cylinder (16) that setting Neng Shi reverse fold mechanism is swung on the adjacent rod piece of four-bar mechanism.The present invention is achievable to pick up steel arch flexibility of being scattered, is quickly in place, and has high altitude operation function and truck crane function.
Description
Technical field
The present invention relates to arch trolley, especially a kind of arch trolley manipulator.
Background technique
In water power tunnel, subway engineering, railway tunnel, vcehicular tunnel, underground power house, military ground engineering construction if
Country rock shakiness rule needs to set up arch (grille arch) in advance, performs anchor pole, hangs steel mesh, prevents Tunnel Landslide.
Since tunnel cross sectional is larger, arch span is big, thus existing construction technology of constructing for convenience is to encircle a Pin
Frame is divided into more piece arch section, and more piece arch section is carried into after tunnel installation site, then by rack, is spelled in tunnel by manpower
Complete supporting arch is dressed up to be installed again.Entire work progress is cumbersome, large labor intensity, low efficiency.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the shortage of prior art, provide a kind of can be achieved to steel arch of being scattered
Flexibility picks up, is quickly in place, and has the arch trolley manipulator of high altitude operation function and truck crane function.
In order to solve the above technical problems, the invention adopts the following technical scheme: a kind of arch trolley manipulator comprising
One end is installed in the reverse fold mechanism on trolley chassis, the other end of the reverse fold mechanism be sequentially connected telescoping mechanism,
Automatic leveling forearm, multifunctional platform, and pitching oil cylinder is set between the reverse fold mechanism and the telescoping mechanism.
The reverse fold mechanism includes the first slewing equipment that lowermost end is arranged in and manipulator can be made to turn round, and described the
Undersetting is set on single-revolution device, and the two sides of undersetting are respectively articulated with one end of first connecting rod and second connecting rod, first connecting rod
It is hinged on upper bracket with the other end of second connecting rod, undersetting, first connecting rod, upper bracket, second connecting rod is made to constitute double leval jib
Mechanism, the first oil cylinder that setting Neng Shi reverse fold mechanism is swung on the adjacent rod piece of four-bar mechanism.
The telescoping mechanism includes the first arm being successively mutually socketed, the second arm ... N arm, and N is natural number, and N≤
3；First arm and the second arm are hingedly connected to the head and the tail both ends of the second oil cylinder；Described second fixes respectively to the both ends of N arm
Pulley is installed, winding connector is distinguished on each pulley, and the connector being located on same two head sheave of arm is with respect to winding；It is wound around
Connector both ends on K arm pulley are fixedly connected with K-1 arm, K+1 arm respectively, and K is natural number, and 2 ﹤ K ﹤ N.
The automatic leveling forearm includes the forearm connecting with the telescoping mechanism and is set to forearm and the telescopic machine
Third oil cylinder between structure, and the angular transducer for monitoring forearm pitch angle is installed on forearm, control system receives
The signal of angular transducer simultaneously feeds back to hydraulic system to adjust third oil cylinder, and forearm is made to keep horizontality.According to time feelings
Condition can also close automatic regulation function, by manually controlling forearm posture.
The multifunctional platform includes the platform that surrounding is provided with fence, and the bottom setting of the platform can be such that platform turns round
Second slewing equipment is installed with manipulator on the platform；The pedestal of the manipulator is arranged on the platform, the pedestal
The upper hinged swing forearm positioned at platform exterior, and be equipped between the pedestal and swing forearm for driving swing forearm opposite
4th oil cylinder of pedestal pitching；The swing auxiliary for being located at and swinging above forearm is also hinged on the pedestal, and the swing is small
Arm and swing auxiliary between be equipped with for drive swing auxiliary it is opposite swing forearm pitching the 5th oil cylinder；It is installed on the pedestal
There is hoist engine, the wirerope of winding is around connection after the pulley on the swing auxiliary for sandwiched steel arch on the hoist engine
Fixture.
Boom hoisting is provided on the telescoping mechanism.
The connector is chain or wirerope.
The clamp hand for clamping steel arch is installed on first arm, installing is for driving clamp hand promptly to put on the clamp hand
The 6th oil cylinder of pine.
The Clamping Center line of the clamp hand is located in the pitch plane for swinging auxiliary, moves swinging pair armband in steel arch
When facing upward, steel arch is fairly fallen in the clamp hand.
The swing forearm and swing auxiliary are articulated with jointly on the same articulated shaft of the pedestal.
Compared with the prior art, the advantages of the present invention are as follows:
1, the present invention can discharge wirerope, be picked up with realizing to the flexibility for steel arch of being scattered in telescoping mechanism and swing forearm nutation
It takes, and after picking up steel arch, swings auxiliary and face upward, recycle wirerope, and by controlling reverse fold mechanism, pitching oil cylinder, stretching
The corresponding freedom degree of contracting mechanism, automatic leveling forearm, multifunctional platform, realizes the lifting of steel arch, until steel arch is pushed to finger
Positioning is set.
2, the present invention is applied into arch installation, since steel arch flexibility of being scattered is picked up and is lifted, and arch is in clamping
It is fixed in the process by clamp hand, thus construction personnel's safety and construction efficiency can be greatly improved.
3, the end of manipulator is arranged in multifunctional platform of the present invention, by control reverse fold mechanism, pitching oil cylinder, stretches
Contracting mechanism, the corresponding freedom degree of automatic leveling forearm are, it can be achieved that high altitude operation, and multifunctional platform is equipped with hoist engine, swings
Forearm and swing auxiliary, also have biggish working space, thus several work can be carried out by multifunctional platform, while may be used also
As truck crane function.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Fig. 2 is the structural schematic diagram of reverse fold mechanism of the present invention.
Fig. 3 is the structural schematic diagram of telescoping mechanism of the present invention.
Fig. 4 is multifunctional platform schematic perspective view of the present invention.
Fig. 5 is that multifunctional platform of the present invention picks up and lift steel arch schematic diagram.
Fig. 6 is that multifunctional platform of the present invention adjusts steel arch position view.
Specific embodiment
Below in conjunction with specific preferred embodiment, the invention will be further described, but not thereby limiting the invention
Protection scope.
Embodiment 1:
As shown in Figure 1, one embodiment of arch trolley manipulator of the present invention includes reverse fold mechanism 1, pitching oil cylinder 2, stretches
Mechanism 3, automatic leveling forearm 4, multifunctional platform 5.Wherein:
As shown in Figure 1 and Figure 2, reverse fold mechanism 1 includes that the lowermost end of manipulator is arranged in and can make the first of manipulator revolution
Slewing equipment 11, is arranged undersetting 12 on the first slewing equipment 11, and the two sides of undersetting 12 are respectively articulated with first connecting rod 13 and the
The other end of one end of two connecting rods 15, first connecting rod 13 and second connecting rod 15 is hinged on upper bracket 14, make in this way undersetting 12,
First connecting rod 13, upper bracket 14, second connecting rod 15 constitute four-bar mechanism.The second connecting rod 15 and undersetting 12 of four-bar mechanism
Between hinged first oil cylinder 16, when the first oil cylinder 16 stretch out when, second connecting rod 15 will be around counterclockwise with the hinge joint of undersetting 12
Rotation.According to four-bar mechanism principle, upper bracket 14 will also be rotated counterclockwise around the hinge joint with second connecting rod 15, correspondingly,
First connecting rod 13 is rotated counterclockwise around the hinge with undersetting 12.When the first oil cylinder 16 retracts, second connecting rod 15 will be around under
The hinge joint of support 12 rotates clockwise.According to four-bar mechanism principle, upper bracket 14 also will be around hinged with second connecting rod 15
Point rotates clockwise, and correspondingly, first connecting rod 13 is rotated clockwise around the hinge with undersetting 12.
In the present embodiment, the first oil cylinder 16 is mounted between second connecting rod 15 and undersetting 12, and however, it is not limited to this,
It is closed as long as the first oil cylinder 16 is arranged in by what undersetting 12, first connecting rod 13, upper bracket 14, the sequential connection of second connecting rod 15 were formed
On the adjacent cells of ring four-bar mechanism, four-bar mechanism can be driven to rotate around its hinge joint, such as undersetting 12 and the
Between one connecting rod 13, between first connecting rod 13 and upper bracket 14, between upper bracket 14 and second connecting rod 15.
As shown in figures 1 and 3, telescoping mechanism 3 includes the first arm 31, the second arm 32, third arm 33, the 4th arm 34, second
Oil cylinder 35, the first chain 36, first pulley 37, the second chain 38, second pulley 39, the second chain 310, third pulley 311,
Four chains 312, the 4th pulley 313.First arm 31, the second arm 32, third arm 33, the 4th arm 34 are successively each other by slip bocks system
Socket.The both ends of second oil cylinder 35 are hinged with the first arm 31, the second arm 32 respectively.First pulley 37 and the second arm 32 are fixed, the
Two pulleys 39 and the second arm 32 are fixed, and third pulley 311 and third arm 33 are fixed, and the 4th pulley 313 and third arm 33 are fixed.The
Its both ends is fixed with the first arm 31 and third arm 33 respectively after one chain 36 bypasses first pulley 37.Second chain 38 bypasses second
Its both ends is fixed with the first arm 31 and third arm 33 respectively after pulley 39.Third chain 310 bypasses its both ends after third pulley 311
It is fixed with the second arm 32 and the 4th arm 34 respectively.4th chain 312 bypass the 4th pulley 313 after its both ends respectively with the second arm 32
It is fixed with the 4th arm 34.
When second oil cylinder 35 stretches out, the second arm 32 is stretched out relative to the first arm 31, and second pulley 39 is moved with the second arm 32.
The end of second chain 38 will be relative to the first arm 31 with the stretching of two speeds, and third arm 33 is with the second chain 38 relative to the
One 31 liang of arm speed stretch out, meanwhile, third arm 33 drive third and fourth pulley 311,313 move forward together, the 4th arm 34 with
4th chain 312 relative to 32 liang of speeds of the second arm to stretch out.
When second oil cylinder 35 retracts, the second arm 32 is retracted relative to the first arm 31, and first pulley 37 is moved with the second arm 32.
The end of first chain 36 will be relative to the first arm 31 with the retraction of two speeds, and third arm 33 is with the first chain 36 relative to the
One 31 liang of arm speed retracts.Meanwhile third arm 33 drives third and fourth pulley 311,313 to retract together, the 4th arm 34 is with third
Chain 310 relative to 32 liang of speeds of the second arm to retract.
As shown in Figure 1,31 end of the first arm and 14 upper end of upper bracket are hinged.Among 2 one end of pitching oil cylinder and upper bracket 14
Hinge is hinged, and the other end and the intermediate hinge of the first arm 31 are hinged.When pitching oil cylinder 2 stretches out, the first arm 31 is relative to reverse fold
Mechanism 1 faces upward.When pitching oil cylinder 2 retracts, the first arm 31 is relative to 1 nutation of reverse fold mechanism.4th arm, 34 front end is provided with
Boom hoisting 36.
Automatic leveling forearm 4 includes forearm 41 and third oil cylinder 42.41 one end of forearm and 34 front end of the 4th arm are hinged.Third
42 one end of oil cylinder and forearm 41 are hinged, and the other end and 34 front end of the 4th arm are hinged.Third oil cylinder 42 stretch out when, forearm 41 relative to
4th arm 34 is faced upward.When third oil cylinder 42 retracts, forearm 41 is relative to 34 nutation of the 4th arm.Angle sensor is installed on forearm 41
Device feeds back to hydraulic system and adjusts third oil cylinder 42 in real time to monitor forearm angle state in real time, keeps 41 holding of forearm horizontal
State.Automatic regulation function can be also closed according to time situation, by manually controlling forearm posture.
Multifunctional platform 5 is set above 4 front end of automatic leveling forearm.
As shown in Figure 4-Figure 6, multifunctional platform 5 includes the platform 52 that surrounding is provided with fence, and the bottom of the platform 52 is set
The second slewing equipment 51 is set, when the second slewing equipment 51 turns round clockwise, the revolution clockwise together of band moving platform 52, the second revolution
When 51 turning anticlockwise of device, band 52 turning anticlockwise of moving platform.Manipulator 53 is installed on platform 52.The pedestal of manipulator 53
531 are arranged on platform 52, and forearm 535 is hingedly swung on pedestal 531.The 4th is equipped between pedestal 531 and swing forearm 535
Oil cylinder 536, one end of the 4th oil cylinder 536 and pedestal 531 are hinged, and the other end and swing forearm 535 are hinged, and the 4th oil cylinder 536 is stretched
It when out, swings 535 opposite base 531 of forearm and faces upward, when the 4th oil cylinder 536 retracts, swing 535 opposite base of forearm, 531 nutation.
It swings 539 one end of auxiliary and is articulated with pedestal 531, and 538 one end of the 5th oil cylinder and swing auxiliary 539 are hinged, the 5th oil cylinder 538 is another
One end and swing forearm 535 are hinged.When 5th oil cylinder 538 stretches out, swings the opposite forearm 535 that swings of auxiliary 539 and face upward, the 5th oil
When cylinder 538 retracts, opposite swing 535 nutation of forearm of auxiliary 539 is swung.Hoist engine 532 is installed with above pedestal 531, around setting
Position is after the wirerope 533 on hoist engine 532 is turned to by the pulley 5311 swung on auxiliary 539, jockey 534.It swings
The both ends of forearm 535 are installed with clamp hand 537 respectively, and the 6th oil cylinder 5310 is installed on clamp hand 537, for driving clamp hand 537 to grab
Tightly loosen.
As shown in Figure 5, Figure 6, in the course of work, after fixture 534 is fixed with steel arch 5312, hoist engine 532 drives steel wire
Rope 533 is promoted, and swings rear near auxiliary 539 stop until fixture 534 rises to steel arch 5312.Then the 5th oil cylinder is driven
538 stretch out, and swing auxiliary 539 at this time and face upward, while steel arch 5312 will be driven to fall into clamp hand 537.Then the 6th oil cylinder of driving
5310 stretch out and clamp hand 537 are driven to clamp steel arch 5312.So far the lifting of steel arch 5312 and clamping finish.At this point, if necessary
Steel arch position is adjusted, the pitching for swinging forearm 535 can be realized by the movement of the 4th oil cylinder 536, to realize steel arch position
Adjustment.
It is small by control reverse fold mechanism 1, pitching oil cylinder 2, telescoping mechanism 3, automatic leveling after steel arch 5312 is clamping
The corresponding freedom degree of arm 4, multifunctional platform 5, until steel arch, which is pushed to designated position, completes work.
Whole process, operator can closely operate on platform 52.
The above is only the preferred embodiment of the application, not does any type of limitation to the application, although this Shen
Please disclosed as above with preferred embodiment, however not to limit the application, any person skilled in the art is not taking off
In the range of technical scheme, a little variation or modification are made using the technology contents of the disclosure above and is equal to
Case study on implementation is imitated, is belonged in technical proposal scope.
Claims (10)
1. a kind of arch trolley manipulator, it is characterised in that the reverse fold mechanism being installed in including one end on trolley chassis
(1), the other end of the reverse fold mechanism is sequentially connected telescoping mechanism (3), automatic leveling forearm (4), multifunctional platform
(5), and between the reverse fold mechanism and the telescoping mechanism pitching oil cylinder (2) are set.
2. a kind of arch trolley manipulator according to claim 1, which is characterized in that the reverse fold mechanism includes
Lowermost end is set and the first slewing equipment (11) of manipulator revolution can be made, undersetting is set on first slewing equipment
(12), the two sides of undersetting are respectively articulated with one end of first connecting rod (13) and second connecting rod (15), first connecting rod and second connecting rod
The other end be hinged on upper bracket (14), make undersetting, first connecting rod, upper bracket, second connecting rod constitute four-bar mechanism, four
The first oil cylinder (16) that Neng Shi reverse fold mechanism is swung is set on the adjacent rod piece of link mechanism.
3. a kind of arch trolley manipulator according to claim 1, which is characterized in that the telescoping mechanism includes successively
The first arm (31), the second arm (32) ... the N arm being mutually socketed, N are natural number, and N≤3；First arm and the second arm
It is hingedly connected to the head and the tail both ends of the second oil cylinder (35)；Described second is fixedly mounted pulley to the both ends of N arm respectively, on each pulley
Winding connector respectively, and the connector being located on same two head sheave of arm is with respect to winding；The connection being wound around on K arm pulley
Part both ends are fixedly connected with K-1 arm, K+1 arm respectively, and K is natural number, and 2 ﹤ K ﹤ N.
4. a kind of arch trolley manipulator according to claim 1, which is characterized in that the automatic leveling forearm includes
The forearm (41) being connect with the telescoping mechanism and the third oil cylinder (42) being set between forearm and the telescoping mechanism, and it is small
The angular transducer for monitoring forearm pitch angle, the signal and feedback of control system receiving angle sensor are installed on arm
To hydraulic system to adjust third oil cylinder, forearm is made to keep horizontality.
5. a kind of arch trolley manipulator according to claim 1, which is characterized in that the multifunctional platform includes four
It is provided with the platform (52) of fence week, the second slewing equipment (51) that the bottom setting of the platform can be such that platform turns round is described flat
Manipulator (53) are installed on platform；Pedestal (531) setting of the manipulator on the platform, is hingedly located on the pedestal
The swing forearm (535) of platform exterior, and be equipped between the pedestal and swing forearm and swing forearm opposite base for driving
4th oil cylinder (536) of pitching；The swing auxiliary (539) for being located at and swinging above forearm is also hinged on the pedestal, and described
Swing forearm and swing auxiliary between be equipped with for drive swing auxiliary it is opposite swing forearm pitching the 5th oil cylinder (538)；Institute
It states and is installed on pedestal hoist engine (532), the wirerope (533) of winding on the hoist engine is around the cunning on the swing auxiliary
Take turns (5311) fixture (534) of connection for sandwiched steel arch afterwards.
6. a kind of arch trolley manipulator according to claim 1, which is characterized in that be provided on the telescoping mechanism
Boom hoisting (36).
7. a kind of arch trolley manipulator according to claim 3, which is characterized in that the connector is chain or steel
Cord.
8. a kind of arch trolley manipulator according to claim 5, which is characterized in that installed on first arm useful
In the 6th oil cylinder (5310) that installing is loosened for driving clamp hand to firmly grasp on the clamp hand (537) for clamping steel arch, the clamp hand.
9. a kind of arch trolley manipulator according to claim 8, which is characterized in that the Clamping Center line of the clamp hand
In the pitch plane for swinging auxiliary, when the dynamic steel arch of swinging pair armband being made to face upward, steel arch is fairly fallen in the clamp hand.
10. a kind of arch trolley manipulator according to claim 5, which is characterized in that the swing forearm and swing
Auxiliary is articulated with jointly on the same articulated shaft of the pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811398744.8A CN109322682B (en) | 2018-11-22 | 2018-11-22 | Manipulator for arch frame trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811398744.8A CN109322682B (en) | 2018-11-22 | 2018-11-22 | Manipulator for arch frame trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109322682A true CN109322682A (en) | 2019-02-12 |
| CN109322682B CN109322682B (en) | 2024-03-19 |
Family
ID=65258781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811398744.8A Active CN109322682B (en) | 2018-11-22 | 2018-11-22 | Manipulator for arch frame trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109322682B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270975A (en) * | 2019-07-02 | 2019-09-24 | 中铁西南科学研究院有限公司 | A kind of lining quality of channel manipulator |
| CN113464177A (en) * | 2021-08-05 | 2021-10-01 | 长沙科达智能装备股份有限公司 | Tunnel arch centering machine and arch centering construction method |
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| EP0381629A1 (en) * | 1989-01-31 | 1990-08-08 | Omar Cavattoni | An extensible movable bridge assembly for use in building tunnels |
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| CN107939423A (en) * | 2017-12-22 | 2018-04-20 | 长沙科达智能装备股份有限公司 | One kind is suitable for tunnel three step constructions trolley foldable arm rack |
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| CN209308713U (en) * | 2018-11-22 | 2019-08-27 | 长沙科达智能装备股份有限公司 | A kind of arch trolley manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0381629A1 (en) * | 1989-01-31 | 1990-08-08 | Omar Cavattoni | An extensible movable bridge assembly for use in building tunnels |
| CN103291330A (en) * | 2013-05-16 | 2013-09-11 | 湖南江麓实业发展有限公司 | All-round manipulator special for tunnels |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270975A (en) * | 2019-07-02 | 2019-09-24 | 中铁西南科学研究院有限公司 | A kind of lining quality of channel manipulator |
| CN113464177A (en) * | 2021-08-05 | 2021-10-01 | 长沙科达智能装备股份有限公司 | Tunnel arch centering machine and arch centering construction method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109322682B (en) | 2024-03-19 |
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