CN210068014U - Drill rod grabbing manipulator device for drilling machine - Google Patents
Drill rod grabbing manipulator device for drilling machine Download PDFInfo
- Publication number
- CN210068014U CN210068014U CN201920566528.3U CN201920566528U CN210068014U CN 210068014 U CN210068014 U CN 210068014U CN 201920566528 U CN201920566528 U CN 201920566528U CN 210068014 U CN210068014 U CN 210068014U
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- swing arm
- arm
- jaw
- rotary
- 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
Images
Landscapes
- Earth Drilling (AREA)
Abstract
The utility model discloses a drilling rod snatchs manipulator device for rig belongs to rig technical field. The utility model discloses a unable adjustment base, the swing arm, rotary hydraulic cylinder, clamping jaw crossbeam and mechanical clamping jaw mechanism, the one end of swing arm is installed on unable adjustment base through first rotation joint, rotary hydraulic cylinder's one end is passed through the second and is rotated the joint and install on unable adjustment base, rotary hydraulic cylinder's the other end is connected with the swing arm through the third rotation joint, the other end in the swing arm is suspended in midair through the fourth rotation joint in the middle part of clamping jaw crossbeam, and clamping jaw crossbeam is in on the same vertical plane with the swing arm, the both ends of clamping jaw crossbeam are located respectively to mechanical clamping jaw mechanism, and mechanical clamping jaw mechanism's clamp gets the axis direction and can revolve the pendulum to vertical state by the horizontali. The utility model discloses structural design is ingenious compact, and the preparation is convenient, and occupation space is little to the drilling rod snatchs the action reliable and stable, and motion control is convenient nimble.
Description
Technical Field
The utility model relates to a geological drilling equipment, more specifically say, relate to a drilling rod grabbing mechanical arm device for rig.
Background
As geological exploration equipment with higher automation degree, the drilling machine has the advantages of high drilling speed, strong working stability and the like. The drill rod belongs to a part of a drilling machine system, the drill rod is usually formed by sequentially connecting an upper drill rod and a lower drill rod through threads according to the drilling depth, the drill rod is hoisted to a drill floor from the ground manually due to the fact that the diameter of the drill rod is large, the drill rod is hoisted to the ground manually after the drilling is finished, the use requirement cannot be met in the mode that the drill rod is hoisted to the ground manually, and the problems of low construction efficiency, high labor intensity, multiple potential safety hazards and the like exist. Therefore, the drill rod grabbing mechanical arm suitable for the drilling machine needs to be designed to meet the use requirement.
The Chinese patent number ZL201820708245.3, the publication date of the authorization is 12 months and 4 days in 2018, and the name of the invention creation is as follows: the utility model provides an automatic conveyer of drilling rod suitable for land rig, this application relates to an automatic conveyer of drilling rod suitable for land rig, including base carousel, base, swing arm crossbeam, swing arm pneumatic cylinder, cantilever grab arm carousel, cantilever grab arm pneumatic cylinder, upset arm pneumatic cylinder, upset arm hydraulic cylinder seat, support arm and support arm crossbeam. The base is rotatably installed on a base of the whole automatic drill rod conveying system through a base turntable, and the base is fixed on the ground. The movable arm, the turnover arm, the supporting arm beam and the hydraulic structure used in cooperation are symmetrically arranged, and the middle of the movable arm, the turnover arm, the supporting arm beam and the hydraulic structure used in cooperation are connected through the base and the movable arm beam. This patent application has reduced operating personnel's intensity of labour to a certain extent, has improved work efficiency, has also avoided the potential safety hazard. However, the structural design is complex, multiple groups of hydraulic cylinders are needed to be in linkage fit, the motion control is complex, the manufacturing cost is increased, the structural design is too overstaffed, and the occupied space is large.
Disclosure of Invention
1. Technical problem to be solved by the utility model
The utility model aims to overcome that current rig drilling rod snatchs hoist device has that the structure is complicated, control is loaded down with trivial details etc. not enough, provides a drilling rod grabbing manipulator device for rig, adopts the technical scheme of the utility model, the swing of triangle-shaped rotary mechanism drive mechanical clamping jaw mechanism that utilizes rotary hydraulic cylinder to constitute utilizes mechanical clamping jaw mechanism's the automatic pendulum motion of realizing in the swing arm of suspending in midair of installation simultaneously, and structural design is ingenious compact, and the preparation is convenient, and occupation space is little to the drilling rod snatchs the action reliable and stable, and motion control is convenient nimble.
2. Technical scheme
In order to achieve the above purpose, the utility model provides a technical scheme does:
the utility model discloses a drilling rod grabbing manipulator device for drilling machine, including unable adjustment base, swing arm, rotary hydraulic cylinder, clamping jaw crossbeam and mechanical clamping jaw mechanism, the one end of swing arm install on unable adjustment base through first revolute joint, rotary hydraulic cylinder's one end install on unable adjustment base through second revolute joint, rotary hydraulic cylinder's the other end is connected with the swing arm through third revolute joint, makes unable adjustment base, swing arm and rotary hydraulic cylinder's tie point form the triangle-shaped structure, drives the swing arm through rotary hydraulic cylinder's concertina movement and rotates around first revolute joint on unable adjustment base; the middle part of clamping jaw crossbeam hang in midair through the fourth rotation joint and connect the other end at the swing arm, and clamping jaw crossbeam and swing arm are in on same vertical plane, mechanical clamping jaw mechanism locate the both ends of clamping jaw crossbeam respectively, and mechanical clamping jaw mechanism's clamp get the axis direction and can rotate to vertical state by the horizontality is automatic soon along with the swing arm rotation.
Furthermore, the swing arm is L-shaped, and the fixed base is provided with a limiting part which can enable the front part of the swing arm connected with the clamping jaw beam to move to a vertical state for positioning.
Furthermore, the clamping jaw cross beam is further provided with a limiting clamping block, and the limiting clamping block can be positioned and clamped on the swing arm when the front portion of the swing arm moves to a vertical state.
Furthermore, the first rotating joint, the second rotating joint, the third rotating joint and the fourth rotating joint are all provided with oilless bearings.
Furthermore, mechanical clamping jaw mechanism include fixed claw arm, rotatory claw arm, claw arm pivot and clamping jaw hydro-cylinder, fixed claw arm and rotatory claw arm be connected through the claw arm pivot, clamping jaw hydro-cylinder's one end rotate and install on the mount pad at fixed claw arm rear portion, clamping jaw hydro-cylinder's the other end rotates and installs on the extension arm at rotatory claw arm rear portion.
3. Advantageous effects
Adopt the technical scheme provided by the utility model, compare with existing well-known technique, have following beneficial effect:
(1) the utility model discloses a drilling rod grabbing manipulator device for drilling machine, its unable adjustment base, swing arm and rotatory hydraulic cylinder three form the triangle-shaped structure, the middle part of clamping jaw crossbeam suspends in midair and connects in the one end of swing arm, mechanical clamping jaw mechanism locates the both ends of clamping jaw crossbeam respectively, and the clamp of mechanical clamping jaw mechanism gets the axis direction and can revolve the pendulum to vertical state by the horizontal state along with the swing arm rotation automatically, utilize the triangle-shaped rotary mechanism drive mechanical clamping jaw mechanism swing that rotatory hydraulic cylinder constitutes, utilize the suspension installation of mechanical clamping jaw mechanism to realize its automatic pendulum motion in the swing arm simultaneously, structural design is ingenious compact, convenient manufacture, occupation space is little, and drilling rod grabbing action is stable and reliable, the action control is convenient and flexible;
(2) the utility model discloses a drilling rod grabbing manipulator device for a drilling machine, the swing arm is L-shaped, the fixed base is provided with a limiting part which can enable the front part of the swing arm connected with a clamping jaw beam to move to a vertical state for positioning, the L-shaped swing arm is simple to manufacture, and the swing action is stable and reliable;
(3) the utility model discloses a drilling rod grabbing manipulator device for drilling machine, the clamping jaw crossbeam is also provided with a limiting clamping block, the limiting clamping block can be positioned and clamped on the swing arm when the front part of the swing arm moves to a vertical state, and the stability of grabbing the drilling rod by the mechanical clamping jaw mechanism and the position precision of grabbing movement of the drilling rod are further improved by the limiting clamping block;
(4) the utility model discloses a drilling rod grabbing manipulator device for a drilling machine, a first rotary joint, a second rotary joint, a third rotary joint and a fourth rotary joint of the drilling rod grabbing manipulator device are all provided with oilless bearings, and the drilling rod grabbing manipulator device has the advantages of high bearing capacity, impact resistance, high temperature resistance, strong self-lubricating capacity and the like;
(5) the utility model discloses a drilling rod snatchs manipulator device for rig, its mechanical clamping jaw mechanism include fixed claw arm, rotatory claw arm, claw arm pivot and clamping jaw hydro-cylinder, and fixed claw arm and rotatory claw arm are connected through the claw arm pivot, and the one end of clamping jaw hydro-cylinder is rotated and is installed on the mount pad at fixed claw arm rear portion, and the other end of clamping jaw hydro-cylinder is rotated and is installed on the extension arm at rotatory claw arm rear portion, adopts foretell mechanical clamping jaw mechanism, and simple structure snatchs reliable and stable.
Drawings
Fig. 1 is a schematic view of an extension state of a rotary hydraulic cylinder of a drill rod grabbing manipulator device for a drilling machine according to the present invention;
fig. 2 is a schematic view of a retraction state of a rotary hydraulic cylinder of the drill rod grabbing manipulator device for the drilling machine of the present invention;
fig. 3 is a schematic structural view of a claw arm in a drill rod grabbing manipulator device for a drilling machine according to the present invention;
fig. 4 is a schematic structural diagram of a mechanical clamping jaw mechanism in a drill rod grabbing manipulator device for a drilling machine according to the present invention.
The reference numerals in the schematic drawings illustrate:
1. a fixed base; 2. swinging arms; 3. rotating the hydraulic oil cylinder; 4. a jaw cross beam; 4-1, limiting a clamping block; 5. a mechanical jaw mechanism; 5-1, fixing the claw arm; 5-2, rotating the claw arm; 5-3, a claw arm rotating shaft; 5-4, a clamping jaw oil cylinder; 6. a first revolute joint; 7. a second revolute joint; 8. a third revolute joint; 9. and a fourth revolute joint.
Detailed Description
For a further understanding of the present invention, reference will be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
Examples
Referring to fig. 1 and 2, the drill rod grabbing manipulator device for a drilling machine of the embodiment includes a fixed base 1, a swing arm 2, a rotary hydraulic cylinder 3, a clamping jaw beam 4 and a mechanical clamping jaw mechanism 5, where the fixed base 1 may be formed by welding steel plates and is provided with two rotation connection points, one end of the swing arm 2 is installed on the fixed base 1 through a first rotation joint 6, one end of the rotary hydraulic cylinder 3 is installed on the fixed base 1 through a second rotation joint 7, and the other end of the rotary hydraulic cylinder 3 is connected with the swing arm 2 through a third rotation joint 8, so that connection points of the fixed base 1, the swing arm 2 and the rotary hydraulic cylinder 3 form a triangular structure, the swing arm 2 is driven to rotate around the first rotation joint 6 on the fixed base 1 through the telescopic motion of the rotary hydraulic cylinder 3, that the side length of the triangular structure is changed through the telescopic motion of the rotary hydraulic cylinder 3 to make the swing arm, and then the mechanical clamping jaw mechanism 5 is driven to grab or put down the drill rod. The middle part of clamping jaw crossbeam 4 suspends in midair through fourth revolute joint 9 and connects the other end at swing arm 2, and clamping jaw crossbeam 4 is in same vertical plane with swing arm 2, and the both ends of clamping jaw crossbeam 4 are located respectively to mechanical clamping jaw mechanism 5, and the clamp of mechanical clamping jaw mechanism 5 gets the axis direction and can be swung to vertical state by the horizontality is automatic soon along with swing arm 2 is rotatory, treats promptly that the drilling rod axis that snatchs parallels with clamping jaw crossbeam 4. After the mechanical clamping jaw mechanism 5 grabs the drilling rod, the rotary hydraulic oil cylinder 3 contracts to drive the swing arm 2 to rotate, so that the clamping jaw cross beam 4 is driven to do circular motion around the first rotary joint 6, meanwhile, the clamping jaw cross beam 4 does rotary swing motion relative to the swing arm 2 under the action of gravity, and the clamping jaw cross beam 4 is limited after being contacted with the swing arm 2 and drives the clamping jaw cross beam 4 to rotate to a vertical state from a horizontal state.
Further, in this embodiment, the swing arm 2 is L-shaped, and the fixed base 1 is provided with a limiting portion capable of positioning the front portion of the swing arm 2 connected to the jaw cross member 4 by moving to the vertical state. As shown in fig. 2, the limiting portion is a horizontal limiting seat disposed at the rear portion of the fixing base 1, and the lower swing arm of the L-shaped swing arm 2 rotates to a horizontal position and then just abuts against the horizontal limiting seat, so that the upper swing arm of the L-shaped swing arm 2 is positioned in a vertical state. The swing arm 2 can be formed by welding a rectangular pipe and a steel plate, so that the swing arm has enough bearing strength. In order to ensure the position precision of the drill rod grabbing, a limiting clamping block 4-1 is further arranged on the clamping jaw cross beam 4, the limiting clamping block 4-1 is preferably shaped like a U, a chamfer (shown in figure 4) convenient for matching with the swing arm 2 is arranged at the opening of the limiting clamping block 4-1, the limiting clamping block 4-1 can be positioned and clamped on the swing arm 2 when the front part of the swing arm 2 moves to the vertical state, and the stability of the mechanical clamping jaw mechanism for grabbing the drill rod and the position precision of the drill rod grabbing movement are further improved by the limiting clamping block 4-1. Further, in order to guarantee the motion stability of the drill rod grabbing manipulator device, the first rotating joint 6, the second rotating joint 7, the third rotating joint 8 and the fourth rotating joint 9 are all provided with oilless bearings, namely the first rotating joint 6, the second rotating joint 7, the third rotating joint 8 and the fourth rotating joint 9 are all connected through pin shafts, the rotating positions of the pin shafts are all provided with oilless bearings, and each rotating joint has the advantages of high bearing capacity, impact resistance, high temperature resistance, strong self-lubricating capacity and the like.
As shown in fig. 3 and 4, in the present embodiment, the mechanical gripper mechanism 5 includes a fixed gripper arm 5-1, a rotating gripper arm 5-2, a gripper arm pivot 5-3, and a gripper cylinder 5-4, the fixed gripper arm 5-1 and the rotating gripper arm 5-2 are connected by the gripper arm pivot 5-3, the fixed jaw arm 5-1 and the rotary jaw arm 5-2 can rotate relatively, so that a jaw opening can be opened or closed, one end of the jaw oil cylinder 5-4 is rotatably installed on an installation seat at the rear part of the fixed jaw arm 5-1, the other end of the jaw oil cylinder 5-4 is rotatably installed on an extension arm at the rear part of the rotary jaw arm 5-2, and the jaw oil cylinder 5-4 can drive the rotary jaw arm 5-2 to rotate around the jaw arm rotating shaft 5-3 through telescopic motion, so that the clamping or loosening of a drill rod is realized. Specifically, the fixed claw arms 5-1 may be disposed at the outermost side, the rotary claw arms 5-2 are connected between the two fixed claw arms 5-1 through the claw arm rotating shafts 5-3, and the rotary claw arms 5-2 also have two pieces and are connected through the connecting column to improve the structural strength thereof. Adopt foretell mechanical clamping jaw mechanism, simple structure snatchs reliable and stable.
Referring to fig. 1 and 2, in the drill rod grabbing manipulator device for the drilling machine of the embodiment, when the device works, after the clamping jaw oil cylinder 5-4 is started, the fixed jaw arm 5-1 and the rotary jaw arm 5-2 are closed to grab a drill rod, then the rotary hydraulic oil cylinder 3 is started to contract, so that the swing arm 2 rotates on the fixed base 1, the mechanical clamping jaw mechanism 5 rotates along with the rotation of the swing arm 2, and after the mechanical clamping jaw mechanism 5 rotates, the limiting clamping block 4-1 is positioned on the swing arm 2 under the action of the gravity center, so that the drill rod is grabbed from the horizontal position and transferred to the vertical state (as shown in fig. 2), and the subsequent drilling work of the connected set of drill rods is facilitated. When the hydraulic swivel ram 3 is extended, as shown in figure 1, the action is reversed. Thus, the aim of circularly grabbing and releasing the drill rod can be achieved.
The utility model discloses a drilling rod snatchs manipulator device for rig utilizes the swing of triangle-shaped rotary mechanism drive mechanical clamping jaw mechanism that rotary hydraulic cylinder constitutes, utilizes mechanical clamping jaw mechanism's the automatic pendulum motion of revolving of installation realization in the swing arm that suspends in midair simultaneously, and structural design is ingenious compact, and the preparation is convenient, and occupation space is little to the drilling rod snatchs the action reliable and stable, and the motion control is convenient nimble.
The present invention and its embodiments have been described above schematically, and the description is not intended to be limiting, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching of the present invention, without creatively designing the similar structural modes and embodiments to the technical solutions, they should belong to the protection scope of the present invention.
Claims (5)
1. The utility model provides a drilling rod snatchs manipulator device for rig, includes unable adjustment base (1), swing arm (2), rotary hydraulic cylinder (3), clamping jaw crossbeam (4) and mechanical clamping jaw mechanism (5), its characterized in that: one end of the swing arm (2) is mounted on the fixed base (1) through a first rotating joint (6), one end of the rotary hydraulic oil cylinder (3) is mounted on the fixed base (1) through a second rotating joint (7), the other end of the rotary hydraulic oil cylinder (3) is connected with the swing arm (2) through a third rotating joint (8), so that connecting points of the fixed base (1), the swing arm (2) and the rotary hydraulic oil cylinder (3) form a triangular structure, and the swing arm (2) is driven to rotate around the first rotating joint (6) on the fixed base (1) through the telescopic motion of the rotary hydraulic oil cylinder (3); the middle part of clamping jaw crossbeam (4) suspend in midair through fourth rotation joint (9) and connect the other end in swing arm (2), and clamping jaw crossbeam (4) and swing arm (2) are in on the same vertical plane, mechanical clamping jaw mechanism (5) locate the both ends of clamping jaw crossbeam (4) respectively, and the clamp of mechanical clamping jaw mechanism (5) gets the axis direction and can rotate and swing to vertical state by the horizontality is automatic soon along with swing arm (2).
2. The drill rod gripping robot device for a drilling rig as claimed in claim 1, wherein: the swing arm (2) is L-shaped, and the fixed base (1) is provided with a limiting part which can enable the front part of the swing arm (2) connected with the clamping jaw cross beam (4) to move to a vertical state for positioning.
3. The drill rod gripping robot device for a drilling rig as claimed in claim 2, wherein: the clamping jaw cross beam (4) is further provided with a limiting clamping block (4-1), and the limiting clamping block (4-1) can be positioned and clamped on the swing arm (2) when the front portion of the swing arm (2) moves to a vertical state.
4. The drill rod grabbing manipulator device for the drilling machine as claimed in claim 3, wherein: and the first rotating joint (6), the second rotating joint (7), the third rotating joint (8) and the fourth rotating joint (9) are all provided with oilless bearings.
5. The drill rod gripping robot device for drilling machine as claimed in any one of claims 1 to 4, wherein: the mechanical clamping jaw mechanism (5) comprises a fixed jaw arm (5-1), a rotary jaw arm (5-2), a jaw arm rotating shaft (5-3) and a clamping jaw oil cylinder (5-4), wherein the fixed jaw arm (5-1) and the rotary jaw arm (5-2) are connected through the jaw arm rotating shaft (5-3), one end of the clamping jaw oil cylinder (5-4) is rotatably installed on an installation seat at the rear part of the fixed jaw arm (5-1), and the other end of the clamping jaw oil cylinder (5-4) is rotatably installed on an extension arm at the rear part of the rotary jaw arm (5-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920566528.3U CN210068014U (en) | 2019-04-24 | 2019-04-24 | Drill rod grabbing manipulator device for drilling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920566528.3U CN210068014U (en) | 2019-04-24 | 2019-04-24 | Drill rod grabbing manipulator device for drilling machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210068014U true CN210068014U (en) | 2020-02-14 |
Family
ID=69438536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920566528.3U Active CN210068014U (en) | 2019-04-24 | 2019-04-24 | Drill rod grabbing manipulator device for drilling machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210068014U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112276960A (en) * | 2020-09-03 | 2021-01-29 | 中海油能源发展股份有限公司 | Auxiliary positioning early warning device for self-elevating drilling platform in place |
| CN113123736A (en) * | 2021-06-07 | 2021-07-16 | 山东科技大学 | Automatic conveying device for drill rods of anti-impact drilling machine and control method of automatic conveying device |
| CN113863877A (en) * | 2021-11-14 | 2021-12-31 | 高九华 | Self-loading drill rod type coal mine drilling machine |
| CN114370244A (en) * | 2022-02-25 | 2022-04-19 | 徐工(重庆)工程技术有限公司 | Modular automatic drill pipe tripping system for well repair |
-
2019
- 2019-04-24 CN CN201920566528.3U patent/CN210068014U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112276960A (en) * | 2020-09-03 | 2021-01-29 | 中海油能源发展股份有限公司 | Auxiliary positioning early warning device for self-elevating drilling platform in place |
| CN113123736A (en) * | 2021-06-07 | 2021-07-16 | 山东科技大学 | Automatic conveying device for drill rods of anti-impact drilling machine and control method of automatic conveying device |
| CN113863877A (en) * | 2021-11-14 | 2021-12-31 | 高九华 | Self-loading drill rod type coal mine drilling machine |
| CN114370244A (en) * | 2022-02-25 | 2022-04-19 | 徐工(重庆)工程技术有限公司 | Modular automatic drill pipe tripping system for well repair |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210068014U (en) | Drill rod grabbing manipulator device for drilling machine | |
| CN104563917A (en) | Multifunctional robot for drilling site | |
| CN212867600U (en) | Anchor rod taking and delivering device for tunnel construction | |
| CN109607395B (en) | Mechanical arm | |
| CN109139064B (en) | Tunnel arch center mounting mechanical arm and tunnel arch center mounting trolley | |
| CN207890935U (en) | A kind of garbage grab bucket crane | |
| US20080245522A1 (en) | Apparatus for manipulating power tongs | |
| CN211971573U (en) | Double-arm tower crane | |
| CN214693000U (en) | Crawler crane counterweight device | |
| JPH0631158B2 (en) | Attachment for detaching concrete formwork unit | |
| CN210885004U (en) | Mechanical suspension arm assembly | |
| CN208179548U (en) | A kind of casting catching robot | |
| CN109209451B (en) | Hanging flower basket and tunnel bow member mounting platform truck | |
| CN209635761U (en) | A kind of three sections of arm types translation lifting handling device | |
| CN208686332U (en) | Pipe mechanical arm is helped in a kind of automation | |
| CN208992740U (en) | A kind of dedicated contact jaw of cantilever crane inlays graphite copper axle sleeve | |
| CN203531125U (en) | Mechanical arm type dredging mechanism | |
| CN202450529U (en) | Open type pile controller | |
| CN207509258U (en) | A kind of automatic mechanical hand | |
| CN201777778U (en) | Rotary lifting appliance | |
| RU2370651C2 (en) | Working equipment of shaft loading machine with controlled bucket | |
| CN207524590U (en) | Automatic transporting work piece apparatus | |
| CN208684253U (en) | One kind preventing crane shaking device | |
| CN214446385U (en) | Mechanical tongs with adjustable angle | |
| CN214392954U (en) | Welding telescopic arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |