JPH1150698A - Assembling manipulator for steel tower - Google Patents

Assembling manipulator for steel tower

Info

Publication number
JPH1150698A
JPH1150698A JP20604297A JP20604297A JPH1150698A JP H1150698 A JPH1150698 A JP H1150698A JP 20604297 A JP20604297 A JP 20604297A JP 20604297 A JP20604297 A JP 20604297A JP H1150698 A JPH1150698 A JP H1150698A
Authority
JP
Japan
Prior art keywords
hand
manipulator
dimensional
steel tower
tower
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.)
Withdrawn
Application number
JP20604297A
Other languages
Japanese (ja)
Inventor
Tsunehiro Akabane
Takashi Chikura
Satoshi Kunimitsu
Itsuo Murata
Atsuya Yoshida
孝 千蔵
篤哉 吉田
智 国光
五雄 村田
恒宏 赤羽根
Original Assignee
Chubu Electric Power Co Inc
Mitsubishi Heavy Ind Ltd
三菱重工業株式会社
中部電力株式会社
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 Chubu Electric Power Co Inc, Mitsubishi Heavy Ind Ltd, 三菱重工業株式会社, 中部電力株式会社 filed Critical Chubu Electric Power Co Inc
Priority to JP20604297A priority Critical patent/JPH1150698A/en
Publication of JPH1150698A publication Critical patent/JPH1150698A/en
Withdrawn legal-status Critical Current

Links

Abstract

PROBLEM TO BE SOLVED: To assemble a steel tower without labors' works. SOLUTION: A manipulator 16 provided with a holding hand 18 for members 17 to construct a steel tower 11 and a fastening hand 19 for bolts connecting these members 17 is fitted to the front end of a sliding girder 15. And a detector 20 is provided to detect the positional relation of the members 17 and the holding hand 18 and the fastening hand 19. The steel tower 11 is automatically assembled by operating the holding hand 18 and the fastening hand 19 of the manipulator 16 through remote control on the ground. Operators are not required to directly ascend the steel tower 11 and work at the high position. In this way, labors' works on the steel tower are eliminated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tower assembling manipulator applied to a tower assembling apparatus for assembling a tower for a transmission line, for example.

[0002]

2. Description of the Related Art As shown in FIG. 18, a steel tower for power transmission lines has a height of 100 m to 120 m, and becomes thinner toward the upper part, and has a square shape. In assembling such a steel tower 1, since long heavy members are handled at a high place, it is necessary to pay close attention to safety.

[0003] The situation of assembling such a steel tower 1 will be described with reference to FIG. As shown in FIG.
A worker 2 ascends, and the member 2 lifted by a climbing crane 3 installed at the center of the steel tower 1 is grasped by hand, pulled, aligned with an existing member, and bolted. I have.

[0004]

The height of the steel tower 1 is from 100 m to 120 m, and work in such a high place is inefficient, and requires heavy labor and dangerous work. Further, since the assembling work of the tower 1 is a heavy labor and is a dangerous work, it is desired to eliminate manned work on the tower as much as possible.

The present invention has been made in view of the above circumstances, and has as its object to provide a steel tower assembling manipulator that can eliminate manned work on a steel tower.

[0006]

In order to achieve the above object, the structure of the present invention has a gripping hand for gripping a member for constructing a steel tower and a bolt fastening hand for tightening a bolt connecting the members. A manipulator, a three-dimensional position detecting device for detecting a relative three-dimensional position between a tip of the manipulator and the member, and a relative two-dimensional position for detecting a relative three-dimensional position between the tip of the manipulator and an existing member; A three-dimensional position detecting device, wherein the three-dimensional position detecting device detects a relative three-dimensional position between the tip of the manipulator and the member, and grips the member with the gripping hand; The relative two-dimensional position between the member gripped by the gripping hand and the existing member is detected, and the member and the existing member are detected by the bolt fastening hand. Characterized by connecting the timber.

[0007]

FIG. 1 is a side view showing a state in which a tower is assembled by a tower assembling apparatus having a tower assembling manipulator according to an embodiment of the present invention. FIG. 3 is a structural description of an intermediate portion of the tower, FIG. 4 is a side view of a sliding girder, FIG. 5 is a plan view of a sliding girder, FIG. 6 is a perspective view of a manipulator, FIG. 7 is a side view of a manipulator, and FIG. Plane,
FIG. 9 shows a plan view of the bolt fastening hand, and FIGS. 10 and 11 show details of the bolt fastening hand.

As shown in FIG. 1, a climbing crane 12 is provided at the center of a steel tower 11, and a climbing frame 13 as a body which can be moved up and down and pivots is supported on the climbing crane 12 via guide rollers. Have been. A telescopic boom 14 is mounted on the lifting frame 13.
Of the sliding girder 1 is rotatably (up and down) supported by a lifting frame 13 and a boom 14.
5 are configured.

A steel tower assembling manipulator (manipulator) 16 is provided at the tip of the boom 14. The manipulator 16 holds a gripping hand 18 for gripping a member 17 for constructing the steel tower 11 and a bolt for connecting the members 17 to each other. A bolt fastening hand (fastening hand) 19 is provided. A detecting means 2 for detecting a positional relationship between the member 17 and the gripping hand 18 and the bolt fastening hand 19;
The operation of the manipulator 16, the gripping hand 18, the bolt fastening hand 19, and the operation of the detecting means 20 are controlled by the control device 21 and remotely controlled by the remote control panel 22 on the ground. It is being operated.

A member 17 (a diagonal block) lifted by a climbing crane 12 is moved to a manipulator 16.
Of the existing member 17, set it in a predetermined position with respect to the existing member 17, and tighten the bolt by the bolt fastening hand 19 to perform an assembling operation. The operation of the manipulator 16 and the like is remotely controlled by a remote control panel 22 from the ground while monitoring with the detecting means 20 (camera or the like).

Reference numeral 23 in FIG. 1 denotes a jack device of the climbing crane 12, 24 denotes a supporting column, 25
Is a hanging rope, and 27 is a hanging part posture control device.

The tower 11 assembled by the tower assembling apparatus will be described with reference to FIGS. The steel tower 11 connects a large number of main pillars 31 via a flange 32, and
Gusset plate 3
5 are connected. In the steel tower assembling apparatus, the positioning of the main column member 31, the web member 33, and the horizontal member 34 and the bolting operation of the flange portion 32 and the gusset plate 35 are performed. Since the steel tower 11 is thinner toward the upper part and is rectangular, the distance from the center to the existing members is not constant. For this purpose, the sliding girder 15 is provided with a boom 14 which is telescopic and whose base end can be raised and lowered.

The structure of the sliding girder 15 will be described with reference to FIGS. As shown in the drawing, the mast 41 of the climbing crane 12 has a pair of lifting frames 1.
3 are rotatably supported via guide rollers 42, and a boom 14 is
It is rotatably supported via 3. The boom 14 is a base-side undulating boom 44 supported by the lifting frame 13.
And a telescopic boom 45 that expands and contracts with respect to the undulating boom 44. The telescopic boom 45 includes a telescopic drive device 46.
Is driven to expand and contract. The manipulator 16 is provided at the tip of the telescopic boom 45, and the manipulator 16 is positioned at a predetermined position according to the height and the radius of the steel tower 11 by driving the raising and lowering device 43 and the telescopic driving device 46.
Incidentally, the reference numeral 47 in FIG.
Is a wire rope for lifting.

The configuration of the manipulator 16 will be described with reference to FIG.

The arm 51 of the manipulator 16 is provided with a gripping hand 18 for gripping a member 17b positioned with respect to the existing member 17a, and the arm 51 is provided with a fastening hand 19 via a fastening arm 52. I have. A manipulator 1 is provided on the base end side of the arm 51.
A three-dimensional position detecting device 53 is provided as detecting means 20 for detecting a relative three-dimensional position between the tip of the member 6 and the member 17b. Further, a two-dimensional position detecting device 54 as a detecting means 20 for detecting a relative two-dimensional position between the member 17b gripped by the gripping hand 18 and the existing member 17a is provided on the distal end side of the arm 51. ing.

The gripping hand 18 will be described with reference to FIGS.
The configuration of the fastening hand 19 will be described.

As shown in FIGS. 7 and 8, on the upper surface of the base 50 at the tip of the arm 51, the hand body 5 is coaxial with the a-axis.
5 is rotatably supported. The hand body 55 has a
The hand unit 56 is rotatably supported around the b-axis perpendicular to the axis, and the hand body 55 and the hand unit 56 constitute the gripping hand 18. The speed and angle of the rotation of the base 50, the hand main body 55, and the hand unit 56 are controlled independently of each other. The hand unit 56 is rotated around the a-axis and the b-axis with respect to the arm 51 of the manipulator 16, is brought into a desired posture, and holds the member 17.

As shown in FIGS. 7 to 9, a block 57 is rotatably supported on the lower surface of the base 50 around an a-axis, and the block 57 is provided around a c-axis orthogonal to the a-axis and the b-axis. , The base end of the first fastening arm 58 is rotatably supported. A base end of the second fastening arm 59 is rotatably supported at a distal end of the first fastening arm 58 around a d-axis parallel to the c-axis. At the tip of the second fastening arm 59, a first swing arm 60, a second swing arm 61, a third swing arm 62, and a fourth swing arm 63 around e-axis, f-axis, g-axis, and h-axis which are orthogonal to each other. It is rotatably supported.

The fourth turning arm 63 is provided with a bolt fastening hand portion 64, and the fastening hand 19 is formed. The rotation and speed of the first fastening arm 58, the second fastening arm 59, and the rotation of the first to fourth turning arms 60, 61, 62, 63 are controlled independently of each other. The bolt fastening hand section 64 is configured to move the a-axis, c-axis, d-axis, e-axis,
The bolt is turned around the f-axis, the g-axis, and the h-axis to have a desired posture, and the bolt is fastened.

The bolt fastening hand section 64 is composed of a bolt holding section 65 and a nut holding and rotating section 66, and the bolt holding section 65 and the nut holding and rotating section 66 are freely movable toward and away from each other. As shown in FIG.
Is provided with a bolt head hole 67. FIG.
As shown in FIG. 1, a nut hole 68 is provided in the nut holding and rotating portion 66, and the nut hole 68 is rotationally driven via a drive motor 69, a gear train 70 and a shaft 71. The rotation of the nut hole 68 and the close movement of the bolt holding portion 65 and the nut holding rotating portion 66 perform bolt fastening.

The operation of positioning and fastening the member 17b to the existing member 17a by the manipulator 16 will be described with reference to FIG. The relative three-dimensional position between the tip of the manipulator 16 and the member 17b is detected by the three-dimensional position detection device 53, and the posture of the gripping hand 18 is adjusted to adjust the position of the member 17b.
Hold b. After the grasping of the member 17b is completed, the member grasped by the two-dimensional position detecting device 54 with respect to the existing member 17a
Detect the relative two-dimensional position of 17b.

Here, if the existing member 17a is assembled as designed, the three-dimensional position can be specified within a predetermined accuracy. If the three-dimensional position of the existing member 17a can be specified, the three-dimensional position relative to the member 17b detected by the three-dimensional position detecting device 53 can be obtained by calculation. However, since the existing member 17a may be assembled with a certain design error,
The two-dimensional position detector 54 detects the relative two-dimensional position of the member 17b gripped with respect to the existing member 17a.

After detecting the position, the relative position between the existing member 17a and the existing member 17b is confirmed by moving the gripping hand 18, and the position of the member 17b is finely adjusted so that the flange portion 32 matches. Then, the fastening hand 19 is positioned in a desired state to perform bolt fastening. As a result, the existing member 17a
It is possible to automatically connect and fix the member 17b to the member. Note that a three-dimensional position detecting device can be used as the two-dimensional position detecting device 54, and two two-dimensional position detecting devices can be used as the three-dimensional position detecting device 53. Specifically, a stereo camera is conceivable.

When the positioning operation of the gripping hand 18 and the fastening hand 19 of the manipulator 16 is performed, the turning operation of the up-and-down boom 44, the expanding and contracting operation of the telescopic boom 45, the turning operation of each indirect portion of the manipulator 16, and the like are performed. Each part is independently controlled by a speed command from the control device 21.

The driving method (control method) of the manipulator 16 will be specifically described. Given the positions and postures (target positions and target angles) of the gripping hand 18 and the fastening hand 19 of the manipulator 16, the target movement amount from the current position according to the target positions and the target angles of the gripping hand 18 and the fastening hand 19. Is calculated. The drive amount of each drive unit is calculated based on the target movement amount, and the speed pattern of each drive unit is calculated according to the deviation amount between the current position of each drive unit and the target drive amount, and each drive unit is momentarily Is driven according to the driving speed pattern output.

The gripping hand 18 and the fastening hand 19
Is closer to the target position and the target angle to some extent (when the distance is within a predetermined distance), the target position and the target angle of the gripping hand 18 and the fastening hand 19 are changed to the two-dimensional position detecting device 54.
The position and speed or the angle and angular speed of each drive unit are fed back and controlled so that the detected value (the deviation from the true target position and the target angle) becomes zero. You. Then, the speed command value of each driving unit is calculated from the linear sum of the relative deviation amount with respect to the target position and the feedback value.

Thus, even if the relative positional relationship between the sliding girder 15 or the manipulator 16 and the member 17 fluctuates, the gripping hand 18 and the fastening hand 19 can be quickly moved to a predetermined work position.

Another example of the detecting means 20 will be described with reference to FIGS. FIG. 12 shows a schematic configuration of a manipulator provided with another detecting means, and FIG. 13 shows a control block of the detecting means.

As shown in FIG. 12, the manipulator 16
The arm 51 is provided with a gripping hand 18 for gripping a member 17b positioned with respect to the existing member 17a, and the arm 51 is provided with a fastening hand 19 via a fastening arm 52. Further, a CCD camera 75 and a single-wavelength light source 76 as the detection means 20 are installed on the base end side of the arm 51. Further, a CCD camera 77, a single-wavelength light source 78, a distance meter 79, and a reflection plate 80 are provided on the distal end side of the arm 51. A reflection plate 81 is provided on the existing member 17a, and a reflection plate 82 is provided on the member 17b which is gripped and positioned by the gripping hand 18.

As shown in FIGS. 12 and 13, the single-wavelength light source 76 illuminates the reflector 82 of the member 17b and the reflector 80 on the distal end side of the arm 51, and the reflected light is photographed by the CCD camera 75 for image processing. The image processing is performed by the device 83, the function of detecting the two-dimensional position of the reflector 80 on the arm 51 side and the reflector 82 of the member 17b is measured by the host calculator 85, and the distance to the member 17b is measured by the distance meter 79 to calculate the host. A function of measuring with the device 85 is provided. Further, a single-wavelength light source 78 illuminates the reflector 81 of the existing member 17a and the reflector 82 of the member 17b, and reflects the reflected light by a CCD.
Photographed by the camera 77 and image-processed by the image processing device 84,
A function of detecting the two-dimensional position of the reflectors 81 and 82 by the higher-order calculator 85 is provided.

The reflection plates 80, 81, and 82 can also use paint marks or luminous bodies (eg, LEDs and laser light sources).

In the above-described detecting means, the reflecting plate 82 of the member 17b and the reflecting plate 8
0 is illuminated, the reflected light is photographed by the CCD camera 75, and the image processing device 83 detects the two-dimensional positions of the reflectors 80 and 82,
Further, the distance to the member 17b is measured by the distance meter 79. As a result, the worker grasps the relative three-dimensional position between the distal end of the arm 51 and the member 17b, and holds the member 17b with the holding hand 18 of the manipulator 16.

When the gripping of the member 17b is completed, the reflection plate 81 of the existing member 17a and the reflection plate 82 of the member 17b are illuminated by the single-wavelength light source 78, the reflected light is photographed by the CCD camera 77, and the image is processed by the image processing device 84. The two-dimensional positions of the reflection plates 81 and 82 are detected. The operator operates the manipulator 16 to use the existing members.
The positions of the flange portion 17a and the flange portion of the member 17b are finely adjusted and matched, and the bolts are automatically tightened by the fastening hand 19 to connect the existing members 17a and 17b.

Thus, the existing members 17a and 17b can be connected by remote control from the ground.

FIGS. 1 and 14 (a) to (d) and FIGS.
The tower 11 using the tower assembling apparatus described above based on (d)
Will be described. 14 and 15 show the tower 11
3 shows an assembly work process.

As shown in FIG. 1, a lifting frame 13 provided with two sliding girders 15 is mounted on a climbing crane 12. The sliding girder 15 has functions of turning, undulating and expanding and contracting, and a manipulator 16 is provided at the tip. The manipulator 16 has a member 17
b and the existing members 17a and 17
b, the gripping hand 19 and the gripping hand 19 are also capable of turning and expanding and contracting.

For this reason, by combining the lifting and lowering, turning, undulating and expanding and contracting of the sliding girder 15 and the turning and expanding and contracting of the gripping hand 18 and the fastening hand 19, the steel tower 11 in which the mounting position of the member 17b changes in the height direction. Even if there is, the tip of the manipulator 16 can be freely moved to an arbitrary position to perform the operation. Also, detecting means 2
The status of the work is monitored from the ground by 0, and the assembling work of the steel tower 11 is performed by remote control by the remote control panel 22.

FIG. 14A shows the situation at the start of assembly, in which the climbing crane 12 is at the lowest position.
14 (b), one main support 31 is lifted by the climbing crane 12, the end of the main support 31 is supported by the gripping hand 18 of one manipulator 16, and the bolt is tightened by the fastening hand 19 of the other manipulator 16. It is in the state of being implemented. Thus, the long main support 31 can be stably supported by controlling the two manipulators 16 cooperatively. FIG. 14 (c) shows a state in which three main pillars 31 are erected, and FIG. 14 (d) shows a state in which the abdominal material 33 is assembled on four side surfaces.

FIG. 15 (a) shows a state where the horizontal member 34 is assembled, and FIG. 15 (b) shows a state where the crane block is added and jack-up is performed, and the position of the hanging portion of the climbing crane 12 is raised. It is. FIG. 15C shows a state where the main support 31 is received and assembled at the next step height position. When you receive the main support 31,
The main support 31 is held by the gripping hand 18 of the two manipulators 16.
When assembling the main strut 31 by grasping the vicinity of both ends of
Supported by the gripping hand 18 of one manipulator 16,
The bolt is tightened by the fastening hand 19 of the other manipulator 16. FIG. 15 (d) shows a state where the main support 31 is standing upright.

The above-mentioned FIGS. 14 (a) to (d) and FIG. 15 (a)
Steps (a) to (d) are repeated to control the two manipulators 16 in a coordinated manner to increase the height one after another by remote control, and assemble the main column 31, the web member 33 and the horizontal member 34 to the top of the steel tower 11. To go.

By using the manipulator 16 provided with the gripping hand 18 and the fastening hand 19, the main support 31 and the like (member 17b) can be automatically moved with respect to the existing main support 31, abdominal material 33 and horizontal material 34 (member 17a). Can be connected together.
In addition, the manipulator 1 according to the driving speed pattern
Since the driving units 6 are feedback-controlled, the gripping hand 18 and the fastening hand 19 can be quickly moved to a desired work position. Further, since the two manipulators 16 are controlled cooperatively, safe operation can be performed even with a long member.

In the above-mentioned tower assembling apparatus, since the tower 11 can be automatically assembled by remote control from the ground, it is not necessary for an operator to directly climb on the tower and work at a high place, so that safety is improved, and Stable work is possible regardless of the weather. There is no problem even if the shortage of workers at high places occurs.

An application example of the tower assembling apparatus of the present invention will be described with reference to FIGS. FIG. 16 is a side view showing a state where the tower is assembled, and FIG. 17 is a plan view showing a state where the tower is assembled.

In the illustrated example, the sliding girder 15 is arranged at the center of the steel tower 11, and a crane 91 for lifting members is used.
Are arranged outside the steel tower 11. The members such as the main pillar 31 are transported to a position below the crane 91 by a transport conveyor 92. It should be noted that the example of use of the steel tower assembling apparatus is not limited to the form shown in the drawing, but can be assembled by remote control in other forms. It is also possible to provide the manipulator 16 with another work hand such as a welding hand (welding jig, torch, etc.) to assemble the steel tower 11.

[0045]

The tower assembling manipulator of the present invention has a manipulator having a gripping hand for gripping a member for constructing a tower and a bolt fastening hand for tightening bolts connecting the members, and a tip end of the manipulator. 3 for detecting a relative three-dimensional position between the member and the member
A three-dimensional position detecting device, and a two-dimensional position detecting device that detects a relative two-dimensional position between a distal end portion of the manipulator and an existing member, and the three-dimensional position detecting device includes a distal end portion of the manipulator and the member. The relative three-dimensional position is detected, the member is gripped by the gripping hand, and the relative two-dimensional position of the member gripped by the gripping hand and the existing member by the two-dimensional position device is determined. Since the member is detected and the existing member is connected by the bolt fastening hand, it is possible to automatically connect the member forming the steel tower and the existing member. As a result, there is no need for the worker to directly climb the tower to perform work at high places, and manned work on the tower can be eliminated, thereby improving safety.

[Brief description of the drawings]

FIG. 1 is a side view showing a state in which a tower is assembled by a tower assembling apparatus including a tower assembling manipulator according to an embodiment of the present invention.

FIG. 2 is a structural explanatory view of an upper part of a steel tower.

FIG. 3 is a structural explanatory view of an intermediate portion of a steel tower.

FIG. 4 is a side view of the sliding girder.

FIG. 5 is a plan view of a sliding girder.

FIG. 6 is a perspective view of a manipulator.

FIG. 7 is a side view of the manipulator.

FIG. 8 is a plan view of the gripping hand.

FIG. 9 is a plan view of a bolt fastening hand.

FIG. 10 is a detailed view of a bolt fastening hand.

FIG. 11 is a detailed view of a bolt fastening hand.

FIG. 12 is a schematic configuration diagram of a manipulator provided with another detection unit.

FIG. 13 is a control block diagram of a detection unit.

FIG. 14 is an assembly work process diagram of a steel tower.

FIG. 15 is an assembly work process diagram of a steel tower.

FIG. 16 is a side view of a state in which a steel tower is assembled according to an application example.

FIG. 17 is a plan view of a state in which a steel tower is assembled according to an application example.

FIG. 18 is an overall view of a steel tower.

FIG. 19 is an explanatory view of a conventional assembling state.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Steel tower 12 Climbing crane 13 Elevating frame 14 Boom 15 Sliding girder 16 Steel tower assembling manipulator (manipulator) 17 Member 18 Gripping hand 19 Bolt fastening hand (fastening hand) 20 Detecting means 21 Control device 22 Remote control panel 31 Main pillar material 33 Abdominal material 34 horizontal member 44 undulating boom 45 telescopic boom 55 hand body 56 hand part 65 bolt holding part 66 nut holding rotating part

Continued on the front page (72) Inventor Goo Murata 4-6-22 Kanonshinmachi, Nishi-ku, Hiroshima-shi, Hiroshima Inside the Hiroshima Research Laboratory, Mitsubishi Heavy Industries, Ltd. 22 Hiroshima Research Laboratory, Mitsubishi Heavy Industries, Ltd. (72) Inventor Satoshi Kunimitsu 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima-shi, Hiroshima Hiroshima Research Laboratory, Mitsubishi Heavy Industries, Ltd.

Claims (1)

[Claims]
1. A manipulator having a gripping hand for gripping a member for constructing a steel tower and a bolt fastening hand for tightening a bolt connecting the members, and a relative position between a tip end of the manipulator and the member. A three-dimensional position detecting device that detects a three-dimensional position; and a two-dimensional position detecting device that detects a relative two-dimensional position between a distal end of the manipulator and an existing member. The relative three-dimensional position of the distal end of the manipulator and the member is detected, the member is gripped by the gripping hand, and the member gripped by the gripping hand by the two-dimensional position device and the existing member are connected. Relative 2
A tower assembly manipulator, wherein a dimensional position is detected and the member and the existing member are connected by the bolt fastening hand.
JP20604297A 1997-07-31 1997-07-31 Assembling manipulator for steel tower Withdrawn JPH1150698A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP20604297A JPH1150698A (en) 1997-07-31 1997-07-31 Assembling manipulator for steel tower

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP20604297A JPH1150698A (en) 1997-07-31 1997-07-31 Assembling manipulator for steel tower

Publications (1)

Publication Number Publication Date
JPH1150698A true JPH1150698A (en) 1999-02-23

Family

ID=16516935

Family Applications (1)

Application Number Title Priority Date Filing Date
JP20604297A Withdrawn JPH1150698A (en) 1997-07-31 1997-07-31 Assembling manipulator for steel tower

Country Status (1)

Country Link
JP (1) JPH1150698A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101858163A (en) * 2010-07-15 2010-10-13 中国化学工程第四建设公司 Method for installing flare tower frame in bulk

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101858163A (en) * 2010-07-15 2010-10-13 中国化学工程第四建设公司 Method for installing flare tower frame in bulk

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Effective date: 20041005