CN208950613U - A kind of duct piece assembling machine - Google Patents
A kind of duct piece assembling machine Download PDFInfo
- Publication number
- CN208950613U CN208950613U CN201821663382.6U CN201821663382U CN208950613U CN 208950613 U CN208950613 U CN 208950613U CN 201821663382 U CN201821663382 U CN 201821663382U CN 208950613 U CN208950613 U CN 208950613U
- Authority
- CN
- China
- Prior art keywords
- girder
- lift cylinder
- snatch
- duct piece
- assembling machine
- Prior art date
- 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.)
- Active
Links
Landscapes
- Lining And Supports For Tunnels (AREA)
Abstract
The utility model discloses a kind of duct piece assembling machine, solve the problems, such as that duct piece assembling machine structure is complicated, to be not suitable with shield small turning, versatility are low in the prior art.The utility model includes girder and swing mechanism, girder is connected with shield machine, swing mechanism is arranged on girder, the girder is gun-type girder, swing mechanism is movably arranged on girder, swing mechanism is equipped with left lift cylinder and right lift cylinder, and snatch device in section of jurisdiction is equipped between left lift cylinder and right lift cylinder, and snatch device in section of jurisdiction is hinged with left lift cylinder, right lift cylinder respectively.The utility model has seven freedom of motion, including three inside twin-stage walking, lift cylinder enhancing action, the spinning movement of reversing frame, section of jurisdiction snatch device to rotational freedom and the structure that deflects of innovative design, keep system more flexible during segment assembly, greatly improves pipe sheet assembling efficiency and construction safety coefficient.
Description
Technical field
The utility model relates to technical field of tunnel construction, particularly relate to a kind of duct piece assembling machine.
Background technique
Currently, shield machine in constructing tunnel using further extensively, duct piece assembling machine as indispensable critical component,
It carries the important task of prefabricated pipe section assembly cavitation.Its structure is complicated, and freedom of motion is more, and design difficulty is big, especially in 4m
In grade and following shield machine, arrangement space is narrow, is guaranteeing itself at least six freedom degree and is retreating the base of replacement shield tail brush function
On plinth, avoid other component, and with section of jurisdiction transport system perfect matching, design difficulty is very big.Existing duct piece assembling machine is main
There is girder formula duct piece assembling machine, without three kinds of patterns of the rotary assembling machine of girder and rocker-arm duct piece assembling machine, three kinds of pattern assembly
There is a general character in machine, i.e. snatch header structure thickness H is excessive, and it is smaller to lead to turn round interior headroom R, and it is narrow not to be suitable for space
In small small-diameter shield machine, minor diameter deep camber thickness section of jurisdiction tunnel is encountered, space is narrower.In addition to this, they are applied
There is also following problems when in minor diameter shield: girder formula duct piece assembling machine, fixes by shield body rice word beam, meter Zi Liang
Structure occupies big beam space in shield body, when being applied to small shield machine, is unfavorable for other component arrangement, and the assembling machine only has one
Grade is moved forward and backward mechanism, is unfavorable for section of jurisdiction crawl, is less useful for the small turn designs of shield machine；Without the rotary assembling machine of girder,
The maximum limitation of this kind of structure is that its back-and-forth motion stroke S is too small, and grasping pipe piece needs human assistance, in Pollen sterility very not
Just, while snatch head does not have retrogressing replacement ventral brush function；Rocker-arm duct piece assembling machine, which are mainly applied to small-diameter shield machines
In, but its rocker arm lift structure rigidity is poor, shakes obviously in practical application, causes it to be moved forward and backward stroke limited.To sum up institute
State, existing tunnel construction lack it is a can be greatly saved space, adapt to the small turning of shield, the high duct piece assembling machine of versatility.
Utility model content
For the deficiency in above-mentioned background technique, the utility model proposes a kind of duct piece assembling machines, solve the prior art
The low problem of turning that structure is complicated for middle duct piece assembling machine, to be not suitable with shield small, versatility.
The technical solution of the utility model is achieved in that a kind of duct piece assembling machine, including girder and swing mechanism, main
Beam is connected with shield machine, and swing mechanism is arranged on girder, and the girder is gun-type girder, and swing mechanism is movably arranged on master
Liang Shang, swing mechanism are equipped with left lift cylinder and right lift cylinder, and section of jurisdiction is equipped between left lift cylinder and right lift cylinder
Snatch device, section of jurisdiction snatch device are hinged with left lift cylinder, right lift cylinder respectively.
The swing mechanism includes movable stand and revolving support frame, revolving support frame be arranged in one end of movable stand and with shifting
Moving frame matches, and the other end of movable stand is equipped with level-one walking mechanism, and revolving support frame is equipped with reversing frame, reversing frame and revolution
Support frame rotation connection, movable stand are equipped with rotational drive motor, and rotational drive motor is connected with reversing frame.
The level-one walking mechanism includes the support being symmetricly set on movable stand, and the top of support is equipped with first motor,
The output end of first motor is equipped with first gear, and girder top is equipped with stationary rack, and first gear is matched with stationary rack, props up
The lower part of seat is equipped with idler wheel, and the lateral wall of girder is equipped with female track, idler wheel be located in female track and with female track phase
Cooperation.
The left lift cylinder, right lift cylinder are symmetricly set on the two sides of reversing frame, and movable stand is equipped with rotary coding
Device, rotary encoder are connected with rotational drive motor.
The section of jurisdiction snatch device includes snatch frame, and one end of snatch frame, which is equipped with, supports the long-armed, other end short equipped with supporting
Arm supports and is hinged with swing arm on galianconism, and support is long-armed hinged with left lift cylinder, and swing arm and right lift cylinder are hinged, grab
Height of a house lower removable is equipped with snatch head assembly, and the two sides of snatch head assembly are equipped with second level walking mechanism.
The snatch head assembly includes pan carriage, and the two sides of pan carriage are equipped with guide sleeve, are fixed with and lead in snatch frame
Xiang Zhu, guide sleeve are set in guide post and are slidably connected with guide post, and the lower rotational of pan carriage is equipped with transmission case, transmission
The middle part of case is equipped with the hoisting screw for lifting by crane section of jurisdiction, and the two sides of transmission case are symmetrically arranged with small oil tank, and small oil tank is vertically arranged.
The top of the hoisting screw is ballhead, and the middle part of transmission case is equipped with card slot, ballhead be located in card slot and with
Card slot clamping.
The middle part of the pan carriage is equipped with oscillating bearing, and the top of transmission case is connected with load-bearing axle by fixing screws, holds
Solid axle is mounted in oscillating bearing and matches with oscillating bearing.
One end of the transmission case is equipped with a pair to top oil cylinder, is fixedly connected to the fixing end of top oil cylinder with transmission case, right
The telescopic end of oil cylinder is pushed up by being connected to jacking block with pan carriage.
The second level walking mechanism includes translation oil cylinder, and translation oil cylinder is symmetricly set on the two sides of snatch frame, and be translatable oil cylinder
Fixing end be fixedly connected with snatch frame, the telescopic end for the oil cylinder that is translatable is connected by ear mount with pan carriage, ear mount be symmetrical arranged
In the two sides of pan carriage.
The utility model girder uses gun-type main beam structure, which exactly likes pistol, and root is connected by bolts solid
Due on shield machine shield shell, not needing setting meter Zi Liang as support construction, space in shield body is greatly saved, is conducive to other portions
Part arrangement and personnel's inspection operation.Section of jurisdiction snatch apparatus structure is simple, compact, and it is big to can be realized major diameter for ultrathin H design
Revolution has three rotational freedoms, and the small turning of shield, versatility is high, using flexible.The utility model uses level-one vehicle with walking machine
Structure and second level walking mechanism have twin-stage walking mechanism, are moved forward and backward stroke and are substantially improved.The utility model has seven movements
Freedom degree, including three inside twin-stage walking, lift cylinder enhancing action, the spinning movement of reversing frame, section of jurisdiction snatch device to
Rotational freedom and the structure that deflects of innovative design, keep system more flexible during segment assembly, greatly improve
Pipe sheet assembling efficiency and construction safety coefficient.
Detailed description of the invention
It, below will be to attached drawing needed in embodiment description in order to illustrate more clearly of the utility model embodiment
It is briefly described, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the utility model overall structure diagram.
Fig. 2 is the utility model entirety three-dimensional shaft side schematic diagram.
Fig. 3 is the utility model section of jurisdiction snatch apparatus structure schematic diagram.
Fig. 4 is the utility model section of jurisdiction snatch device schematic diagram of internal structure.
Fig. 5 is the utility model section of jurisdiction snatch device structural schematic diagram in a state of nature.
Fig. 6 is that snatch device in the utility model section of jurisdiction is in assembled status architecture schematic diagram.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are under that premise of not paying creative labor
Every other embodiment obtained, fall within the protection scope of the utility model.
As shown in Figure 1-3, embodiment 1, a kind of duct piece assembling machine, including girder 1 and swing mechanism, girder 1 and shield machine
Shield shell be bolted, swing mechanism be arranged on girder 1, swing mechanism can using girder central axis be center line progress
Rotation.The girder 1 is gun-type girder, which exactly likes pistol, and root, which is connected by bolts, is fixed on shield machine shield shell
On, setting meter Zi Liang is not needed as support construction, space in shield body is greatly saved, and is conducive to other component arrangement and personnel's inspection
Repair operation；Girder is designed using bilateral symmetry.Swing mechanism is movably arranged on girder 1, and swing mechanism can carry out on girder
Mobile, swing mechanism is equipped with left lift cylinder 12 and right lift cylinder 10, and left lift cylinder 12 and right lift cylinder 10 are vertical
Setting and composition left-right swinging mechanism, are equipped with section of jurisdiction snatch device 11, section of jurisdiction between left lift cylinder 12 and right lift cylinder 10
Snatch device 11 is hinged with left lift cylinder 12, right lift cylinder 10 respectively.Right lift cylinder and the flexible stroke of left lift cylinder
When different, the swing arm and snatch frame of section of jurisdiction snatch device 11 will generate opposite pivot angle, and right lift piston bar stretches out row
Journey L, left lift piston bar do not stretch out, and snatch frame generates swing angle to the left.The swinging structure is tied different from existing swing
Structure, structure is simple, low in cost, easy to assembly, and fortune function is more steady reliable.
Further, the swing mechanism includes movable stand 4 and revolving support frame 7, and revolving support frame 7 and movable stand 4 are fixed
Connection, revolving support frame 7 are arranged in one end of movable stand 4 and match with movable stand 4, and movable stand 4 and revolving support frame 7 are
Ring structure, and girder 1 passes through movable stand 4 and revolving support frame 7, the other end of movable stand 4 is equipped with level-one walking mechanism, mobile
Frame realizes moving along girder by level-one walking mechanism.Revolving support frame 7 is equipped with reversing frame 9, reversing frame 9 and revolving support
Frame 7 is rotatablely connected, and movable stand 4 is equipped with rotational drive motor 6, and rotational drive motor 6 is connected with reversing frame 9, rotate driving
Motor drives reversing frame rotation, realizes the rotation of the section of jurisdiction snatch device on reversing frame, and reversing frame 9 and revolving support frame 7 form
Swing mechanism be circular ring shape, girder pass through swing mechanism.
Further, the level-one walking mechanism includes the support 15 being symmetricly set on movable stand 4, and support stretches out movable stand
And it is located at the two sides of girder, the top of support 15 is equipped with first motor 3, and the output end of first motor 3 is equipped with first gear 16, main
1 top of beam is equipped with stationary rack 2, and first gear 16 is matched with stationary rack 2, and first motor drives first gear along fixed tooth
Item is mobile, and then movable stand is driven to move along girder.The lower part of support 15 is equipped with idler wheel 8, and the lateral wall of girder 1 is equipped with female
Track 17, idler wheel 8 are located in female track 17 and match with female track 17, and under the action of first motor, idler wheel is along recessed
Formula track 17 is mobile, plays guiding, load-bearing, antifriction and stablizes movable stand.The left lift cylinder 12, right promotion
Oil cylinder 10 is symmetricly set on the two sides of reversing frame 9, and movable stand 4 is equipped with rotary encoder 5, rotary encoder 5 and rotate driving
Motor 6 is connected, and encoder is connected with background controller, monitors the revolving speed of rotational drive motor.
As Figure 4-Figure 6, embodiment 2, a kind of duct piece assembling machine, the section of jurisdiction snatch device 11 include snatch frame 11-3,
One end of snatch frame 11-3, which is equipped with, supports long-armed 11-14, the other end to be equipped with support galianconism 11-15, supports and passes through on galianconism 11-15
Pin shaft 11-2 is hinged with swing arm 11-1, supports long-armed 11-14 and left lift cylinder 12 hinged, swing arm 11-1 and right promotion oil
Cylinder 10 is hinged, right lift cylinder and left lift cylinder stretch stroke difference when, snatch frame will generate opposite pivot angle, and right promotions is oily
Cylinder piston rod stretches out stroke, and left lift piston bar does not stretch out, and snatch frame generates swing angle to the left；Right lift piston
Bar does not stretch out, and when left lift piston bar stretches out, snatch frame generates swing angle to the right.Pass through right lift cylinder and Zuo Tisheng
The difference of oil cylinder stroke realizes the inclination of snatch frame different angle.Snatch frame 11-3 lower removable is equipped with snatch head assembly, grabs
Raise the head component two sides be equipped with second level walking mechanism, by second level walking mechanism, snatch head assembly realize moving along snatch frame,
The direction of travel of second level walking mechanism is identical as the direction of travel of level-one walking mechanism, forms twin-stage walking mechanism, is moved forward and backward
Stroke is substantially improved.
Further, the snatch head assembly includes pan carriage 11-9, and the lower part of snatch frame, snatch is arranged in pan carriage 11-9
The top of frame is arcwall face, and the two sides of pan carriage 11-9 are equipped with guide sleeve 11-16, are fixed with guide post in snatch frame 11-3
11-12, guide sleeve 11-16 are set on guide post 11-12 and are slidably connected with guide post 11-12, and pan carriage 11-9 passes through
Guide sleeve realizes moving along guide post, and the lower rotational of pan carriage 11-9 is equipped with transmission case 11-6, and transmission case is around tie point
Rotation, the middle part of transmission case 11-6 are equipped with the hoisting screw 11-8 for lifting by crane section of jurisdiction 14, the top of the hoisting screw 11-8
For ballhead, the middle part of transmission case 11-6 is equipped with card slot, and ballhead is located in card slot and is clamped with card slot, and forms flexural pivot knot
Structure.The two sides of transmission case 11-6 are symmetrically arranged with four small oil tank 11-5, and small oil tank 11-5 is vertically arranged, the telescopic end of small oil tank with
Section of jurisdiction to be assembled is corresponding, and 4 small oil tank 11-5 are centrosymmetrically arranged, and the piston rod of small oil tank 11-5 stretches out simultaneously, withstands on
On 14 inner wall of section of jurisdiction, in pairs with side cylinder, symmetrical flexible, the both direction rotational action that section of jurisdiction can be realized is (i.e. forward and backward
Incline, left and right to incline).
Other structures are same as Example 1.
The middle part of embodiment 3, a kind of duct piece assembling machine, the pan carriage 11-9 is equipped with oscillating bearing 11-11, transmission case
The top of 11-6 is connected with load-bearing axle 11-10 by fixing screws 11-13, and load-bearing axle 11-10 is mounted in oscillating bearing 11-11
And matched with oscillating bearing 11-11, realize the rotation connection of transmission case and pan carriage.One end of the transmission case 11-6 is equipped with
A pair is fixedly connected with top oil cylinder 11-7 to the fixing end of top oil cylinder 11-7 with transmission case 11-6, stretches to top oil cylinder 11-7
End is by being connected to jacking block with pan carriage 11-9.To top oil cylinder 11-7, one is actively stretched out top oil cylinder, ejection to jacking block,
Another passively withdraws top oil cylinder, and that actively stretches out drives rotating box 11-6 relative translation frame to horizontally rotate top oil cylinder.
Further, the second level walking mechanism includes translation oil cylinder 11-4, and translation oil cylinder 11-4 is symmetricly set on snatch frame
The fixing end of the two sides of 11-3, translation oil cylinder 11-4 is fixedly connected with snatch frame 11-3, and the telescopic end of translation oil cylinder 11-4 passes through
Ear mount 11-17 is connected with pan carriage 11-9, and ear mount 11-17 is symmetricly set on the two sides of pan carriage 11-9.Translation oil cylinder 11-4
Cylinder barrel is fixed on the side snatch frame 11-3, and piston rod is connect with pan carriage 11-9, is provided with guide post 11-12 in snatch frame 11-3
Support and guiding role are provided for movable stand, under the driving of translation oil cylinder 11-4, realizes the back-and-forth motion of pan carriage 11-9, most
The second level walking movement of section of jurisdiction 14 is realized eventually.
Other structures are same as Example 2.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (10)
1. a kind of duct piece assembling machine, including girder (1) and swing mechanism, girder (1) are connected with shield machine, swing mechanism setting
On girder (1), it is characterised in that: the girder (1) is gun-type girder, and swing mechanism is movably arranged on girder (1), is turned round
Mechanism is equipped with left lift cylinder (12) and right lift cylinder (10), sets between left lift cylinder (12) and right lift cylinder (10)
There is section of jurisdiction snatch device (11), section of jurisdiction snatch device (11) is hinged with left lift cylinder (12), right lift cylinder (10) respectively.
2. duct piece assembling machine according to claim 1, it is characterised in that: the swing mechanism includes movable stand (4) and returns
Turn support frame (7), revolving support frame (7) is arranged one end in movable stand (4) and matches with movable stand (4), movable stand (4)
The other end is equipped with level-one walking mechanism, and revolving support frame (7) is equipped with reversing frame (9), reversing frame (9) and revolving support frame (7)
Rotation connection, movable stand (4) are equipped with rotational drive motor (6), and rotational drive motor (6) is connected with reversing frame (9).
3. duct piece assembling machine according to claim 2, it is characterised in that: the level-one walking mechanism includes being symmetricly set on
Support (15) on movable stand (4), the top of support (15) are equipped with first motor (3), and the output end of first motor (3) is equipped with the
One gear (16), girder (1) top are equipped with stationary rack (2), and first gear (16) is matched with stationary rack (2), support
(15) lower part is equipped with idler wheel (8), and the lateral wall of girder (1) is equipped with female track (17), and idler wheel (8) is located at female track
(17) it is matched in and with female track (17).
4. duct piece assembling machine according to claim 2 or 3, it is characterised in that: the left lift cylinder (12), right promotion oil
Cylinder (10) is symmetricly set on the two sides of reversing frame (9), and movable stand (4) is equipped with rotary encoder (5), rotary encoder (5) with
Rotational drive motor (6) is connected.
5. duct piece assembling machine according to claim 1 or 2, it is characterised in that: the section of jurisdiction snatch device (11) includes grabbing
The height of a house (11-3), one end of snatch frame (11-3), which is equipped with, supports long-armed (11-14), the other end to be equipped with support galianconism (11-15), branch
It is hinged with swing arm (11-1) in support galianconism (11-15), supports long-armed (11-14) and left lift cylinder (12) hingedly, swing arm
Hingedly, snatch frame (11-3) lower removable is equipped with snatch head assembly for (11-1) and right lift cylinder (10), and the two of snatch head assembly
Side is equipped with second level walking mechanism.
6. duct piece assembling machine according to claim 5, it is characterised in that: the snatch head assembly includes pan carriage (11-
9), the two sides of pan carriage (11-9) are equipped with guide sleeve (11-16), are fixed with guide post (11-12) in snatch frame (11-3),
Guide sleeve (11-16) is set on guide post (11-12) and is slidably connected with guide post (11-12), pan carriage (11-9)
Lower rotational is equipped with transmission case (11-6), and the middle part of transmission case (11-6) is equipped with the hoisting screw (11- for lifting by crane section of jurisdiction (14)
8), the two sides of transmission case (11-6) are symmetrically arranged with small oil tank (11-5), and small oil tank (11-5) is vertically arranged.
7. duct piece assembling machine according to claim 6, it is characterised in that: the top of the hoisting screw (11-8) is spherical shape
Head, the middle part of transmission case (11-6) are equipped with card slot, and ballhead is located in card slot and is clamped with card slot.
8. duct piece assembling machine according to claim 6, it is characterised in that: the middle part of the pan carriage (11-9) is equipped with joint
The top of bearing (11-11), transmission case (11-6) is connected with load-bearing axle (11-10), load-bearing axle by fixing screws (11-13)
(11-10) is mounted in oscillating bearing (11-11) and matches with oscillating bearing (11-11).
9. duct piece assembling machine according to claim 8, it is characterised in that: one end of the transmission case (11-6) is equipped with a pair
To top oil cylinder (11-7), the fixing end on top oil cylinder (11-7) is fixedly connected with transmission case (11-6), to top oil cylinder (11-7)
Telescopic end is by being connected to jacking block with pan carriage (11-9).
10. duct piece assembling machine according to claim 5, it is characterised in that: the second level walking mechanism includes translation oil cylinder
(11-4), translation oil cylinder (11-4) are symmetricly set on the two sides of snatch frame (11-3), be translatable oil cylinder (11-4) fixing end with grab
The height of a house (11-3) is fixedly connected, and the telescopic end of translation oil cylinder (11-4) is connected by ear mount (11-17) with pan carriage (11-9),
Ear mount (11-17) is symmetricly set on the two sides of pan carriage (11-9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821663382.6U CN208950613U (en) | 2018-10-15 | 2018-10-15 | A kind of duct piece assembling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821663382.6U CN208950613U (en) | 2018-10-15 | 2018-10-15 | A kind of duct piece assembling machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208950613U true CN208950613U (en) | 2019-06-07 |
Family
ID=66741430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821663382.6U Active CN208950613U (en) | 2018-10-15 | 2018-10-15 | A kind of duct piece assembling machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208950613U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109113770A (en) * | 2018-10-15 | 2019-01-01 | 中铁工程装备集团有限公司 | A kind of duct piece assembling machine |
| CN111365041A (en) * | 2020-03-27 | 2020-07-03 | 山东建筑大学 | Suspension self-moving type full-circumference rotary mounting machine and using method |
| CN111425216A (en) * | 2020-04-09 | 2020-07-17 | 山东建筑大学 | Composite supporting structure, construction system and method |
-
2018
- 2018-10-15 CN CN201821663382.6U patent/CN208950613U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109113770A (en) * | 2018-10-15 | 2019-01-01 | 中铁工程装备集团有限公司 | A kind of duct piece assembling machine |
| CN111365041A (en) * | 2020-03-27 | 2020-07-03 | 山东建筑大学 | Suspension self-moving type full-circumference rotary mounting machine and using method |
| CN111425216A (en) * | 2020-04-09 | 2020-07-17 | 山东建筑大学 | Composite supporting structure, construction system and method |
| CN111425216B (en) * | 2020-04-09 | 2021-07-30 | 山东建筑大学 | Composite supporting structure, construction system and method |
| US11739639B2 (en) | 2020-04-09 | 2023-08-29 | Shandong Jianzhu University | Composite support structure, construction system, and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208950613U (en) | A kind of duct piece assembling machine | |
| CN109113770A (en) | A kind of duct piece assembling machine | |
| CN111456772B (en) | Intelligent supporting robot with functions of erecting arch, spraying and welding | |
| CN100501125C (en) | Shield segment splicing machine with six-freedom degree | |
| CN202415028U (en) | Crane | |
| CN109110700B (en) | A tunnel overhauls operation locomotive that is used for operation platform of tunnel to overhaul and includes it | |
| CN108500550B (en) | A kind of displacement device of boiler body heat exchanger tube and drum welding | |
| CN103341679A (en) | Large-diameter long-pipe-fitting pipe-end cutting device | |
| CN106276691B (en) | Electromechanical lift system | |
| CN1198996C (en) | Nacelle device also used as hoist | |
| CN212639750U (en) | Adjustable crane | |
| CN202296907U (en) | Suspension arm balanced movable arm tower crane capable of luffing based on steel rope traction | |
| CN102530739A (en) | Anti-collision tower type portal crane | |
| CN206309288U (en) | A kind of rig luffing bearing device | |
| CN106437535B (en) | A kind of drilling machine luffing bearing device | |
| CN107416446B (en) | It is a kind of precision mounting rail on robot arm device | |
| CN106087763B (en) | It is a kind of to cross the double girder rubber-tyred railway T-girder bridge girder erections of tunnel type and bridging method | |
| CN214879616U (en) | Folding crane convenient to transition | |
| CN212050210U (en) | Single-line single-beam segment assembled bridge girder erection crane | |
| CN101487235B (en) | Movable supporting legs of bridge erecting machine | |
| CN209380119U (en) | A kind of robot three-shaft linkage turnover device | |
| RU2017120155A (en) | SUSPENDED MOVING DEVICE OF THE TUNNEL BLOCKING MACHINE AND THE TUNNEL BLOCKING MACHINE | |
| CN208964061U (en) | Watercraft engine room becomes rail space and clamps handling device automatically | |
| CN209633024U (en) | A kind of crawl lumbering Engineering Robot | |
| CN209684674U (en) | A kind of pipeline horizontal translating device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |