CN108622809A - tunnel handling robot - Google Patents
tunnel handling robot Download PDFInfo
- Publication number
- CN108622809A CN108622809A CN201810655073.2A CN201810655073A CN108622809A CN 108622809 A CN108622809 A CN 108622809A CN 201810655073 A CN201810655073 A CN 201810655073A CN 108622809 A CN108622809 A CN 108622809A
- Authority
- CN
- China
- Prior art keywords
- door frame
- supporting leg
- fork beam
- wheel
- traveling wheel
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/08—Runners; Runner bearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of tunnel handling robots, it includes fuselage link, two groups of lifting door frames are at least installed on the fuselage link, landing leg stretching driving device is provided between supporting leg under door frame upper supporting leg and door frame, door frame crossbeam includes left fork beam and right fork beam, crossbeam retractable driving device is connected between left fork beam and right fork beam, multidimensional row wheel support is installed on supporting leg under door frame, it is hinged on multidimensional wheel support to have traveling wheel swinging mounting, it is supported with oscillatory gearing mechanism between traveling wheel swinging mounting and multidimensional wheel support, rotating support has walking wheel support on traveling wheel swinging mounting, wheel carrier slewing gear is provided between traveling wheel swinging mounting and walking wheel support, rotating support has traveling wheel in walking wheel support, the traveling wheel is sequentially connected with traction drive device.The present invention is not only reasonable for structure, can directly consolidate to be supported in circular tube shaped tunnel inner wall cambered surface and walk, and voluntarily can carry out operation by leaping over obstacles.
Description
Technical field
The present invention relates to a kind of lifting equipments, more particularly to are widened to the upgrading of lifting equipment function used in tunnel.
Background technology
In city rail construction, when being laid with track especially in circular tube shaped tunnel hole, gate-type lifting equipment is answered more
With existing gate-type lifting appliance is substantially to be fixedly installed in the traveling wheel of door frame bottom by door frame and be set to above door frame
Boom hoisting formed.Though existing gate-type lifting equipment can be laid with track in circular tube shaped tunnel hole, its
There are still upper deficiencies in actual use：On the one hand, because of all traveling wheels of support door frame, its axis is arranged in parallel, it is clear that
Existing gate-type lifting appliance only suitable for the construction operation on plane ground and is walked, and cannot be supported directly on circular tube shaped Tunnel-hole
It is that can allow gate-type lifting appliance that can be walked in circular tube shaped tunnel, implement handling track operation, Chang Cai on inner wall, in engineering
The auxiliary road of walking for having constructed gate-type lifting appliance in advance before laying a railway track, waits for that track is completed and is removed again, this to construct walking
Allow gate-type lifting appliance to construct in tunnel though the mode that auxiliary road is removed again can be realized, the auxiliary road of walking construct and dismounting needs to consume
Take lot of materials, time and manpower, causes the increase of engineering cost and the waste of duration；Another aspect, because door frame width is fixed,
Then door frame span in orbit cannot be adjusted, this not only constrains the handling range of lifting appliance, and equal when transport, storage
Occupy larger space；On the other hand, because of a gate-type lifting appliance generally rigid structure, obstacle is met during the work time
（Convex bank or pit）When, it must be realized and be crossed over by means of other ancillary equipments, cannot achieve and voluntarily cross, this is in practical application
In just seem fairly cumbersome.
Invention content
Technical problem to be solved by the invention is to provide a kind of not only reasonable for structure, it can directly consolidate and be supported on circular tube shaped
Walk in tunnel inner wall cambered surface, and can voluntarily leaping over obstacles tunnel handling robot.
In order to solve the above-mentioned technical problem, tunnel handling robot of the invention, including
Fuselage link is at least equipped with two groups of lifting door frames on the fuselage link, the lifting door frame include door frame supporting leg and
Door frame crossbeam, the door frame supporting leg include supporting leg under the door frame upper supporting leg and door frame being mutually slidably connected, in door frame upper supporting leg and
Landing leg stretching driving device is provided under door frame between supporting leg, which includes left fork beam and right fork beam, in left half cross
It is connected with crossbeam retractable driving device between beam and right fork beam, is installed with multidimensional row wheel support on supporting leg under door frame,
It is hinged on the multidimensional wheel support to have traveling wheel swinging mounting, it is supported with swing between the traveling wheel swinging mounting and multidimensional wheel support
Driving device, rotating support has walking wheel support on traveling wheel swinging mounting, in traveling wheel swinging mounting and walking wheel support
Between be provided with wheel carrier slewing gear, rotating support has traveling wheel in walking wheel support, the traveling wheel and traction drive
Device is sequentially connected.
With the above structure, due to being provided with door frame and fuselage link, then entire machine is just obtained by gantry unit
The composed structure for adding fuselage link not only facilitates manufacture and assembly, but also can be by door according to the function of reaching needed for machine
Frame unit is set as four groups or four groups or more；Again since door frame supporting leg to be set as including the door frame upper supporting leg being mutually slidably connected
With supporting leg under door frame, and landing leg stretching driving device is provided between supporting leg under door frame upper supporting leg and door frame, door frame crossbeam is set
It is set to including left fork beam and right fork beam, and is connected with crossbeam retractable driving device between left fork beam and right fork beam,
Then door frame supporting leg and door frame crossbeam have all had retractable, work as in work progress meet earth bulging in this way（Convex bank is recessed
Hole）When, supporting leg under the door frame in gantry unit at machine obstacle near the ground can be risen by landing leg stretching driving device, allows it
After crossing earth bulging during random device advances, is resetted by landing leg stretching driving device and be supported in walking surface
On, then supporting leg under the door frame in gantry unit at next close earth bulging is risen, crossed and resetted successively, so
Reciprocal just can realize allows machine voluntarily to cross over earth bulging, in addition passes through landing leg stretching driving device and cross in transport and storage
Door frame can be contracted to minimum dimension by beam retractable driving device in height and width direction, that is, realizing can allow machine in minimum
Transport under volume and storage；Due also to multidimensional wheel support is installed on supporting leg under door frame, and on multidimensional wheel support
It is hinged to have traveling wheel swinging mounting, it is supported with oscillatory gearing mechanism between the traveling wheel swinging mounting and multidimensional wheel support, then
The angle between traveling wheel swinging mounting and multidimensional wheel support can be adjusted by oscillatory gearing mechanism；And it is swung in traveling wheel
Rotating support has walking wheel support on holder, and wheel carrier revolution transmission is provided between traveling wheel swinging mounting and walking wheel support
Device, rotating support has traveling wheel in walking wheel support, then walking wheel support can be driven to exist by wheel carrier slewing gear
Make circumferential revolution on traveling wheel swinging mounting, the traveling wheel being supported in this way in walking wheel support just can follow traveling wheel to swing
Holder obtain together needed for operating angle adjustment, and can follow walking wheel support one act as needed for circumferential angle adjustment.It is logical
Crossing the angle adjustment of traveling wheel swinging mounting followed to traveling wheel can allow the wheel face of traveling wheel close to circular tube shaped tunnel inner wall, row
It walks to take turns just can directly consolidate to be supported in circular tube shaped tunnel inner wall cambered surface and walk, that is, realizing can allow machine directly in circular tube shaped tunnel
Carrying out the construction operations such as handling in road can not only by the in due course adjustment to the followed walking wheel support circumferential direction angle of traveling wheel
Realization makes traveling wheel wheel face be bonded always with tunnel inner wall holding at tubular tunnel crank throw, is also achieved that machine can be in tunnel
It is interior steadily to be turned round, moreover it is possible to allow machine to be moved in non-Construction State along setting up deflection, by by traveling wheel and row
Wheel drive unit drive connection is walked, then provides necessary walking power for traveling wheel, ensure that work of the machine in tunnel
Row moves.
A preferred embodiment of the present invention is that the fuselage link is fixedly connected on door frame upper supporting leg；It is described
Fuselage link is fixedly connected on left fork beam and right fork beam.No matter by fuselage connection be set as with door frame upper supporting leg or with
Left fork beam and right fork beam Joint can realize the firm assembly connection to machine.
Another preferred embodiment of the present invention is that supporting leg is mutually slidably socketed under the door frame upper supporting leg and door frame；
The landing leg stretching driving device is telescopic oil cylinder.Set supporting leg under door frame upper supporting leg and door frame to the side being mutually slidably socketed
Formula has the advantages of simple and reasonable, manufacture easy to implement and adjustment；And use telescopic oil cylinder as landing leg stretching driving device
Equally has the advantages that manufacture easy to implement.
Another preferred embodiment of the present invention is that the left fork beam and right fork beam are directly slidably socketed；It is described
Left fork beam and right fork beam are slidably socketed by crossbeam connector；The crossbeam retractable driving device is telescopic oil cylinder；It is described
Twisted branch is distinguished on left fork beam and right fork beam in the both ends of crossbeam retractable driving device；The crossbeam retractable driving device is two
Set, the equal twisted branchs in one end of two sets of crossbeam retractable driving devices on crossbeam connector, two sets of crossbeam retractable driving devices
The other end distinguishes twisted branch on left fork beam and right fork beam.No matter crossbeam set-up mode takes two-part（I.e. left fork beam and
Right fork beam is directly slidably socketed）Or three-stage（I.e. left fork beam and right fork beam are slidably socketed by crossbeam connector）,
It can achieve the purpose that be adjusted crossbeam span, and three-stage crossbeam is adjusted compared to two-part crossbeam with broader span
Range；Had the advantages that using telescopic oil cylinder as crossbeam retractable driving device it is easy to implement manufacture and it is easy to adjust reliable.
Another preferred embodiment of the present invention is that the oscillatory gearing mechanism is telescopic oil cylinder；The wheel carrier revolution
Transmission device is worm-gear speed reducer；The traction drive device is motor.Make oscillatory gearing mechanism with telescopic oil cylinder, uses
Worm-gear speed reducer makees wheel carrier slewing gear, and making traction drive device with motor all has the excellent of manufacture easy to implement
Point.
Description of the drawings
The tunnel handling robot of the present invention is described further with reference to the accompanying drawings and detailed description.
Fig. 1 is a kind of structural schematic diagram of specific implementation mode of tunnel handling of the present invention robot；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the vertical view of Fig. 2；
Fig. 4 is a kind of structural schematic diagram under tunnel handling of the present invention robot is in running order（Show that tunnel is disconnected in figure
Face）；
Fig. 5 is the structural schematic diagram of multidimensional wheel running gear in the present invention（Traction drive device 8.1 is fixedly installed in row in figure
It walks to take turns on swinging mounting 8.7）；
Fig. 6 is the structural schematic diagram of multidimensional wheel running gear in the present invention（Traction drive device 8.1 is fixedly installed in row in figure
It walks on wheel support 8.9）；
Fig. 7 is the structural schematic diagram of multidimensional wheel running gear in the present invention（Traveling wheel 8.12 and traction drive device 8.1 in figure
It is directly connected to）.
In figure, supporting leg under 1- door frames, 2- landing leg stretching driving devices, 3- door frame upper supporting legs, 4- crossbeam retractable driving devices,
5- crossbeam connectors, the left fork beams of 6-, the right fork beams of 7-, 8- multidimensional wheel running gears, the tunnels 9-, 10- fuselage links, 11-
Boom hoisting, 8.1- traction drive devices, 8.2- oscillatory gearing mechanisms, 8.3- multidimensional wheel supports, 8.4- wheel carrier revolution drivings
Device, 8.5- worm screws, 8.6- worm gears, 8.7- traveling wheel swinging mountings, 8.8- wheel carrier slewing gears, 8.9- traveling wheel branch
Frame, 8.10- traveling wheel bearings, 8.11- live axles, 8.12- traveling wheels, 8.13- drive bevel gears, 8.14- drive bevel gear,
8.15- traveling wheel wheel face.
Specific implementation mode
In handling robot in tunnel shown in Fig. 1 to Fig. 4, it is installed with four groups by the connection of fuselage link 10 and plays overhang-door
Frame, the lifting door frame is by door frame supporting leg, door frame crossbeam and is fixed in the multidimensional wheel running gear 8 of door frame supporting leg bottom and forms.It should
Door frame supporting leg includes supporting leg 1 under door frame upper supporting leg 3 and door frame, and supporting leg 1 is mutually slidably socketed under door frame upper supporting leg 3 and door frame,
Landing leg stretching driving device 2 is provided under door frame upper supporting leg 3 and door frame between supporting leg 1, which is flexible oil
Cylinder, the door frame crossbeam are three-stage, are made of left fork beam 6, right fork beam 7 and crossbeam connector 5, left fork beam 6 and the right side
The connecting pin of fork beam 7 is slidably socketed in crossbeam connector 5, and the fixing end of left fork beam 6 and right fork beam 7 is fixed in
Its respectively where side door frame upper supporting leg 3 on, twisted branch is distinguished in left fork beam and the right side in the both ends of the crossbeam retractable driving device
On fork beam, crossbeam retractable driving device 4 is all connected between left fork beam 6 and right fork beam 7 and crossbeam connector 5, the cross
Beam retractable driving device 4 is telescopic oil cylinder, and the equal twisted branch in one end of two telescopic oil cylinder is on crossbeam connector 5, the two flexible oil
The other end of cylinder distinguishes twisted branch on left fork beam 6 and right fork beam 7, which can also be used two-part, by mutual
Left fork beam 6 and right fork beam 7 composition being directly socketed are connected with the flexible drive of crossbeam between left fork beam 6 and right fork beam 7
Dynamic device 4, fuselage link 10 is fixedly installed on door frame upper supporting leg 3 or left fork beam 6 and right fork beam 7, after the implementation,
Work as in work progress and meets earth bulging（Convex bank or pit）When, it can be by landing leg stretching driving device 2 by machine barrier near the ground
Hinder supporting leg 1 under the door frame in place's gantry unit to rise, allows it after crossing earth bulging during random device advances, pass through supporting leg
Retractable driving device 2 is resetted and is supported on walking surface, then successively in gantry unit at next close earth bulging
Door frame under supporting leg risen, crossed and resetted, just can and so on realize allow machine voluntarily cross over earth bulging, in addition exist
It can be by door frame in height and width direction by landing leg stretching driving device 2 and crossbeam retractable driving device 4 when transport and storage
It is contracted to minimum dimension, that is, realizes the transport and storage that can allow machine under minimum volume；Multidimensional wheel running gear 8 includes
Multidimensional row wheel support 8.3, which is fixedly connected on 1 bottom end of supporting leg under door frame, on the multidimensional wheel support 8.3
It is hinged to have traveling wheel swinging mounting, it is supported with oscillatory gearing mechanism between the traveling wheel swinging mounting 8.7 and multidimensional wheel support 8.3
8.2, the angle between traveling wheel swinging mounting 8.7 and multidimensional wheel support 8.3 can be adjusted by oscillatory gearing mechanism 8.2,
Rotating support has walking wheel support 8.9 on traveling wheel swinging mounting 8.7, in traveling wheel swinging mounting 8.7 and walking wheel support
Wheel carrier slewing gear 8.8 is provided between 8.9, which passes with wheel carrier device for revolving and driving 8.4
Dynamic connection, the wheel carrier slewing gear 8.8 are worm-gear speed reducer, which is hydraulic motor,
The hydraulic motor is directly connected on the worm screw 8.5 of worm-gear speed reducer, and walking wheel support 8.9 is fixedly connected on worm and gear
On the worm gear 8.6 of speed reducer, live axle 8.11 is fixedly mounted in walking wheel support 8.9, passes through on the live axle 8.11
Traveling wheel bearing 8.10 is rotatablely connected traveling wheel 8.12, and the traveling wheel wheel face 8.15 of the traveling wheel 8.12 is arc, the walking
It is equal with 9 inner wall radius of tunnel or greatly to suitable to take turns 8.15 arc curvature radius of wheel face, is fixedly mounted on the traveling wheel 8.12
Drive bevel gear 8.13, the drive bevel gear 8.13 are meshed with driving bevel gear 8.14, which passes through tooth
It takes turns transmission case to be sequentially connected with traction drive device 8.1, which is fixedly installed on traveling wheel swinging mounting 8.7
（See Fig. 5）, which can also be fixedly installed on the worm gear 8.6 for being connected to walking wheel support 8.9（See Fig. 6）, the drive
Dynamic bevel gear 8.14 is fixedly connected on gear and goes out shaft end, which is coaxially disposed with worm gear 8.6, should
Traction drive device 8.1 is motor, and Fig. 7 shows another the feasible type of drive of traveling wheel 8.12, traveling wheel in figure
8.12 directly with walk wheel drive unit 8.1 and connect, it is hydraulic motor or motor that this, which walks wheel drive unit 8.1, is passed through in the implementation
Wheel carrier slewing gear 8.4 can drive walking wheel support 8.9 to make circumferential revolution on traveling wheel swinging mounting 8.7, prop up in this way
Holding the traveling wheel 8.12 in walking wheel support 8.9 just can follow traveling wheel swinging mounting 8.7 to obtain required operating angle together
The adjustment of degree, but can follow walking wheel support 8.9 act as needed for circumferential angle adjustment, by being followed to traveling wheel 8.12
The angle adjustment of traveling wheel swinging mounting 8.7 can allow the wheel face of traveling wheel close to circular tube shaped tunnel inner wall, and traveling wheel 8.12 just can
Directly firm be supported in circular tube shaped tunnel inner wall cambered surface is walked, that is, realizing can allow machine directly to be carried out in circular tube shaped tunnel
The construction operations such as handling can not only be real by the in due course adjustment to the circumferential angle of 8.12 followed walking wheel support of traveling wheel 8.9
So that traveling wheel wheel face 8.15 is bonded always with tunnel inner wall holding at present tubular tunnel crank throw, is also achieved that machine can be in tunnel
It is steadily turned round in road, moreover it is possible to allow machine to be moved in non-Construction State along setting up deflection, by by traveling wheel
8.12 are sequentially connected with traction drive device 8.1, then provide necessary walking power for traveling wheel 8.12, ensure that machine
Working line in tunnel moves.This implementation, which has reached, can not only allow machine is directly firm to be supported in circular tube shaped tunnel inner wall cambered surface
Walking, and can voluntarily leaping over obstacles, and simple and reasonable implementation purpose.
Above-mentioned only to have enumerated some preferred embodiments of tunnel handling of the present invention robot, but it is not limited to this, not
In the case of violating general principles, it can also make several transformation and improvement.For example, not only to the selection of oscillatory gearing mechanism
It is limited to telescopic oil cylinder, also some can commonly carry out the device of expanding-contracting action for cylinder etc.；Application to gantry unit group number
Four groups are not only limited to, can also be more or less than four groups, and so on.As long as any structure phase made by the basis of the present invention
Closely, intimate variation pattern is accordingly to be regarded as falling into protection scope of the present invention.
Claims (10)
1. a kind of tunnel handling robot, including fuselage link（10）, it is characterised in that：Fuselage link（10）On at least pacify
Equipped with two groups of lifting door frames, which includes door frame supporting leg and door frame crossbeam, and the door frame supporting leg includes that mutually sliding connects
The door frame upper supporting leg connect（3）With supporting leg under door frame（1）, in door frame upper supporting leg（3）With supporting leg under door frame（1）Between be provided with supporting leg and stretch
Contracting driving device（2）, which includes left fork beam（6）With right fork beam（7）, in left fork beam（6）With right fork beam
（7）Between be connected with crossbeam retractable driving device（4）；The supporting leg under door frame（1）On be installed with multidimensional row wheel support
（8.3）, the multidimensional wheel support（8.3）It is above hinged to have traveling wheel swinging mounting（8.7）, the traveling wheel swinging mounting（8.7）With it is more
Tie up wheel support（8.3）Between be supported with oscillatory gearing mechanism（8.2）, in traveling wheel swinging mounting（8.7）Upper rotating support has row
Walk wheel support（8.9）, in traveling wheel swinging mounting（8.7）And walking wheel support（8.9）Between be provided with wheel carrier revolution transmission dress
It sets（8.8）, walking wheel support（8.9）Upper rotating support has traveling wheel（8.12）, the traveling wheel（8.12）It is filled with traction drive
It sets（8.1）It is sequentially connected.
2. tunnel handling according to claim 1 robot, it is characterised in that：The fuselage link（10）It is fixedly connected
In door frame upper supporting leg（3）On.
3. tunnel handling according to claim 1 robot, it is characterised in that：The fuselage link（10）It is fixedly connected
In left fork beam（6）With right fork beam（7）On.
4. tunnel handling according to claim 1 robot, it is characterised in that：The door frame upper supporting leg（3）Under door frame
Supporting leg（1）Mutually it is slidably socketed.
5. tunnel handling according to claim 1 robot, it is characterised in that：The landing leg stretching driving device（2）For
Telescopic oil cylinder.
6. tunnel handling according to claim 1 robot, it is characterised in that：The left fork beam（6）With right fork beam
（7）Directly it is slidably socketed.
7. tunnel handling according to claim 1 robot, it is characterised in that：The left fork beam（6）With right fork beam
（7）Pass through crossbeam connector（5）It is slidably socketed.
8. the tunnel handling robot according to claim 6 or 8, it is characterised in that：The crossbeam retractable driving device（4）
Both ends distinguish twisted branch in left fork beam（6）With right fork beam（7）On.
9. tunnel handling according to claim 7 or 8 robot, it is characterised in that：The crossbeam retractable driving device（4）
It is two sets, two sets of crossbeam retractable driving devices（4）The equal twisted branch in one end in crossbeam connector（5）On, two sets of crossbeams are flexible
Driving device（4）The other end distinguish twisted branch in left fork beam（6）With right fork beam（7）On.
10. tunnel handling according to claim 1 robot, it is characterised in that：The oscillatory gearing mechanism（8.2）To stretch
Contracting oil cylinder；The wheel carrier slewing gear（8.8）For worm-gear speed reducer；The crossbeam retractable driving device（4）To stretch
Contracting oil cylinder.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810655073.2A CN108622809B (en) | 2018-06-23 | 2018-06-23 | Tunnel hoisting robot |
| CN202010385835.9A CN111453626B (en) | 2018-06-23 | 2018-06-23 | Tunnel hoisting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810655073.2A CN108622809B (en) | 2018-06-23 | 2018-06-23 | Tunnel hoisting robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010385835.9A Division CN111453626B (en) | 2018-06-23 | 2018-06-23 | Tunnel hoisting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108622809A true CN108622809A (en) | 2018-10-09 |
| CN108622809B CN108622809B (en) | 2020-11-13 |
Family
ID=63692081
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010385835.9A Active CN111453626B (en) | 2018-06-23 | 2018-06-23 | Tunnel hoisting robot |
| CN201810655073.2A Active CN108622809B (en) | 2018-06-23 | 2018-06-23 | Tunnel hoisting robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010385835.9A Active CN111453626B (en) | 2018-06-23 | 2018-06-23 | Tunnel hoisting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN111453626B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113668535A (en) * | 2021-07-22 | 2021-11-19 | 中铁八局集团昆明铁路建设有限公司 | Automatic leg lifting device for assembly trolley of assembled subway station |
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| CN206088852U (en) * | 2016-10-27 | 2017-04-12 | 苏州大方特种车股份有限公司 | Hoist is laid to tunnel track |
| CN107651573A (en) * | 2017-09-25 | 2018-02-02 | 河南东起机械有限公司 | A kind of track is laid a railway track special purpose crane tool |
| CN208617242U (en) * | 2018-06-23 | 2019-03-19 | 东台市富康机械有限公司 | Tunnel handling robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113668535A (en) * | 2021-07-22 | 2021-11-19 | 中铁八局集团昆明铁路建设有限公司 | Automatic leg lifting device for assembly trolley of assembled subway station |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108622809B (en) | 2020-11-13 |
| CN111453626A (en) | 2020-07-28 |
| CN111453626B (en) | 2021-07-20 |
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