CN108238545A - Assembling type steel structure builds steel column catching robot - Google Patents
Assembling type steel structure builds steel column catching robot Download PDFInfo
- Publication number
- CN108238545A CN108238545A CN201810068858.XA CN201810068858A CN108238545A CN 108238545 A CN108238545 A CN 108238545A CN 201810068858 A CN201810068858 A CN 201810068858A CN 108238545 A CN108238545 A CN 108238545A
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- Prior art keywords
- steel column
- steel
- catching robot
- joint
- assembling type
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
- B66C1/445—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of assembling type steel structures to build steel column catching robot, which is characterized in that including：For providing the power-supply system of whole system kinergety, control system, grasping system, servo electrical machinery system, six degree of freedom adjustment plateform system, double-shaft level sensor and the visual identity module for connecting and controlling total to move；Compared with prior art, the present invention has the following advantages：(1) automatic clamping steel column, automatic adjustment verticality of steel column and automatic rotation steel column angle are realized, under the action of bridge-type double beam crane is accurately positioned, steel column is accurately lifted in place；(2) handlings are accurately installed in place, and are eliminated manual synchronizing link, are equipped with intelligent bolt mounting robot, are realized steel column lifting automation, are improved efficiency；(3) associated sample data of each discrete point during manual manipulator is recorded, position and the angle of robot movement can flexibly, be reliably adjusted, eliminate the position dead angle of robot movement.
Description
Technical field
The present invention relates to building iron column technology fields, more particularly to assembling type steel structure building steel column gripper
Tool hand.
Background technology
The steel column of assembling type steel structure building manufactures the completion that is prefabricated in the factory, and construction site is merely responsible for the lifting of steel column, because
How this realizes that the fast hoisting of steel column and verticality adjust the key node for becoming steel column installation, so inventing in this context
Steel column lifting manipulator.
Manipulator is a kind of automated production equipment of new development.It can be appointed by being programmed to various expected operations
Business.The action of simulation human hand is generally required, it is artificial for replacing, the degree of automation of production is improved, is raised labour productivity, is dropped
Low production cost.Especially instead of the work being accomplished manually under various extreme conditions, under extreme temperature and pressure condition, radiation
Property or the pollution environment such as toxicity in work.Especially for simple repetitive work, manpower is compared to, is had very big
Advantage.
Invention content
In view of this, replace traditional tower crane steel wire rope lifting, the correction of artificial two transits, peace the present invention provides a kind of
Dress technique, a handling are accurately installed in place, and are eliminated manual synchronizing link, are equipped with intelligent bolt mounting robot, realize
Steel column lifting automation improves the assembling type steel structure building steel column catching robot of efficiency.
To achieve the above object, the present invention provides following technical solution：
Assembling type steel structure builds steel column catching robot, which is characterized in that including：For providing whole system movement energy
The power-supply system of amount, one connect and control control system, grasping system, servo electrical machinery system, six freedom that total moves
Degree adjustment plateform system, double-shaft level sensor and visual identity module；Wherein, the control system is mainly by central processing unit
The compositions such as module, data input/output module, wireless communication module further include a servo electrical machinery system and a teaching box,
The servo electrical machinery system is made of the motion controller based on DSP, servo-driver, servomotor and photoelectric encoder；
The teaching box obtains the data in manipulator servo systems by controlled stage computer, and is controlled applied to controlled stage computer
In software, so as to fulfill the teaching and control to manipulator；What the six degree of freedom adjustment plateform system was cooperated by six
Joint module forms, sequentially connected first joint, second joint, third joint, the 4th joint, the 5th joint, the 6th joint；
Grasping system is installed on plane on the six degree of freedom adjustment plateform system, is positioned by hydraulic cylinder, hydraulic power unit and mechanical grip
Module forms；Wherein, hydraulic power unit provides power for hydraulic cylinder, pushes mechanical grip module action, is tightly secured in steel column
On the six degree of freedom adjustment plateform system.
Preferably, in a kind of above-mentioned assembling type steel structure building steel column catching robot, the double-shaft level sensor
Including the dynamical system being mounted on each joint, the dynamical system includes a motor and connects a flexible structure harmonic reduction
Device, and after flexible structure harmonic speed reducer deceleration, under control system control, the connected mechanism of movement is to specifying
Position.
Preferably, in a kind of above-mentioned assembling type steel structure building steel column catching robot, the flexible structure harmonic wave subtracts
Fast device includes the wave producer positioned at retarder center, positioned at a steel wheel of retarder periphery and positioned at the steel
A flexbile gear of inside is taken turns, the flexbile gear is used for by deforming the open top container ship realized with the steel wheel.
Preferably, in a kind of above-mentioned assembling type steel structure building steel column catching robot, the double-shaft level sensor
An at least position sensor is further included, the position sensor is arranged on each joint ontology, for detecting the joint in real time
Position.
Preferably, in a kind of above-mentioned assembling type steel structure building steel column catching robot, the grasping system includes hand
Electric rotating machine stent is grabbed, the hand grabs electric rotating machine internal stent equipped with hand claw electric rotating machine, and hand claw electric rotating machine is opened with hand claw
Electric machine support connection is closed, hand claw folding motor is fixed with inside hand claw folding electric machine support, hand claw folding motor is connected with screw rod,
Be cased on screw rod can oscilaltion hand claw clasp nut, hand claw clasp nut both ends are connect with hand claw.
Preferably, in a kind of above-mentioned assembling type steel structure building steel column catching robot, the control system is machinery
The intelligent control maincenter of hand, have the function of to exchange with external instant messages with internal intelligent control and data processing etc.；It passes through
Per floor Building Information Model, with reference to visual identity module data, control each system operation, realize that clamping steel column, steel column turn
The actions such as dynamic, verticality of steel column adjustment.
Preferably, in a kind of above-mentioned assembling type steel structure building steel column catching robot, the servo electrical machinery system leads to
Building Information Model is crossed, is automatically rotated to steel column setting angle.
Preferably, in a kind of above-mentioned assembling type steel structure building steel column catching robot, the visual identity module is real
When acquire information, for each system operating support is provided；It is mainly by ultrasonic scanning sensor, scanning laser sensor, three-dimensional
Visual sensor forms.
Preferably, it in a kind of above-mentioned assembling type steel structure building steel column catching robot, is passed by the double-shaft level
Sensor feedack, the verticality of the six degree of freedom adjustment plateform system adjust automatically steel column.
Preferably, in a kind of above-mentioned assembling type steel structure building steel column catching robot, specific operating procedure is：Institute
It states steel column catching robot to be combined with being accurately positioned bridge-type double beam crane, under the control of the control system, according to building
Information model and construction technology, bridge-type double beam crane automatic running to steel column feeding point are built, the visual identity module is read
The steel column 2 D code information, the clamping device grip steel column, and servo electrical machinery system is rotated to the setting angle of the steel column, accurately
Accurately operation is to the steel column installation site for positioning bridge double girder crane, and by the feedback information of double-shaft level sensor, six certainly
It is accurate that steel column is installed in place by degree adjustment plateform system adjustment plateau levels degree (i.e. verticality of steel column), that is, complete the standard of steel column
Really installation.
It can be seen via above technical scheme that the present disclosure provides a kind of assembling type steel structures to build steel column gripper
Tool hand, which is characterized in that including：For providing the power-supply system of whole system kinergety, a connection and controlling total
The control system of movement, grasping system, servo electrical machinery system, six degree of freedom adjust plateform system, double-shaft level sensor and regard
Feel identification module；Compared with prior art, the present invention has the following advantages：(1) by with being accurately positioned bridge-type double beam crane
With reference to, under control of the control system, by the information that vision module acquires, the automatic clamping steel column of realization, automatic adjustment steel column
Verticality and automatic rotation steel column angle, under the action of bridge-type double beam crane is accurately positioned, steel column is accurately lifted in place；
(2) replace traditional tower crane steel wire rope lifting, the correction of artificial two transits, mounting process, a handling is accurately installed in place, exempts from
Manual synchronizing link has been gone, has been equipped with intelligent bolt mounting robot, steel column lifting automation has been realized, improves efficiency；
(3) by coordinating the mutual cooperation of visual identifying system and teaching box, each discrete point during manual manipulator is recorded
Associated sample data, and applied in later automatically control, therefore can flexibly, reliably adjust the position and angle of robot movement
Degree eliminates the position dead angle of robot movement.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Overall structure diagram of Fig. 1 attached drawings for the present invention.
Fig. 2 attached drawings adjust plateform system structure diagram for the six degree of freedom of the present invention.
Middle flexible structure harmonic speed reducer overall structure diagram of Fig. 3 attached drawings for the present invention.
Middle flexible structure harmonic speed reducer sectional view of Fig. 4 attached drawings for the present invention.
Grasping system structure diagram of Fig. 5 attached drawings for the present invention.
System Control Figure of Fig. 6 attached drawings for the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
Replace traditional tower crane steel wire rope lifting, the correction of artificial two transits, installation the embodiment of the invention discloses a kind of
Technique, a handling are accurately installed in place, and are eliminated manual synchronizing link, are equipped with intelligent bolt mounting robot, realize steel
Column lifting automation improves the assembling type steel structure building steel column catching robot of efficiency.
Attached drawing 1, attached drawing 2, attached drawing 3, attached drawing 4, attached drawing 5, attached drawing 6 are please referred to, is a kind of assembled steel disclosed by the invention
Structural construction steel column catching robot, specifically includes：
For providing the power-supply system of whole system kinergety, a control system for connecting and controlling total to move
1st, grasping system 2, servo electrical machinery system 3, six degree of freedom adjustment plateform system 4, double-shaft level sensor 5 and visual identity module
6；Wherein, control system 1 is mainly made of CPU module, data input/output module, wireless communication module etc., is also wrapped
Include a servo electrical machinery system 3 and a teaching box, servo electrical machinery system 3 by the motion controller based on DSP, servo-driver, watch
Take motor and photoelectric encoder composition；Teaching box obtains the data in manipulator servo systems by controlled stage computer, and
Applied in controlled stage computer control software, so as to fulfill the teaching and control to manipulator；Six degree of freedom adjustment platform system
System 4 is made of the joint modules of six mutual cooperations, sequentially connected first joint 41, second joint 42, third joint 43, the
Four joints 44, the 5th joint 45, the 6th joint 46；Grasping system 2 is installed on plane on six degree of freedom adjustment plateform system 4, by
Hydraulic cylinder 21, hydraulic power unit 22 and mechanical grip locating module 23 form；Wherein, hydraulic power unit 22 provides power for hydraulic cylinder,
Mechanical grip module 23 is pushed to act, steel column is made to be tightly secured on six degree of freedom adjustment plateform system 4.
The present invention has the following advantages：(1) by being combined with being accurately positioned bridge-type double beam crane, in the control of control system
Under system, by the information that vision module acquires, realize automatic clamping steel column, automatic adjustment verticality of steel column and rotate steel column automatically
Under the action of bridge-type double beam crane is accurately positioned, steel column is accurately lifted in place for angle；(2) replace traditional tower crane steel
Cord lifting, the correction of artificial two transits, mounting process, a handling are accurately installed in place, eliminate manual synchronizing link, match
With intelligent bolt mounting robot, steel column lifting automation is realized, improves efficiency；(3) by coordinating visual identity
System and the mutual cooperation of teaching box, record the associated sample data of each discrete point during manual manipulator, and apply
In later automatically control, therefore position and the angle of robot movement can flexibly, be reliably adjusted, eliminate robot movement
Position dead angle.
In order to advanced optimize above-mentioned technical proposal, it is dynamic that double-shaft level sensor 5 includes be mounted on each joint one
Force system, dynamical system include a motor and connect a flexible structure harmonic speed reducer 51, and pass through flexible structure harmonic speed reducer
After 51 slow down, under control system control, the connected mechanism of movement to designated position.
In order to advanced optimize above-mentioned technical proposal, flexible structure harmonic speed reducer 51 includes being located at 51 center of retarder
One wave producer 52, the steel wheel 52 positioned at 51 periphery of retarder and the flexbile gear 53 positioned at 52 inside of steel wheel, flexbile gear 53 are used for
By deforming the open top container ship realized with the steel wheel；In robot manipulator structure, the dynamical system is humorous using flexible structure
Wave retarder is driven after slowing down, and for the innovation of the present invention, advantage includes：Transmission speed ratio is big, bearing capacity is high, body
It is the small and light-weight, stable drive of product, noiseless and have the characteristics that transmission efficiency and kinematic accuracy are high；The motor passes through
The flexible structure harmonic speed reducer drives the connected workpiece after slowing down, and at least position biography is designed on each joint
Sensor, for acquiring the joint position and being input to the control system, which achieves respectively closed under being controlled in control system
Being accurately positioned for section, improves the positional precision and efficiency of joint motions, prevents the error of each joint motions from being accumulated；It is described
After each joint position data input control system that position sensor is acquired, as feedback information, combine in the teaching box
Recorded data after associated control software is handled, is exported to corresponding joint, and controls each corresponding joint certainly
It is moved in the motion range of body；After each joint motions superposition, grasping system 2 can be caused to be obtained in the movement combination in each joint
To the movement locus of required production or processing, required position is reached with correct posture.
In order to advanced optimize above-mentioned technical proposal, double-shaft level sensor 5 further includes an at least position sensor, the position
Sensor is put using the photoelectric sensor being bonded on each joint ontology, realizes the reality of the mechanism position to making mechanical movement
When detect, the real-time detection of especially each joint position, and correlation acquisition data are delivered to control system, by control system
After software synthesis of uniting is handled, for each mechanism to be controlled to be moved in setting range.
In order to advanced optimize above-mentioned technical proposal, grasping system 2 grabs electric rotating machine stent 24 including hand, and hand grabs electric rotating
24 inside of machine support is equipped with hand claw electric rotating machine 25, and hand claw electric rotating machine 25 is connect with hand claw folding electric machine support 26, and hand claw is opened
It closes and is fixed with hand claw folding motor 27 inside electric machine support 26, hand claw folding motor 27 is connected with screw rod 28, is cased on screw rod 28
Can oscilaltion hand claw clasp nut 29,28 both ends of hand claw clasp nut are connect with hand claw 291.
In order to advanced optimize above-mentioned technical proposal, control system 1 is the intelligent control maincenter of manipulator, have with it is external
The functions such as instant messages exchange and internal intelligent control and data processing；Its by every floor Building Information Model, with reference to vision
Identification module data control each system operation, realize the actions such as clamping steel column, steel column rotation, verticality of steel column adjustment.
In order to advanced optimize above-mentioned technical proposal, servo electrical machinery system 3 passes through correlation computations by a servo grade computer
The various motion control commands sent out afterwards, control the robot movement；And to come from a controlled stage computer defeated for control command
The information being stored in teaching box gone out, teaching box obtain artificial manipulation process on the computer by controlled stage computer
Data including pulse and corner information, are recorded in teaching box, and are applied in the control software of controlled stage computer, then
By the real-time collected Building Information Model of visual identity module 6, so as to fulfill the teaching and control to manipulator, so as to make
Manipulator is automatically rotated to steel column setting angle.
In order to advanced optimize above-mentioned technical proposal, visual identity module 6 acquires information in real time, is provided for the operating of each system
It supports；It is mainly made of ultrasonic scanning sensor, scanning laser sensor, three-dimensional visual sensor.
In order to advanced optimize above-mentioned technical proposal, pass through 5 feedack of double-shaft level sensor, the six degree of freedom
Adjust the verticality of plateform system adjust automatically steel column.
In order to advanced optimize above-mentioned technical proposal, specific operating procedure is：The steel column catching robot with it is accurate
Positioning bridge double girder crane is combined, under the control of the control system, according to Building Information Model and construction technology, bridge
Formula double girder crane automatic running to steel column feeding point, the visual identity module reads the steel column 2 D code information, the folder
Mechanism gripping steel column is held, servo electrical machinery system is rotated to the setting angle of the steel column, and it is accurate to be accurately positioned bridge-type double beam crane
Operation is to the steel column installation site, and by the feedback information of double-shaft level sensor, six degree of freedom adjustment plateform system adjustment is flat
Platform levelness (i.e. verticality of steel column), it is accurate that steel column is installed in place, that is, complete the accurate installation of steel column.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide range caused.
Claims (10)
1. assembling type steel structure builds steel column catching robot, which is characterized in that including：For providing whole system kinergety
Power-supply system, one connect and control total move control system, grasping system, servo electrical machinery system, six degree of freedom
Adjust plateform system, double-shaft level sensor and visual identity module；Wherein, the control system is mainly by central processing unit mould
The compositions such as block, data input/output module, wireless communication module further include a servo electrical machinery system and a teaching box, institute
Servo electrical machinery system is stated to be made of the motion controller based on DSP, servo-driver, servomotor and photoelectric encoder；Institute
Teaching box is stated by the data in controlled stage computer acquisition manipulator servo systems, and it is soft to be applied to the control of controlled stage computer
In part, so as to fulfill the teaching and control to manipulator；The pass that the six degree of freedom adjustment plateform system is cooperated by six
Save module composition, sequentially connected first joint, second joint, third joint, the 4th joint, the 5th joint, the 6th joint；Folder
The system of holding is installed on plane on the six degree of freedom adjustment plateform system, by hydraulic cylinder, hydraulic power unit and mechanical grip positioning mould
Block forms；Wherein, hydraulic power unit provides power for hydraulic cylinder, pushes mechanical grip module action, steel column is made to be tightly secured in institute
It states on six degree of freedom adjustment plateform system.
2. assembling type steel structure according to claim 1 builds steel column catching robot, which is characterized in that the twin shaft water
Sensor includes the dynamical system being mounted on each joint, and the dynamical system includes a motor and connects a flexible structure
Harmonic speed reducer, and after flexible structure harmonic speed reducer deceleration, under control system control, the connected machine of movement
Structure is to designated position.
3. assembling type steel structure according to claim 2 builds steel column catching robot, which is characterized in that the flexible knot
Structure harmonic speed reducer includes the wave producer positioned at retarder center, a steel wheel and position positioned at retarder periphery
A flexbile gear on the inside of the steel wheel, the flexbile gear are used for by deforming the open top container ship realized with the steel wheel.
4. assembling type steel structure according to claim 1 builds steel column catching robot, which is characterized in that the twin shaft water
Sensor further includes an at least position sensor, and the position sensor is arranged on each joint ontology, for detecting in real time
The position in the joint.
5. assembling type steel structure according to claim 1 builds steel column catching robot, which is characterized in that the clamping system
System includes hand and grabs electric rotating machine stent, and the hand grabs electric rotating machine internal stent equipped with hand claw electric rotating machine, hand claw electric rotating machine
It is connect with hand claw folding electric machine support, hand claw folding motor is fixed with inside hand claw folding electric machine support, hand claw folding motor connects
Be connected to screw rod, be cased on screw rod can oscilaltion hand claw clasp nut, hand claw clasp nut both ends are connect with hand claw.
6. assembling type steel structure according to claim 1 builds steel column catching robot, which is characterized in that the control system
System is the intelligent control maincenter of manipulator, has and is exchanged with external instant messages and the work(such as internal intelligent control and data processing
Energy；Its by every floor Building Information Model, with reference to visual identity module data, control each system operation, realize clamping steel
The actions such as column, steel column rotation, verticality of steel column adjustment.
7. assembling type steel structure according to claim 1 builds steel column catching robot, which is characterized in that the servo electricity
Machine system is automatically rotated to steel column setting angle by Building Information Model.
8. assembling type steel structure according to claim 1 builds steel column catching robot, which is characterized in that the vision is known
Other module acquires information in real time, and support is provided for the operating of each system；It is mainly sensed by ultrasonic scanning sensor, laser scanning
Device, three-dimensional visual sensor composition.
9. assembling type steel structure according to claim 1 builds steel column catching robot, which is characterized in that by described double
Axis horizon sensor feedack, the verticality of the six degree of freedom adjustment plateform system adjust automatically steel column.
10. the assembling type steel structure building steel column catching robot according to claim 1-9, which is characterized in that specific
Operating procedure is：The steel column catching robot is combined with being accurately positioned bridge-type double beam crane, in the control system
Under control, according to Building Information Model and construction technology, bridge-type double beam crane automatic running to steel column feeding point, the vision
Identification module reads the steel column 2 D code information, and the clamping device grips steel column, and servo electrical machinery system is rotated to the steel column
Setting angle, being accurately positioned bridge-type double beam crane, accurately operation to the steel column installation site, passes through double-shaft level sensor
Feedback information, six degree of freedom adjustment plateform system adjustment plateau levels degree (i.e. verticality of steel column) is accurate to install steel column in place, i.e.,
Complete the accurate installation of steel column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810068858.XA CN108238545A (en) | 2018-01-24 | 2018-01-24 | Assembling type steel structure builds steel column catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810068858.XA CN108238545A (en) | 2018-01-24 | 2018-01-24 | Assembling type steel structure builds steel column catching robot |
Publications (1)
| Publication Number | Publication Date |
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| CN108238545A true CN108238545A (en) | 2018-07-03 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810068858.XA Pending CN108238545A (en) | 2018-01-24 | 2018-01-24 | Assembling type steel structure builds steel column catching robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994825A (en) * | 2018-09-19 | 2018-12-14 | 河北卓秋实业有限公司 | Cantilevered Dual-spindle linked bionic mechanical hand spreading machine |
| CN110356971A (en) * | 2019-08-23 | 2019-10-22 | 江阴帕沃特起重机械有限公司 | A kind of crane of nuclear power plant and its control system |
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| DE3314806C1 (en) * | 1983-04-23 | 1984-08-23 | Nukem Gmbh, 6450 Hanau | Gripping device for pressed articles |
| KR200182248Y1 (en) * | 1999-11-19 | 2000-05-15 | 포항종합제철주식회사 | A lift device for transporting coil and/or paper |
| KR200415067Y1 (en) * | 2006-01-26 | 2006-04-27 | 한국몰드(주) | Vaccum Suction Device for Tunnel Concrete Block Segment |
| CN205272018U (en) * | 2015-11-12 | 2016-06-01 | 深圳职业技术学院 | Modularization six -degree -of -freedom manipulator |
| CN106607891A (en) * | 2015-10-21 | 2017-05-03 | 李仲男 | Travelling mechanical gripper |
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2018
- 2018-01-24 CN CN201810068858.XA patent/CN108238545A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3314806C1 (en) * | 1983-04-23 | 1984-08-23 | Nukem Gmbh, 6450 Hanau | Gripping device for pressed articles |
| KR200182248Y1 (en) * | 1999-11-19 | 2000-05-15 | 포항종합제철주식회사 | A lift device for transporting coil and/or paper |
| KR200415067Y1 (en) * | 2006-01-26 | 2006-04-27 | 한국몰드(주) | Vaccum Suction Device for Tunnel Concrete Block Segment |
| CN106607891A (en) * | 2015-10-21 | 2017-05-03 | 李仲男 | Travelling mechanical gripper |
| CN205272018U (en) * | 2015-11-12 | 2016-06-01 | 深圳职业技术学院 | Modularization six -degree -of -freedom manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994825A (en) * | 2018-09-19 | 2018-12-14 | 河北卓秋实业有限公司 | Cantilevered Dual-spindle linked bionic mechanical hand spreading machine |
| CN110356971A (en) * | 2019-08-23 | 2019-10-22 | 江阴帕沃特起重机械有限公司 | A kind of crane of nuclear power plant and its control system |
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