CN109506888B - A heave fender analogue means for floating support installation pond model test - Google Patents

A heave fender analogue means for floating support installation pond model test Download PDF

Info

Publication number
CN109506888B
CN109506888B CN201910003485.2A CN201910003485A CN109506888B CN 109506888 B CN109506888 B CN 109506888B CN 201910003485 A CN201910003485 A CN 201910003485A CN 109506888 B CN109506888 B CN 109506888B
Authority
CN
China
Prior art keywords
sliding rail
fixed
positioning device
rail assembly
plate
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
Application number
CN201910003485.2A
Other languages
Chinese (zh)
Other versions
CN109506888A (en
Inventor
李欣
卢文月
武博
田新亮
吴骁
杨立军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Jiaotong University
Original Assignee
Shanghai Jiaotong University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Jiaotong University filed Critical Shanghai Jiaotong University
Priority to CN201910003485.2A priority Critical patent/CN109506888B/en
Publication of CN109506888A publication Critical patent/CN109506888A/en
Application granted granted Critical
Publication of CN109506888B publication Critical patent/CN109506888B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M10/00Hydrodynamic testing; Arrangements in or on ship-testing tanks or water tunnels

Landscapes

  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Physics & Mathematics (AREA)
  • Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)

Abstract

The invention provides a heave fender simulation device for a floating installation pool model test, which comprises a sliding rail assembly, a positioning device, a position adjusting device and an elastic simulation device, wherein the sliding rail assembly is connected with the positioning device; the sliding rail assembly is fixed on a ship body, and the positioning device can be erected on the sliding rail assembly in a reciprocating manner along the sliding rail assembly; the position adjusting device is fixed on the ship body and is in transmission connection with the positioning device; the elastic simulation device is fixed on the positioning device along the extending direction of the sliding rail assembly and comprises an elastic assembly and a rubber pad, the elastic assembly is fixedly connected with the positioning device along the extending direction of the sliding rail assembly, and the rubber pad is fixed on one end, far away from the positioning device, of the elastic assembly. The heave fender simulation device for the floating installation pool model test is movable and good in elastic performance.

Description

A heave fender analogue means for floating support installation pond model test
Technical Field
The invention relates to the field of experimental simulation devices for a floating installation pool, in particular to a heave fender simulation device for a floating installation pool model test.
Background
The floating installation pool model experiment is an important research method which is developed along with the enlargement of the upper assembly block in floating installation. The method can accurately forecast the stress and deformation characteristics of the platform and the barge in the floating support installation process, and ensure the safety and reliability in the actual floating support installation process.
At present, in a floating support installation pool model test, in order to accurately measure the stress and deformation characteristics of a platform model in different environments, the physical environment of a real platform and a barge under stress needs to be simulated to the greatest extent, the operation conditions of a heave fender simulation device at a plurality of positions needs to be ensured, and the collision between the heave fender simulation device and a spud leg is ensured not to cause damage to a ship body. At present, a movable heave fender simulation device with excellent elastic performance for a floating installation pool model test is not available.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the heave fender simulation device for the floating installation pool model test, which has the advantages of mobility and good elastic performance.
In order to achieve the above-mentioned purpose, the present invention provides a heave fender simulation apparatus for a floating installation pool model test, comprising a slide rail assembly, a positioning device, a position adjusting device and an elastic simulation device; the sliding rail assembly is fixed on a ship body, and the positioning device can be erected on the sliding rail assembly in a reciprocating manner along the sliding rail assembly; the position adjusting device is fixed on the ship body and is in transmission connection with the positioning device; the elastic simulation device is fixed on the positioning device along the extending direction of the sliding rail assembly and comprises an elastic assembly and a rubber pad, the elastic assembly is fixedly connected with the positioning device along the extending direction of the sliding rail assembly, and the rubber pad is fixed on one end, far away from the positioning device, of the elastic assembly.
Preferably, the positioning device comprises a bottom plate, a longitudinal vertical plate and a transverse vertical plate; the bottom of the bottom plate is formed in a sliding groove matched with the sliding rail assembly, and the positioning device is erected on the sliding rail assembly through the sliding groove; the longitudinal vertical plate and the transverse vertical plate are mutually and vertically fixed on the upper surface of the bottom plate, the longitudinal vertical plate is parallel to the extending direction of the sliding rail assembly, and the elastic simulation device is fixed on one side of the transverse vertical plate; the bottom plate forms a plurality of first connection holes.
Preferably, the positioning device further comprises a supporting plate, and the supporting plate is fixed between the transverse vertical plate and the bottom plate.
Preferably, the support plate is triangular.
Preferably, the positioning device and the position adjusting device form a position adjusting mechanism which is matched with each other, and the position adjusting mechanism comprises a rack, a gear, a rocker and a rocking handle; the rack is fixed or formed on one side of the bottom plate and is parallel to the extending direction of the sliding rail component; the position adjusting device comprises a base, the gear, the rocker and the rocking handle; the rocker is pivoted with the base, the first end of the rocker is fixed at the center of the gear, the second end of the rocker is fixedly connected with the rocker, and the gear is meshed with the rack.
Preferably, the base forms at least one second connecting hole.
Preferably, the elastic assembly comprises a first end plate, a second end plate, a plurality of barrels, a plurality of rods and a plurality of springs; the first surface of the first end plate is fixedly attached to the transverse vertical plate; the rod pieces are vertically and uniformly distributed and fixed on the first surface of the second end plate, and the rubber pad is fixed on the second surface of the second end plate; the barrel part and the rod part are fixed on the first end plate in a one-to-one correspondence, the rod part is partially inserted into the barrel part, and the spring is arranged in the barrel part and connected between the rod part and the first end plate.
Preferably, the elastic assembly further comprises a plurality of rubber rings, and the rubber rings are arranged between the barrel and the rod piece and fixed to the barrel.
Preferably, the rubber ring is secured to the open end or the inside of the opening of the barrel adjacent to one end of the second end plate.
Preferably, a first connecting piece is respectively arranged in each barrel part, and the first connecting piece is fixed on the first end plate; the end parts of the rod pieces are respectively fixed with a second connecting piece; the spring is connected with the first end plate through the first connecting piece, and the spring is connected with the rod piece through the second connecting piece.
The invention adopts the technical proposal, which has the following beneficial effects:
The sliding rail component and the positioning device are matched, so that the positioning device can freely move along the sliding rail component, and the precision requirements of experiments on different positions of the heave fender can be met. The position adjusting device is used for fine-tuning the position of the positioning device on the sliding rail assembly. The elasticity simulation device provides good elasticity performance for the device. The adoption of the rubber pad can greatly buffer collision force, can effectively protect the elastic simulation device and the pile leg, prevent the elastic simulation device and the pile leg from deforming, and influence experimental precision. The backup pad is used for supporting horizontal riser, prevents that great deformation from appearing in the structure, guarantees experimental accuracy. The supporting plate plays a supporting role on the rocker, helps operators to better adjust the rocker, further controls the rotating speed and the steering of the gear, and adjusts the position of the positioning device on the ship body. The rack, the gear, the rocker and the rocking handle are mutually matched, so that the position of the positioning device erected on the sliding rail assembly can be finely adjusted through the rocking handle, and the requirement on the position accuracy in an experiment is greatly met. The spring acts as the primary cushioning member for the impact force. The rubber ring is used for increasing the friction force between the cylinder and the rod piece and effectively buffering collision force.
Drawings
FIG. 1 is a schematic diagram of a heave fender simulation apparatus for a floating installation pool model test according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a positioning device according to an embodiment of the present invention;
FIG. 3 is a schematic view of a position adjusting device according to an embodiment of the present invention;
Fig. 4 is an exploded view of an elastic simulator according to an embodiment of the invention.
Detailed Description
The following description of the preferred embodiments of the present invention will be given with reference to fig. 1 to 4, so that the functions and features of the present invention can be better understood.
Referring to fig. 1, a heave fender simulation apparatus for a floating installation pool model test according to an embodiment of the present invention includes a sliding rail assembly 1, a positioning device 2, a position adjusting device 3 and an elastic simulation device 4; the sliding rail assembly 1 is fixed on a ship body, and the positioning device 2 can be erected on the sliding rail assembly 1 in a reciprocating manner along the sliding rail assembly 1; the position adjusting device 3 is fixed on the ship body and is in transmission connection with the positioning device 2; the elastic simulation device 4 is fixed on the positioning device 2 along the extending direction of the sliding rail assembly 1, the elastic simulation device 4 comprises an elastic assembly 41 and a rubber pad 42, the elastic assembly 41 is fixedly connected with the positioning device 2 along the extending direction of the sliding rail assembly 1, and the rubber pad 42 is fixed at one end of the elastic assembly 41 far away from the positioning device 2.
The cooperation of the sliding rail assembly 1 and the positioning device 2 enables the positioning device 2 to freely move along the sliding rail assembly 1, so that the precision requirements of experiments on different positions of the heave guard can be met. The position adjusting device 3 is used for fine tuning the position of the positioning device 2 on the sliding rail assembly 1. The elasticity simulator 4 provides the device with good elastic properties. The adoption of the rubber pad 42 can greatly buffer collision force, so that the elastic simulation device 4 and the pile leg can be effectively protected, deformation of the elastic simulation device is prevented, and experimental precision is influenced.
Referring to fig. 2, the positioning device 2 includes a base 21, a longitudinal upright 22 and a transverse upright 23; the bottom of the bottom plate 21 is formed in a sliding groove 211 matched with the sliding rail assembly 1, and the positioning device 2 is erected on the sliding rail assembly 1 through the sliding groove 211; the longitudinal vertical plate 22 and the transverse vertical plate 23 are vertically fixed on the upper surface of the bottom plate 21, the longitudinal vertical plate 22 is parallel to the extending direction of the sliding rail assembly 1, and the elastic simulation device 4 is fixed on one side of the transverse vertical plate 23; the bottom plate 21 forms a plurality of first connection holes 212.
In this embodiment, the positioning device 2 further includes a supporting plate 24, and the supporting plate 24 is fixed between the transverse standing plate 23 and the bottom plate 21. The support plate 24 is triangular in shape. The backup pad 24 is used for supporting horizontal riser 23, prevents that great deformation from appearing in the structure, guarantees experimental accuracy.
Referring to fig. 1 to 3, the positioning device 2 and the position adjusting device 3 form a position adjusting mechanism which is matched with each other, and the position adjusting mechanism comprises a rack 25, a gear 32, a rocker 33 and a rocking handle 34; the rack 25 is fixed or formed on one side of the bottom plate 21 and is parallel to the extending direction of the slide rail assembly 1; the position adjusting device 3 comprises a base 31, a gear 32, a rocker 33 and a rocking handle 34; the rocker 33 is pivoted with the base 31, a first end of the rocker 33 is fixed at the center part of the gear 32, a second end of the rocker 33 is fixedly connected with the rocker handle 34, and the gear 32 is meshed with the rack 25. The base 31 forms at least one second connecting hole 311.
In this embodiment, the first end of the rocker 33 is pivotally connected to a connecting plate 35 of the base 31, the second end of the rocker 33 is mounted on a supporting plate 36, the supporting plate 36 supports the rocker 33, so as to help an operator to better adjust the rocker 33, further control the rotation speed and steering of the gear 32, and adjust the position of the positioning device 2 on the hull.
The rack 25, the gear 32, the rocker 33 and the rocking handle 34 are mutually matched, so that the rocking handle 34 can be used for finely adjusting the position of the positioning device 2 erected on the sliding rail assembly 1, and the requirement of the positioning precision in the experiment is greatly met.
Referring to fig. 4, the elastic assembly 41 includes a first end plate 411, a second end plate 412, a plurality of cylinders 413, a plurality of rods 414 and a plurality of springs 415; the first surface of the first end plate 411 is adhered and fixed to the transverse vertical plate 23; the rod pieces 414 are vertically distributed and fixed on the first surface of the second end plate 412, and the rubber pad 42 is fixed on the second surface of the second end plate 412; the cylinders 413 and the rods 414 are fixed on the first end plate 411 in a one-to-one correspondence, the rods 414 are partially inserted into the cylinders 413, and the springs 415 are arranged in the cylinders 413 and connected between the rods 414 and the first end plate 411. The spring 415 serves as a primary cushioning member for the impact force.
The elastic assembly 41 further includes a plurality of rubber rings 416, and the rubber rings 416 are disposed between the cylinder 413 and the rod 414 and fixed to the cylinder 413. The rubber ring 416 is used for increasing the friction force between the barrel 413 and the rod 414, and effectively buffering the collision force.
In this embodiment, a rubber ring 416 is secured to the open end or inside the opening of the barrel 413 adjacent to one end of the second end plate 412.
A first connecting piece 417 is respectively arranged on each barrel 413, and the first connecting piece 417 is fixed on the first end plate 411; the ends of the rod 414 are respectively fixed with a second connecting piece 418; the spring 415 is connected to the first end plate 411 by a first connector 417 and the spring 415 is connected to the lever 414 by a second connector 418.
Referring to fig. 1 to 4, a heave fender simulation apparatus for a floating installation pool model test according to an embodiment of the present invention has the following experimental procedures:
First, the position adjusting device 3 is moved to a target position and is fixedly connected with the lower hull through the second connecting hole 311 thereon, the gear 32 is engaged with the rack 25 of the positioning device 2 at this time, and then the rotation speed and the steering direction of the gear 32 are controlled by adjusting the rocker 33, so that the position of the positioning device 2 on the hull is adjusted. After the positioning is finished, the positioning device is fixedly connected with the lower ship body through the first connecting hole 212 on the positioning device 2, and the experiment is finished on the requirement of the position of the heave fender simulation device.
The present invention has been described in detail with reference to the embodiments of the drawings, and those skilled in the art can make various modifications to the invention based on the above description. Accordingly, certain details of the illustrated embodiments are not to be taken as limiting the invention, which is defined by the appended claims.

Claims (8)

1. The heave fender simulation device for the floating support installation pool model test is characterized by comprising a sliding rail assembly, a positioning device, a position adjusting device and an elastic simulation device; the sliding rail assembly is fixed on a ship body, and the positioning device can be erected on the sliding rail assembly in a reciprocating manner along the sliding rail assembly; the position adjusting device is fixed on the ship body and is in transmission connection with the positioning device; the elastic simulation device is fixed on the positioning device along the extending direction of the sliding rail assembly and comprises an elastic assembly and a rubber pad, the elastic assembly is fixedly connected with the positioning device along the extending direction of the sliding rail assembly, and the rubber pad is fixed on one end, far away from the positioning device, of the elastic assembly;
The positioning device comprises a bottom plate, a longitudinal vertical plate and a transverse vertical plate; the bottom of the bottom plate is formed in a sliding groove matched with the sliding rail assembly, and the positioning device is erected on the sliding rail assembly through the sliding groove; the longitudinal vertical plate and the transverse vertical plate are mutually and vertically fixed on the upper surface of the bottom plate, the longitudinal vertical plate is parallel to the extending direction of the sliding rail assembly, and the elastic simulation device is fixed on one side of the transverse vertical plate; the bottom plate forms a plurality of first connecting holes;
The positioning device and the position adjusting device form a position adjusting mechanism which is matched with each other, and the position adjusting mechanism comprises a rack, a gear, a rocker and a rocking handle; the rack is fixed or formed on one side of the bottom plate and is parallel to the extending direction of the sliding rail component; the position adjusting device comprises a base, the gear, the rocker and the rocking handle; the rocker is pivoted with the base, the first end of the rocker is fixed at the center of the gear, the second end of the rocker is fixedly connected with the rocker, and the gear is meshed with the rack.
2. The heave fender simulation apparatus for a floating installation pool model test of claim 1, wherein the positioning apparatus further comprises a support plate secured between the transverse riser and the base plate.
3. The heave fender simulation apparatus for a floating installation pool model test of claim 2, wherein the support plate is triangular in shape.
4. The heave fender simulation apparatus for a floating mount pool model test of claim 1, wherein the base forms at least one second attachment hole.
5. The heave fender simulation apparatus for a floating mount pool model test of claim 4, wherein the resilient assembly comprises a first end plate, a second end plate, a plurality of barrels, a plurality of bars, and a plurality of springs; the first surface of the first end plate is fixedly attached to the transverse vertical plate; the rod pieces are vertically and uniformly distributed and fixed on the first surface of the second end plate, and the rubber pad is fixed on the second surface of the second end plate; the barrel part and the rod part are fixed on the first end plate in a one-to-one correspondence, the rod part is partially inserted into the barrel part, and the spring is arranged in the barrel part and connected between the rod part and the first end plate.
6. The heave fender simulation apparatus for a floating mount pool model test of claim 5, wherein the elastic assembly further comprises a plurality of rubber rings disposed between and secured to the canister and the lever.
7. The heave fender simulation apparatus for a floating mount pool model test of claim 6, wherein the rubber ring is secured to an open end or an inside of an opening of the canister adjacent one end of the second end plate.
8. The heave fender simulation apparatus for a floating mount pool model test according to claim 7, wherein a first connector is provided in each of the cartridges, the first connector being secured to the first end plate; the end parts of the rod pieces are respectively fixed with a second connecting piece; the spring is connected with the first end plate through the first connecting piece, and the spring is connected with the rod piece through the second connecting piece.
CN201910003485.2A 2019-01-03 2019-01-03 A heave fender analogue means for floating support installation pond model test Active CN109506888B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910003485.2A CN109506888B (en) 2019-01-03 2019-01-03 A heave fender analogue means for floating support installation pond model test

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910003485.2A CN109506888B (en) 2019-01-03 2019-01-03 A heave fender analogue means for floating support installation pond model test

Publications (2)

Publication Number Publication Date
CN109506888A CN109506888A (en) 2019-03-22
CN109506888B true CN109506888B (en) 2024-04-26

Family

ID=65756102

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910003485.2A Active CN109506888B (en) 2019-01-03 2019-01-03 A heave fender analogue means for floating support installation pond model test

Country Status (1)

Country Link
CN (1) CN109506888B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110207948B (en) * 2019-06-06 2020-09-15 江苏科技大学 Large-scale ocean structure rigid body motion and elastic deformation water tank test device
CN110803295A (en) * 2019-10-15 2020-02-18 中国特种飞行器研究所 Hydrodynamic derivative test system and method for hull of water surface aircraft

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10317353A (en) * 1997-05-21 1998-12-02 Sumitomo Rubber Ind Ltd Characteristic test method for fender
KR20030048897A (en) * 2001-12-13 2003-06-25 주식회사 포스코 A variable type fender apparatus
JP2006274787A (en) * 2005-03-03 2006-10-12 Shibata Ind Co Ltd Fender device
US7143708B1 (en) * 2006-01-13 2006-12-05 Cimino William J Boat fender mounting device
CN101576434A (en) * 2009-06-05 2009-11-11 中国海洋石油总公司 Device for simulating pre-tensioning of compression-type fender
CN205404076U (en) * 2016-03-04 2016-07-27 交通运输部天津水运工程科学研究所 A device for laboratory ship model alongside analogue test
CN106498897A (en) * 2016-11-07 2017-03-15 上海交通大学 A kind of adjustable offshore platform model assay device and experimental technique
CN107132134A (en) * 2017-06-14 2017-09-05 中国人民解放军91053部队二队 Model test is with small-sized fender analogue means
CN108458939A (en) * 2018-06-14 2018-08-28 南京卓耐重工机械制造有限公司 One kind is for detecting Joint Strength table apparatus
KR20180119432A (en) * 2017-04-25 2018-11-02 삼성중공업 주식회사 Fender device of ship for testing
CN209166787U (en) * 2019-01-03 2019-07-26 上海交通大学 Surging fender simulator for the test of floating support mounting water pool model

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2002953528A0 (en) * 2002-12-24 2003-01-16 Cowey, Steven John An improved vehicle loading dock fender assembly

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10317353A (en) * 1997-05-21 1998-12-02 Sumitomo Rubber Ind Ltd Characteristic test method for fender
KR20030048897A (en) * 2001-12-13 2003-06-25 주식회사 포스코 A variable type fender apparatus
JP2006274787A (en) * 2005-03-03 2006-10-12 Shibata Ind Co Ltd Fender device
US7143708B1 (en) * 2006-01-13 2006-12-05 Cimino William J Boat fender mounting device
CN101576434A (en) * 2009-06-05 2009-11-11 中国海洋石油总公司 Device for simulating pre-tensioning of compression-type fender
CN205404076U (en) * 2016-03-04 2016-07-27 交通运输部天津水运工程科学研究所 A device for laboratory ship model alongside analogue test
CN106498897A (en) * 2016-11-07 2017-03-15 上海交通大学 A kind of adjustable offshore platform model assay device and experimental technique
KR20180119432A (en) * 2017-04-25 2018-11-02 삼성중공업 주식회사 Fender device of ship for testing
CN107132134A (en) * 2017-06-14 2017-09-05 中国人民解放军91053部队二队 Model test is with small-sized fender analogue means
CN108458939A (en) * 2018-06-14 2018-08-28 南京卓耐重工机械制造有限公司 One kind is for detecting Joint Strength table apparatus
CN209166787U (en) * 2019-01-03 2019-07-26 上海交通大学 Surging fender simulator for the test of floating support mounting water pool model

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
聚氨酯弹性体护舷性能测试系统;吕玉林;孙杰;;当代化工(第12期);第1258-1260页 *

Also Published As

Publication number Publication date
CN109506888A (en) 2019-03-22

Similar Documents

Publication Publication Date Title
CN109506888B (en) A heave fender analogue means for floating support installation pond model test
CN109855837B (en) Model semi-constrained launching device for aircraft water inlet and outlet test and test method
JP4411284B2 (en) Drop test device
CN105090621B (en) Shock absorbing base for allowing petroleum pipelines to be placed
KR102016588B1 (en) Automatical jig for assembling ship
CN103949832B (en) A kind of weld jig of fascia board girder assembly
CN107328543B (en) Impact test stand
CN203703379U (en) Adjustable ship pipeline impact resistant pipe clamp device
CN104515668A (en) Ejection-type horizontal impact platform driven by air pressure
CN205506342U (en) High accuracy iron ball drop test device
CN203936551U (en) A kind of weld jig of fascia board girder assembly
KR20170119057A (en) Leg mating unit for active and offshore platform having the same
CN209166787U (en) Surging fender simulator for the test of floating support mounting water pool model
CN104797493B (en) For the Buffer Unit at least partly submerging the equipment in water body, related apparatus and method
CN106352202A (en) Supporting apparatus for building machinery
CN204182857U (en) A kind of chain assembly machine send pin shaft device
CN116086744A (en) Multipurpose lifting vibration swinging test bed
CN216066323U (en) Automatic nut screwing device and mechanical arm
CN112179615B (en) Hinged rigid body motion control device applied to underwater large-pulse-width explosion experiment
CN111351631B (en) Water inlet and outlet experimental device for constrained emission
CN208535046U (en) Launch protective device
KR20130005989U (en) Guide device for welding torch
CN203084189U (en) General pulse laser range finder three-axis parallelism calibration fixing device
CN208305026U (en) Mark pen assembly and marking device
CN220719383U (en) Auxiliary debugging tool for quick-change device of industrial robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant