KR101741689B1 - Easily detachable magnets-integrated end-effector for cable robot - Google Patents

Easily detachable magnets-integrated end-effector for cable robot Download PDF

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Publication number
KR101741689B1
KR101741689B1 KR1020150080955A KR20150080955A KR101741689B1 KR 101741689 B1 KR101741689 B1 KR 101741689B1 KR 1020150080955 A KR1020150080955 A KR 1020150080955A KR 20150080955 A KR20150080955 A KR 20150080955A KR 101741689 B1 KR101741689 B1 KR 101741689B1
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KR
South Korea
Prior art keywords
work surface
effector
link
leg
frame
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KR1020150080955A
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Korean (ko)
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KR20160144603A (en
Inventor
고성영
박석호
박종오
정진우
선정안
Original Assignee
전남대학교산학협력단
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Priority to KR1020150080955A priority Critical patent/KR101741689B1/en
Publication of KR20160144603A publication Critical patent/KR20160144603A/en
Application granted granted Critical
Publication of KR101741689B1 publication Critical patent/KR101741689B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms

Abstract

The present invention relates to an end effector of a cable robot used in close contact with a work surface, comprising an effector frame to which a work effector is connected and legs are tightly supported on a work surface, A magnet fixedly attached to an end of the leg to provide an attractive force to the work surface; A lever provided at an upper portion of the effector frame and drawn out in a direction opposite to the work surface; And a link frame for pressing the work surface by drawing out the lever.
According to the present invention, the magnet provided on the leg of the effector frame provides a work force on the work surface, so that the end effector can be stably held in close contact with and close to the workpiece. Further, the present invention is advantageous in that a robot, which is strongly constrained to a work surface by a magnet, can be easily attached to and detached from a work surface by pressing a work surface against a link frame which is relatively driven with an effector frame.

Description

[0001] 1. Field of the Invention [0002] The present invention relates to an end effector for cable robots,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an end effector and, more particularly, to an end effector that is easy to attach and detach from an end effector to a wall surface.

A cable robot is a robot that moves freely within a specified work space using a cable. Cable robots can be divided into planar and space-based cable robots, depending on their degrees of freedom. The planar robot uses four cables to form a workspace in a plane and perform work.

A planar robot requires a device that restrains the robot from deviating in a direction perpendicular to the plane because the work space is limited to a plane. For this purpose, gravity or a base plate may be used, or strong magnets may be used.

Planar robots can be divided into fixed type and mobile type depending on the work used by the robot. The fixed robot is provided with the work space fixed in one place. On the other hand, mobile cable robots are provided in a form in which the work space is repeatedly changed.

In the case of a mobile flat cable robot, installation and disconnection are continuously repeated for use in various workspaces. In this case, a rigid magnet is used for cable robots using permanent magnets for attachment and detachment in order to secure an accurate flat work space. An end effector strongly adhered to a wall surface of a hull such as an iron plate by a magnet is required to be separated by a strong force in order to detach the magnet when moving to another work space. Accordingly, there is a problem that the end effector for wall surface work using a magnetic body is difficult to be detached, resulting in a safety accident of the worker.

Korean Utility Model Publication No. 20-2013-0003341

SUMMARY OF THE INVENTION The present invention provides an end effector that maintains a close or close distance to a work surface using magnetism. In addition, the present invention aims to provide a structure in which an end effector using magnetism can easily be desorbed.

In order to achieve the above object, the present invention provides an end effector of a cable robot used in close contact with a work surface, comprising: an effector frame to which a work effector is connected and legs are tightly supported on a work surface, A magnet fixedly attached to an end of the leg to provide an attractive force to the work surface; A lever provided at an upper portion of the effector frame and drawn out in a direction opposite to the work surface; And a link frame for pressing the work surface by drawing out of the lever, wherein the link frame presses the work surface to drop the effector frame from the work surface.

The present invention also provides an end effector of a cable robot used in close contact with a work surface, comprising: an effector frame to which a work effector is connected and legs are tightly supported and supported on a work surface; A magnet fixedly attached to an end of the leg to provide an attractive force to the work surface; A coil portion fixedly coupled to the leg and forming a magnetic field with an applied current; And a link frame for pressing a work surface by generating a coil part and an attractive force or a repulsive force by a magnetic field generated in the coil part, wherein the link frame presses the work surface to drop the effector frame from the work surface.

The present invention also provides an end effector of a cable robot used in close contact with a work surface, comprising: an effector frame to which a work effector is connected and legs are tightly supported and supported on a work surface; An electromagnet portion fixed to a lower portion of the leg to provide an attractive force or a repulsive force to the work surface; And a moving roller provided at an end of the leg and exposed downward of the magnetic magnetic base, wherein the effector frame is detached from the working surface in accordance with the magnetism control of the electromagnet portion.

According to the present invention, the magnet provided on the leg of the effector frame provides a work force on the work surface, so that the end effector can be stably held in close contact with and close to the workpiece.

Further, the present invention is advantageous in that a robot, which is strongly constrained to a work surface by a magnet, can be easily attached to and detached from a work surface by pressing a work surface against a link frame which is relatively driven with an effector frame.

In addition, the present invention is advantageous in that the electromagnet portion capable of controlling the magnetism can be provided and the user can easily attach and detach the end effector from the work surface.

The end effector is strongly constrained by the magnetism in the flat working space, and the desorption work performed by the person without the separate desorption mechanism requires strong moment in a short moment. The present invention can effectively prevent safety accidents caused thereby.

1 shows a pressurized end effector according to an embodiment of the present invention.
Figure 2 shows a perspective view of an end effector according to the embodiment of Figure 1;
3 shows a pressure type end effector according to another embodiment of the present invention.
4 shows an end effector of a magnetic control system according to another embodiment of the present invention.
5 illustrates an end effector of a magnetic control system according to another embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to or limited by the exemplary embodiments. Like reference numerals in the drawings denote members performing substantially the same function.

The objects and effects of the present invention can be understood or clarified naturally by the following description, and the purpose and effect of the present invention are not limited by the following description. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

Fig. 1 shows a pressure type end effector 1 according to an embodiment of the present invention. Fig. 2 shows a perspective view of the end effector 1 according to the embodiment of Fig. 1 and 2, the end effector 1 may include an effector frame 10, a magnet 12, a lever 15, a link frame 17, and a spring 14.

An end effector is a part of a robot that has a function of directly acting on a workpiece when it is working. For example, grippers, welding torches, spray guns, nut rudders, and the like. The end effector 1, 2, 3, 4 according to the present embodiment is provided with a gripper for gripping a workpiece, a spray gun for spraying the work surface 7, a spot welding torch, a drill, a grinder, Although not shown, it will be appreciated that such objects may be combined and used.

The effector frame 10 may be formed with a leg 13 to which a work effector is connected and which is closely supported on the work surface 7. The effector frame 10 may be composed of legs 13 and an upper plate 11 connected to the upper portions of the legs 13. The above-described spray gun, spot welding torch, drill, and grinder can be combined with the upper plate 11, and the like.

The lever 15 is provided on the upper portion of the effector frame 10 and can be pulled out in a direction opposite to the work surface 7. The lever 15 may have a handle 151, a rod 153, and a mount 155. The handle 151 is a portion gripped by the user, and the rod 153 is formed to extend to the lower portion of the handle 151. The mount 155 is coupled to the end of the rod 153 and may be provided in a hemispherical shape.

The lever 15 refers to a portion where the user is pulled to detach the effector frame 10 strongly adhered to the work surface 7. The effector frame 10 according to the present embodiment can be easily detached from the work surface 7 by the mechanism of the lever 15 and the link frame to be described later.

The effector frame 10 may be provided with a cylinder 111 through which the lever 15 is drawn in and out. The rod 153 of the lever 15 is accommodated in the cylinder 111 and a spring for elastically supporting the rod 153 may be provided. The cylinder 111 is provided in an open top and bottom shape. The upper plate 11 of the effector frame 10 corresponding to the lower surface of the cylinder 111 may be formed with a hole penetrating the mounting hole 155 so that the mounting hole 155 can be raised or lowered.

The magnet 12 may be fixedly attached to the end of the leg 13 to provide a force on the work surface 7.

The link frame 17 can press the work surface 7 with the withdrawal of the lever 15. The link frame may have a first link 171 and a second link 173. The first link 171 and the second link 173 may be one or more.

The first link 171 is disposed in parallel with the upper surface of the effector frame 10 and is rotated by the withdrawal of the lever 15. The effector frame 10 may have one or more hinges 115 on which a link frame 17 is rotatably coupled. The first link 171 is connected to the top plate 11 of the effector frame 10 via a hinge 115. The first link 171 can be rotated in a state in which the shaft is fixed to the upper plate 11. [ One end of the first link 171 is in contact with the upper surface of the mounting hole 155 and is provided in parallel with the effector frame 10 and the other end of the first link 171 And the other end is in contact with the upper end of the second link 173.

One end of the first link 171 is raised by the elevator 113 which is raised above the upper plate 11 when the lever 15 is pulled out. In other words, the first link 171 is rotated by the receiving port 113, and the other end of the first link 171 is lowered in accordance with the rotation. One end of the first link 171 should be fixed so as not to fall below the upper plate 11 when the lever 15 is not pulled out. One end of the first link 171 is in contact with the one end of the first link 171 when the lever 15 is lifted. So that it can slide smoothly along the curved surface of the slider 113.

Referring to FIG. 2, the four first links 171 may be arranged in the form of an "X" In this case, it is preferable that the upper plate 11 of the effector frame 10 has grooves formed at the corners corresponding to the width of the first link 171 so that the other end of the first link 171 can be rotated downward Do.

The second link 173 may be disposed perpendicular to the first link 171 to press the work surface 7 by pivoting the end of the first link 171. As described above, one end of the first link 171 rises along the mount 113, and the other end of the first link 171 descends. The upper portion of the second link 173 is disposed vertically in contact with the other end of the first link 171. Accordingly, the second link 173 is pressed by the descent of the other end of the first link 171.

The spring 14 can couple the lower portion of the leg 13 and the second link 173. The second link 173 is connected to the leg 13 of the effector frame 10 through the spring 14. The second link 173 can be slidably coupled to the leg 13 by a spring 14. Accordingly, the second link 173 can move up and down relative to the leg 13 of the effector frame 10.

The second link 173 is pressed toward the work surface 7 by the rotation of the first link 171. [ The pulling force when the lever 15 is pulled out acts on the cylinder 111, which acts on the effector frame 10. At the same time, the first link 171 rotates and the second link 173 presses the work surface 7 when the lever 15 is pulled out. In this case, since the link frame 17 pushes the work surface 7 and the effector frame 10 receives a force in the direction opposite to the work surface 7, the end effector 1 can be easily attached and detached.

The end effector 1 according to the embodiment of FIGS. 1 and 2 is connected to a plurality of cables 6 so as to be brought into close contact with a work surface 7 such as a wall surface of the hull. The end effector 1 is moved under the control of the cable 6 and can maintain close or close distance to the work surface 7 by the magnet 12. [ Further, when the installation is canceled, the sliding link mechanism using the leverage principle (pressurizing method) of the link frame 17 is easily removable from the work surface 7.

3 shows a pressurized end effector 2 according to another embodiment of the present invention. 3, the end effector 2 may include an effector frame 20, a magnet 22, a coil portion 25, a link frame 27, a driver 26, and a spring 24 .

The effector frame 20 may be formed with a leg 23 connected to the work effector and closely supported on the work surface 7 at the lower portion thereof. The effector frame 20 may comprise a leg 23 and a top plate 21 connected to the top of the leg 23. The above-described spray gun, spot welding torch, drill, and grinder may be combined with the upper plate 21, for example.

The magnet 22 may be fixedly attached to the end of the leg 23 to provide a force on the work surface 7.

The coil portion 25 is fixedly coupled to the legs 23 and can form a magnetic field with the applied current. The coil portion 25 may be disposed at a distal portion of the leg 23. The coil part 25 may include a magnetization member 251 and a solenoid coil 253. [

The magnetization member 251 may be provided in a cylindrical shape fixed to the outer circumferential surface of the leg 23 and formed with a hollow. In this embodiment, the magnetizing member 251 may be provided by a soft iron. The soft iron is magnetized in the same direction as the magnetic field generated by the current by the solenoid coil 253. Thus, the magnetic field of the magnetization member 251 and the magnetic field generated by the solenoid coil 253 can be combined to form a strong magnetic field.

The solenoid coil 253 can be wound on the outer circumferential surface of the magnetization member 251 to which the current of the actuator 26 is applied. According to the winding direction of the solenoid coil 253, 'N' magnetic or 'S' magnetic may be formed at the end portion. Therefore, in this case, 'attracting force' or 'repulsive force' acts on adjacent magnetic bodies.

The driver 26 can apply current to the coil part 25. [ The actuator 26 may be installed on the top surface of the top plate 21 of the effect frame 20.

The link frame 27 can generate a force or a repulsive force with the coil part 25 by the magnetic field generated in the coil part 25 and press the work surface 7. [ The link frame 27 is elongated in the longitudinal direction of the leg 23 and can be coupled to the end of the leg 23 to be slidable in the leg 23 through the hollow of the magnetization member 251.

The link frame 27 may have a magnetic body 271 provided at the upper or lower end thereof to generate a magnetic force or a repulsive force by a magnetic field generated by the coil section 25. [ The link frame 27 provides the repulsive force of the lower magnetic body 271 with the solenoid coil 253 and the magnetizing member 251 and the upper magnetic body 271 with the solenoid coil 253 and the magnetizing member 251 To allow the link frame 27 to press the work surface 7.

3A shows a state in which the effector frame 20 is brought into close contact with the work surface 7 by the magnet 22 before the actuator 26 is operated. 3B shows an example in which a current is applied to the coil portion 25 by the operation of the actuator 26 and a magnetic field is generated and the link frame 27 is moved by the attractive force or repulsive force of the magnetic body 271 provided on the link frame 27 7).

3B, the reaction force applied to the link frame 27 at the same time as pressing the work surface 7 allows the coil part 25 to be retracted by the repulsive force of the lower magnetic body 271. As a result, the effector frame 20 can be easily removed from the work surface 7.

The spring 24 may connect the link frame 27 and the legs 23 of the effector frame 20. The spring 24 can connect the lower portion of the leg 23 and the lower portion of the link frame 27. Accordingly, the link frame 27 can relatively move up and down in relation to the leg 23 of the effector frame 10. The link frame 27 is engaged so as to be slidably driven in relation to the leg 23, and the coil part 25 is fixed to the leg 23. Therefore, the relative motion (repulsive force) between the coil portion 25 and the link frame 27 pushes the effector frame 20 in the direction opposite to the work surface 7. [

4 shows an end effector 3 of a magnetic control system according to another embodiment of the present invention. 3, the end effector may include an effector frame 30, an electromagnet 35, a moving roller 34, and a driver 37. [

The effect frame 30 may be formed with a leg 33 to which a work effector is connected and which is closely contacted with the work surface 7. The effector frame 30 may comprise a leg 33 and a top plate 31 connected to the top of the leg 33. A device such as the spray gun, the spot welding torch, the drill, the grinder, and the like may be coupled to the upper plate 31.

The electromagnet 35 can be fixedly attached to the lower portion of the leg 33 to provide a force on the work surface 7. In this embodiment, the electromagnetic portion 35 can be provided as a magnetic body capable of driving control. Unlike a magnet that always generates magnetic force, the electromagnet can adjust whether magnetic force is generated or not. The leg 33 provided with the electromagnet portion 35 can be detached and attached to the working surface 7 depending on whether magnetic force is generated or not.

The moving roller 34 may be provided at the end of the leg 33 and exposed to the lower side of the electromagnet 35. The end effector 3 should not be fully adhered to the work surface 7 and should be provided so that it can be held in close contact and close proximity on the work surface 7. In this case, the electromagnetic portion 35 is spaced apart from the work surface 7 by a predetermined distance, but the close distance is maintained by the attraction force. The roller 34 is provided to be exposed to the outside of the electromagnetic portion 35 by preventing the electromagnetic portion 35 from being strongly adhered to the end effector 3 or the work surface 7 by separating the electromagnetic portion 35 from the work surface 7 , The roller 34 can be moved vertically or vertically on the work wall surface 7 corresponding to the ceiling.

The driver 37 can turn on / off the magnetism of the electromagnet 35. The driver 37 may be provided on the top plate 31 of the effector frame 30. [ In another embodiment, the end effector 3 may be further provided with a switch for remotely controlling the actuator 37.

Fig. 5 shows an end effector 4 in a manner to control the direction of magnetism according to another embodiment of the present invention. 5, the end effector 4 may include an effector frame 40, an electromagnet 45, a moving roller 44, and a driver 47.

In this embodiment, the electromagnetic portion 45 may include a magnetic base 451, a permanent magnet 453, a belt 454 and a servo motor 455. [ The electromagnet part (45) is fixed to the lower part of the leg (43) and can provide a work force to the work surface (7). A plurality of the electromagnet portions 45 may be provided along the lower outer circumferential surface of the legs 43.

The magnetic base 451 can transmit the magnetic force of the permanent magnet 453 to the work surface 7. The servo motor 455 is connected to the permanent magnet 453 by a belt 454 or the like to rotate the permanent magnet 453. [ When the direction of the permanent magnet 453 is directed toward the work surface 7, the magnetic force is transmitted to the magnetic base 451 in a superimposed manner with the magnetic force generated by the magnetic base 451. In this case, the end effector 4 can be fixed to the work surface 7. On the other hand, when the direction of the permanent magnet 453 is rotated in parallel with the work surface 7, the magnetic force of the magnetic base 451 is canceled and a relatively weak magnetic force is transmitted, so that the end effector 4 can be easily detached.

The servomotor 455 can be moved by hand. By changing the direction of the magnetic force of the permanent magnet 453, it is possible to control whether the magnetic base 451 and the permanent magnet 453 generate magnetic force. The permanent magnets 453 and the servomotor 455 can be provided in a dialing manner for easy remote control.

The servo motor 455 is provided on the upper portion of the magnetic base 451 to rotate the permanent magnet 453. The belt 454 connects the outer periphery of the cylindrical permanent magnet 453 with the rotor of the servo motor 455. The belt 454 is rotated by the drive of the servo motor 455 and the circular permanent magnet 453 can be rotated by the rotation of the belt 454. [

The driver 47 can control the servo motor 455 to switch the magnetic force of the magnetic base 451. [ In this embodiment, the driver 47 controls the driving of the servo motor 455 to turn on / off the magnetism transmitted to the magnetic base 451. The actuator 47 may be provided on the upper plate 31 of the effector frame 30. In another embodiment, the end effector 4 may be further provided with a switch for remotely controlling the actuator 47.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. will be. Therefore, the scope of the present invention should not be limited to the above-described embodiments, but should be determined by all changes or modifications derived from the scope of the appended claims and equivalents of the following claims.

1, 2, 3, 4: end effector 7: iron plate
10: effect frame 11, 21, 31, 41: top plate
111: cylinder 113: through hole
115: Hinge 12, 22: Magnet
13, 23, 33, 43: legs 14, 24: spring
15: lever 151: handle
153: Load 155: Mount
17, 27: link frame 171: first link
173: second link 25: coil part
251: magnetization member 271: magnetic substance
253: solenoid coil 26, 37, 47: actuator
34, 44: roller 35, 45: electromagnet
351: Electromagnet 451: Magnetic base
453: permanent magnet 454: belt
455: Servo motor

Claims (12)

In an end effector of a cable robot used in close contact with a work surface,
An effector frame to which a work effector is connected and in which a leg which is closely contacted to and supported by the work surface is formed at a lower portion;
A magnet fixedly attached to an end of the leg to provide attraction to the work surface;
A lever provided at an upper portion of the effector frame and drawn out in a direction opposite to the work surface; And
And a link frame for pressing the work surface by drawing out the lever,
The link frame includes:
A first link disposed parallel to an upper surface of the effector frame and pivotable by a withdrawal of the lever; And
And a second link disposed perpendicularly to the first link and pressing the work surface by pivoting an end of the first link,
Wherein the link frame presses the work surface to drop the effector frame from the work surface,
The effector frame includes:
At least one hinge to which the first link is rotatably coupled is provided on the upper surface,
The lever
A handle gripped by the user;
A rod extending downwardly of the handle; And
And a hemispherical mount coupled to an end of the rod,
Wherein one end of the first link is in contact with an upper surface of the receiving port and is provided in parallel with the effector frame, and the other end of the first link is in contact with an upper end of the second link.
The method according to claim 1,
The effector frame includes:
And a cylinder in which the lever is drawn in and out is provided on an upper portion of the end effector.
delete delete delete delete The method according to claim 1,
Further comprising a spring connecting a lower portion of the leg to the second link,
Wherein the second link comprises:
Wherein the end effector is slidably coupled to the leg.
In an end effector of a cable robot used in close contact with a work surface,
An effector frame to which a work effector is connected and in which a leg which is closely contacted to and supported by the work surface is formed at a lower portion;
A magnet fixedly attached to an end of the leg to provide attraction to the work surface;
A coil portion fixedly coupled to the leg to form a magnetic field with an applied current;
And a link frame for pressing the work surface by generating a force or a repulsive force with the coil part by a magnetic field generated in the coil part,
Wherein the link frame presses the work surface to drop the effector frame from the work surface,
And a driver for applying a current to the coil portion,
Wherein the coil portion includes:
A cylindrical magnetizing member fixed to an outer circumferential surface of the leg and having a hollow; And
And a solenoid coil to which a current of the actuator is applied and wound on an outer circumferential surface of the magnetizing member,
The link frame includes:
A leg extending in a longitudinal direction of the leg and coupled to an end of the leg so as to be slidable in the leg through a hollow of the magnetizing member,
And a magnetic body which is provided at an upper end or a lower end of the link frame and in which a pulling force or a repulsive force is generated by a magnetic field generated by the coil portion.
delete delete In an end effector of a cable robot used in close contact with a work surface,
An effector frame to which a work effector is connected and in which a leg which is closely contacted to and supported by the work surface is formed at a lower portion;
An electromagnet portion fixed to a lower portion of the leg to provide an attractive force to the working surface; And
And a moving roller provided at an end of the leg and exposed downward of the electromagnetic portion,
Wherein the effector frame is detached from the work surface in accordance with the magnetic control of the electromagnetic portion,
Further comprising a driver for switching the magnetic force direction of the following permanent magnets,
The electromagnet portion
A magnetic base provided with permanent magnets; And
And a servo motor provided on the magnetic base for rotating the permanent magnet,
Wherein the actuator controls the servo motor, and the magnetic base is offset or increased in magnetic force by the rotation of the permanent magnet.
delete
KR1020150080955A 2015-06-09 2015-06-09 Easily detachable magnets-integrated end-effector for cable robot KR101741689B1 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101924337B1 (en) 2018-09-03 2018-12-03 주식회사 우진하이텍 Fire engine having water tank assembly
CN110076795A (en) * 2019-04-26 2019-08-02 南安冠玲工业设计有限公司 A kind of novel science and education intelligent robot

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130003341U (en) 2011-11-28 2013-06-05 한국철도공사 Display board using magnetic base for indicating railway work

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
제2015 제30회 제어로봇시스템학회 학술대회. 제어로봇시스템학회. 2015.05., p219-220*

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101924337B1 (en) 2018-09-03 2018-12-03 주식회사 우진하이텍 Fire engine having water tank assembly
CN110076795A (en) * 2019-04-26 2019-08-02 南安冠玲工业设计有限公司 A kind of novel science and education intelligent robot

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