KR20050069395A - A vessel absence clamping the rotation control mean is possessed - Google Patents
A vessel absence clamping the rotation control mean is possessed Download PDFInfo
- Publication number
- KR20050069395A KR20050069395A KR1020030101450A KR20030101450A KR20050069395A KR 20050069395 A KR20050069395 A KR 20050069395A KR 1020030101450 A KR1020030101450 A KR 1020030101450A KR 20030101450 A KR20030101450 A KR 20030101450A KR 20050069395 A KR20050069395 A KR 20050069395A
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- KR
- South Korea
- Prior art keywords
- clamping
- rotation
- worm gear
- axial
- control means
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C5/00—Equipment usable both on slipways and in dry docks
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
- F15B15/06—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement
Abstract
본 발명은 조선소의 블록지지대, 러그, 대형샤클, T/B Box 등과 같은 작업부재를 클램핑한 채 미세 조정은 물론 각도 조정을 통해 취부작업이 보다 용이하게 이루어질 수 있는 회전제어수단이 구비된 선박용 부재 클램핑장치를 제공함에 있는 것이다.The present invention is a ship member equipped with a rotation control means that can be made more easily through the fine adjustment as well as the angle adjustment while clamping the work members such as block support, lugs, large shackles, T / B box of the shipyard It is to provide a clamping device.
본 발명은 선수미 공장의 블록지지대, 러그, 대형샤클, T/B Box 등을 파지하여 핸들링할 수 있도록 구성된 클램핑부재(10)와, 상기 클램핑부재(10)를 축방향으로 360°회전 운동시키는 축방향회전부재(20)와, 상기 축방향회전부재(20)를 길이방향(상,하방향)으로 소정의 각도만큼 회전 운동시키는 길이방향회전부재(30)로 구성되어 부재를 클램핑부재로 집어 핸들링이 가능하게 되어, 다양한 부재 작업이 가능하고, 상기 클램핑부재는 필요시 축방향으로 360° 회전 운동은 물론 길이방향으로 소정의 각도만큼 선회도 가능하게 되어 중량 부재를 임의의 각도로 취부하는데 아주 유용하게 사용되어질 수 있는 것이다.The present invention provides a clamping member 10 and a clamping member 10 configured to grip and handle block supports, lugs, large shackles, T / B boxes, etc. of the fore and aft factory, and rotate the clamping member 10 in an axial direction by 360 °. Consists of the axial rotation member 20 and the longitudinal rotation member 30 for rotating the axial rotation member 20 by a predetermined angle in the longitudinal direction (up, down direction) to pick up the member to the clamping member The handling is possible, and various member operations are possible, and the clamping member can be rotated by a predetermined angle in the longitudinal direction as well as a 360 ° rotational movement in the axial direction, if necessary, so that the weight member can be mounted at an arbitrary angle. It can be useful.
Description
본 발명은 조선소의 블록지지대, 러그, 대형샤클, T/B Box 등과 같은 중량 작업부재의 핸들링 및 미세 조정으로 취부작업이 보다 용이하게 이루어질 수 있도록 회전제어수단이 구비된 선박용 부재 클램핑장치에 관한 것이다.The present invention relates to a ship member clamping device equipped with a rotation control means to facilitate the installation work by the handling and fine adjustment of heavy work members such as block support, lugs, large shackles, T / B Box of the shipyard. .
조선소의 경우 선박 블록에 취부하는 부재는 인력으로 핸들링하기 어려운 중량물로 구성되고 있어 이동과정도 문제지만 이동 후 높은 부위에서 미세 취부동작이 이루어져야 하는 특성상 선박건조과정에 많은 인력이 투입되고 있다.In the case of shipyards, the members attached to the ship block are made of heavy materials that are difficult to handle by manpower. Therefore, the movement process is also a problem, but a lot of manpower has been put into the shipbuilding process due to the nature of the fine mounting operation after the movement.
따라서 이들 부재는 대부분 중장비를 이용하여 핸들링하게 되지만 중장비는 미세한 취부동작을 지원하지 않은 관계로 취부시간이 오래 걸릴 뿐만 아니라, 비좁은 공간에서는 사용할 수 없는 제약이 있다.Therefore, most of these members are handled by using heavy equipment. However, since heavy equipment does not support fine mounting operation, it takes a long time to attach and also cannot be used in a narrow space.
종래에는 대상 부재중 40~100kg 정도의 파이프인 경우에는 인력으로 트래슬 위에 올리고 다시 트레슬 위에서 취부위치까지 옮긴 다음 취부 한다. 그리고 러그, 샤클의 경우에는 인력으로 이동하고 다수의 작업자가 위보기 자세로 들어올려 취부하고 있고, 300kg 미만의 경우는 지게차 포크에 중량물을 매달아서 취부 위치까지 옮긴 다음 지렛대, 망치와 같은 치구를 이용하여 고소부위에 취부하게 되었다.Conventionally, in the case of a pipe of about 40 ~ 100kg of the target member, it is put on the trellis by the attraction force and moved to the mounting position again on the trestle and then mounted. In the case of rugs and shackles, they are moved by manpower and many workers are lifted up in the upper position. I was mounted on the complaint site.
하지만 트레슬 위에 블록을 얹고서 공장외부로 이동하여 러그, 샤클, T/B Box, 지지대 등을 이동하고 취부하는 과정은 트래슬 위에서 인력으로 이동하고 취부하게 되므로 작업자 손실(Loss), 근골격와 같은 많은 산재환자가 발생하게 되는 문제점을 안고 있다.However, the process of moving and mounting lugs, shackles, T / B boxes, supports, etc. by placing blocks on the trestle outside of the factory is moved and mounted on the trellis by manpower, resulting in many losses such as worker loss and musculoskeletal. Occupational patients suffer from problems.
더욱이 종래에는 중량물을 취부하기 위한 운동부로는 고소작업에 사용되는 유압식 크레인, 지게차 등이 주로 이용되는데 이는 주로 유압실린더의 직선운동으로 작업대가 유연하게 조절할 수 있는 구조가 아니어서 블록 지지대 설치 작업의 경우는 H-비임(Beam)인 경우에는 비임에 브라켓을 용접한 후 지게차 포크등와 같은 운송장비에 매달아 작업자가 인력으로 미조정하면서 취부하게 되므로 작업자가 힘들고 작업시간도 많이 소요되었다.In addition, conventionally, as a moving part for mounting heavy materials, hydraulic cranes, forklifts, and the like, which are used for aerial work, are mainly used. In the case of H-Beam (Beam), the bracket is welded to the beam and then hung on the transport equipment such as forklift fork, so that the worker is fine-tuned and installed by the worker, it was difficult for the worker and a lot of time was required.
그러므로 고소작업 블록에 블록지지대 설치, 블록에 러그, 대형샤클, T/B Box 등을 취부하기 용이하도록 차량몸체와 별도로 움직이도록 구성된 클램핑장치와, 상기 클램핑장치를 임의로 선회시킬 수 있도록 된 선회장치와, 전체 기구부를 회전시킬 수 있는 회전 동작이 자유로워야 곡블록과 같은 다양한 경사조건에 대응하여 취부작업을 용이하게 수행할 수 있다.Therefore, the clamping device is configured to move separately from the vehicle body to facilitate the installation of a block support on the aerial work block, the lug, the large shackle, the T / B box, etc., and the turning device capable of arbitrarily turning the clamping device. In this case, the mounting operation can be easily performed in response to various inclination conditions such as a music block only when the rotation operation capable of rotating the entire mechanism part is free.
이에 본 발명은 상기한 바와 같은 종래의 문제점은 감안 해소하고자 선수미 공장의 블록지지대, 러그, 대형샤클, T/B Box 등과 같은 작업 부재를 파지하여 핸들링도 가능하게 하고, 상기 클램핑장치의 자체 회전은 물론 기구부 전체를 상/하로 회전이 가능하게 하여 중량물을 임의의 각도로 취부 작업도 용이하도록 된 회전제어수단이 구비된 선박용 부재 클램핑장치를 제공함에 그 목적이 있는 것이다. In order to solve the above problems, the present invention enables handling by holding a work member such as a block support, a lug, a large shackle, a T / B box, etc. of the fore and aft factory, and the self-rotation of the clamping device. Of course, it is an object of the present invention to provide a member clamping device for a ship equipped with a rotation control means that can be rotated up and down the entire mechanism portion to facilitate the installation work of the heavy object at any angle.
이하, 본 발명을 첨부된 예시 도면을 참고하여 본 발명의 구체적인 실시 예에 의거한 클램핑장치의 구성 및 작용 효과 등을 보다 상세하게 설명하면 다음과 같다.Hereinafter, with reference to the accompanying drawings of the present invention will be described in more detail the configuration and operation effects and the like of the clamping device according to a specific embodiment of the present invention.
도 1은 본 발명이 적용된 회전제어수단이 구비된 선박용 부재 클램핑장치의 구성을 나타낸 예시도이고, 도 2는 본 발명의 회전제어수단이 구비된 선박용 부재 클램핑장치가 차량에 장착되어 사용되는 것을 나타낸 사용상태도이다.Figure 1 is an exemplary view showing a configuration of a ship member clamping device equipped with a rotation control means to which the present invention is applied, Figure 2 is a ship member clamping device equipped with a rotation control means of the present invention is used to be mounted to the vehicle It is a state of use.
도 1에 나타낸 바와 같이, 본 발명의 회전제어수단이 구비된 선박용 부재 클램핑장치는 부재를 파지할 수 있도록 된 클램핑부재(10)와, 상기 클램핑부재(10)를 축방향으로 360°회전운동시키는 축방향회전부재(20)와, 상기 축방향회전부재(20)를 길이방향(상,하방향)으로 소정의 각도(180°)만큼 회전 운동시키는 길이방향회전부재(30)로 구성되는 것을 특징으로 한다.As shown in Figure 1, the ship member clamping device with a rotation control means of the present invention is to clamp the clamping member 10 and the clamping member 10 to rotate the 360 ° in the axial direction to hold the member It consists of an axial rotation member 20, and the longitudinal rotation member 30 for rotating the axial rotation member 20 by a predetermined angle (180 °) in the longitudinal direction (up, down direction). It is done.
상기한 구성에 있어 클램핑부재(10)는 외부의 메니폴더(Manifolder)로부터 유압원을 제공받는 유압실린더(11)와, 상기 유압실린더(11)에 의해 직선 운동하는 슬라이더(12)와, 상기 유압실린더(11)를 고정되게 지지하는 프레임(13)과, 상기 프레임(13)에 조립되는 한 쌍의 그립지지대(14)와, 부재(A)의 양쪽을 고정되게 파지할 수 있도록 그립지지대(14)에 조립되는 한 쌍의 그립(15)과, 상기 그립(15)과 그립지지대(14)를 고정되게 연결하는 한 쌍의 링크가이드(16)와, 상기 링크가이드(16)와 인접되게 배치되어 그 중앙부와 한쪽 선단으로 그립(15)과 그립지지대(14)에 각각 조립되고 타측단은 슬라이더(12)에 고정되는 고정간(122)의 타측단에 연결되는 링크(17)로 구성된다.In the above configuration, the clamping member 10 includes a hydraulic cylinder 11 provided with a hydraulic source from an external manifold, a slider 12 linearly moved by the hydraulic cylinder 11, and the hydraulic pressure. A frame 13 supporting the cylinder 11 to be fixed, a pair of grip supports 14 assembled to the frame 13, and a grip support 14 so as to hold both of the members A fixedly. A pair of grips 15 assembled to the pair, a pair of link guides 16 fixedly connecting the grips 15 and the grip support 14, and adjacent to the link guides 16. The central portion and one end thereof are assembled to the grip 15 and the grip support 14, respectively, and the other end is composed of a link 17 connected to the other end of the fixing rod 122 fixed to the slider 12.
상기 축방향회전부재(20)는 상기 클램핑부재(10)와 서로 직교되게 배치되는 지지프레임(21)과, 상기 지지프레임(21)에 취부되는 웜베어링(22)과, 상기 웜베어링(22)에 축착되어 축방향으로 회전 운동하도록 된 웜기어(23)와, 상기 웜기어(23)에 회전력을 제공하는 제1유압모터(24)로 구성되고, 상기 웜기어(23)는 클램핑부재(10)의 프레임(13)의 외주면에 고정되게 결합되어 웜기어(23)와 함께 클램핑부재(10)가 동일하게 축방향으로 회전 운동하도록 구성되어 있다.The axial rotation member 20 includes a support frame 21 disposed perpendicular to the clamping member 10, a worm bearing 22 mounted on the support frame 21, and the worm bearing 22. And a first hydraulic motor 24 for providing rotational force to the worm gear 23, the worm gear 23 being framed by the clamping member 10. It is fixedly coupled to the outer circumferential surface of (13) is configured to rotate the clamping member 10 in the same axial direction with the worm gear 23.
상기 웜기어(23)의 내측에는 클램핑부재(10)의 유압실린더(11)의 입,출구축포트에 유압원을 공급하도록 된 로터리형 메니폴더(25)가 내장되어 상기 메니폴더(25)를 통해 유압실린더(11)를 제어하는데 필요한 유압원을 공급하도록 되고, 유압실린더(11)를 제어하는데 필요한 유압원은 상기 제1유압모터(24) 또는 별도의 유압모터에서 제공받도록 되어 있다.Inside the worm gear 23, a rotary manifold 25 for supplying a hydraulic source to the inlet and outlet shaft ports of the hydraulic cylinder 11 of the clamping member 10 is built in through the manifold 25. The hydraulic source required to control the hydraulic cylinder 11 is supplied, and the hydraulic source necessary to control the hydraulic cylinder 11 is provided to be provided by the first hydraulic motor 24 or a separate hydraulic motor.
상기 길이방향회전부재(30)는 축방향회전부재(20)와 서로 직교되게 배치되어 상기 축방향회전부재(20)를 길이방향으로 소정의 각도만큼 회전 운동시키도록 구성되고 있다.The longitudinal rotation member 30 is arranged to be orthogonal to the axial rotation member 20 so as to rotate the axial rotation member 20 by a predetermined angle in the longitudinal direction.
길이방향회전부재(30)는 축방향회전부재(20)의 지지프레임(21)의 양측으로 각각 고정되는 회전축(31)에 축착되는 스퍼어기어(32)와, 상기 스퍼어기어(32)에 치합되는 웜기어(33)와, 상기 웜기어(33)에 필요한 회전력을 제공하는 제2유압모터(34)로 구성되어 상기 제2유압모터(34)에 의해 스퍼어기어(32)와 함께 축방향회전부재(20)를 소정의 각도만큼 회전 운동하도록 구성되고 있다.The longitudinal rotation member 30 is connected to the spur gear 32 and the spur gear 32 which are fixed to the rotation shafts 31 fixed to both sides of the support frame 21 of the axial rotation member 20, respectively. It is composed of a worm gear 33 to be engaged, and a second hydraulic motor 34 to provide the rotational force required for the worm gear 33, the axial rotation with the spur gear 32 by the second hydraulic motor 34 The member 20 is configured to rotate by a predetermined angle.
이와 같이 구성된 본 발명은 외부 유압호스에서 유압원이 공급되어 길이방향회전부재(30)의 제2유압모터(34)를 구동하면 웜기어(33)와 스퍼기어(32)를 통해 모터토크는 수톤으로 증대시켜 축방향회전부재(20)를 상,하로 회전시킬 수 있게된다.According to the present invention configured as described above, when the hydraulic source is supplied from the external hydraulic hose to drive the second hydraulic motor 34 of the longitudinal rotating member 30, the motor torque may be several tons through the worm gear 33 and the spur gear 32. By increasing, the axial rotation member 20 can be rotated up and down.
그리고 다시 제2유압모터(34)와 별도로 움직이는 제1유압모터(24)를 구동하면 클램핑부재(10)를 360°회전시켜 그립(Grip)부에 임의각을 유발시킬 수 있게된다.In addition, when the first hydraulic motor 24 moving separately from the second hydraulic motor 34 is rotated, the clamping member 10 may be rotated 360 ° to cause an arbitrary angle to the grip part.
또한, 클램핑부재(10)는 메니폴더(25)로부터 유압원을 제공받으면 유압실린더(11)에 의해 슬라이더(12)를 직선 왕복 운동시킴에 따라 그립지지대(14)에 결합되는 링크(16)와 링크가이드(16)로 연결된 그립(15)은 수평 이동하면서 좌,우로 벌어졌다 오무러들며 부재를 파지하고 해지하는 클램핑 기능을 수행하게 된다.In addition, the clamping member 10 has a link 16 coupled to the grip support 14 as the slider 12 is linearly reciprocated by the hydraulic cylinder 11 when the hydraulic source is provided from the manifold 25. The grip 15 connected by the link guide 16 is opened horizontally while moving horizontally. The grip 15 grips and releases the clamping function.
따라서 러그, 대형샤클, T/B Box 등과 같은 작업 부재를 클램핑부재(10)로 파지하여 자유롭게 핸들링도 가능하게 되고, 상기 클램핑부재(10)는 축방향으로 360°회전운동시키는 축방향회전부재(20)와, 상기 축방향회전부재(20)를 길이방향(상,하방향)으로 180°상,하로 회전 운동시키는 길이방향회전부재(30)를 통해 중량물을 임의의 각도로 취부 작업도 용이하게 이루어질 수 있는 것이다.Therefore, the gripping member, such as a large shackle, a T / B box, and the like can be gripped by the clamping member 10 to allow free handling, and the clamping member 10 is an axial rotation member that rotates 360 ° in the axial direction. 20) and through the longitudinal rotation member 30 for rotating the axial rotation member 20 in the longitudinal direction (up, down direction) 180 ° up and down, also easy to attach the heavy object at any angle It can be done.
본 발명의 클램핑장치는 도 3에 나타낸 바와 같이 주행이 가능하도록 된 별도의 운송수단과 같은 차량(100)에 고정되게 설치하여 보다 효과적으로 운이 가능한 것이다. The clamping device of the present invention is to be fixed to the vehicle 100, such as a separate transport means that can be driven as shown in FIG.
이상에서와 같이 본 발명의 선박용 부재 클램핑장치에 의하면, 선수미 공장의 블록지지대, 러그, 대형샤클, T/B Box 등을 클램핑부재로 집어 핸들링이 가능하게 되어, 다양한 부재 작업이 가능하고, 상기 클램핑부재는 필요시 축방향으로 360°회전 운동은 물론 길이방향으로 180°상,하 방향으로 선회 운동도 가능하게 되어 중량 부재를 임의의 각도로 취부하는데 아주 유용하게 사용되어질 수 있게 되는 등의 작용 효과를 갖는 매우 유용한 발명인 것이다.As described above, according to the ship member clamping apparatus of the present invention, the block support, the lug, the large shackle, the T / B box, etc. of the fore and aft plant can be handled by the clamping member, and various member operations are possible. The clamping member can be rotated 360 ° in the axial direction and 180 ° up and down in the longitudinal direction, if necessary, so that the clamping member can be very useful for mounting the weight member at any angle. It is a very useful invention having an effect.
도 1은 본 발명의 선박용 부재 클램핑장치의 예시도,1 is an exemplary view of a ship member clamping device of the present invention,
도 2는 본 발명의 다자유도장치가 장착되는 것을 나타낸 사용상태도이다.2 is a state diagram showing the use of the multiple degree of freedom device of the present invention.
<도면의 주요 부분에 대한 부호의 설명><Explanation of symbols for the main parts of the drawings>
10: 클램핑부재 11: 유압실린더10: clamping member 11: hydraulic cylinder
12: 슬라이더 13: 프레임12: Slider 13: Frame
14: 그립지지대 15: 그립14: grip support 15: grip
16: 링크가이드 17: 링크16: Link Guide 17: Link
20: 축방향회전부재 21: 지지프레임20: axial rotation member 21: support frame
22: 웜베어링 23: 웜기어22: Worm Bearing 23: Worm Gear
24: 제1유압모터 25: 로터리형 메니폴더24: 1st hydraulic motor 25: rotary manifold
30: 길이방향회전부재 31: 회전축30: longitudinal rotation member 31: rotating shaft
32: 스퍼어기어 33: 웜기어32: Spur Gears 33: Worm Gears
34: 제2유압모터 122: 고정간34: second hydraulic motor 122: fixed interval
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020030101450A KR100561237B1 (en) | 2003-12-31 | 2003-12-31 | A vessel absence clamping the rotation control mean is possessed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020030101450A KR100561237B1 (en) | 2003-12-31 | 2003-12-31 | A vessel absence clamping the rotation control mean is possessed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR20050069395A true KR20050069395A (en) | 2005-07-05 |
| KR100561237B1 KR100561237B1 (en) | 2006-03-15 |
Family
ID=37259811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1020030101450A KR100561237B1 (en) | 2003-12-31 | 2003-12-31 | A vessel absence clamping the rotation control mean is possessed |
Country Status (1)
| Country | Link |
|---|---|
| KR (1) | KR100561237B1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100774887B1 (en) * | 2006-10-31 | 2007-11-08 | 전자부품연구원 | Apparatus for 3-axis articulation of manipulator |
| CN102633131A (en) * | 2012-04-27 | 2012-08-15 | 长春北方仪器设备有限公司 | Assembly and carrying type stacking clamp device |
| KR101287027B1 (en) * | 2011-09-26 | 2013-07-17 | (주)코윈테크 | Pallet changing apparatus for automatic warehouse |
| KR101287030B1 (en) * | 2011-09-26 | 2013-07-17 | (주)코윈테크 | Device for clamping pallet changing apparatus of automatic warehouse |
| CN108839051A (en) * | 2018-09-18 | 2018-11-20 | 马楠 | A kind of miniature flexible clamper based on marmem driving |
| CN110562642A (en) * | 2019-10-14 | 2019-12-13 | 随州市创想汽车技术有限公司 | Garbage collection device of garbage truck |
| CN114367999A (en) * | 2021-12-28 | 2022-04-19 | 镇江市高等专科学校 | Manipulator fixture |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105523378A (en) * | 2016-02-04 | 2016-04-27 | 哈尔滨新智达自动化成套装备有限公司 | Mechanism for grabbing and placing massive objects |
| CN108714910B (en) * | 2018-06-08 | 2021-07-02 | 哈尔滨工业大学 | Tail end clamp holder adopting space link mechanism |
| KR101922017B1 (en) | 2018-06-27 | 2018-11-26 | 유창선 | Clamping device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0677932U (en) * | 1993-03-29 | 1994-11-01 | 日産車体株式会社 | Clamp for press panel automatic carrier |
| JPH0743052U (en) * | 1993-12-16 | 1995-08-18 | 祖父江 英子 | fork |
| JP3419933B2 (en) * | 1993-12-24 | 2003-06-23 | 株式会社名南製作所 | Veneer veneer lifting equipment |
| KR200158668Y1 (en) * | 1996-12-10 | 1999-10-15 | 김재복 | Clamp device in rod-rotating cylinder |
-
2003
- 2003-12-31 KR KR1020030101450A patent/KR100561237B1/en not_active IP Right Cessation
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100774887B1 (en) * | 2006-10-31 | 2007-11-08 | 전자부품연구원 | Apparatus for 3-axis articulation of manipulator |
| KR101287027B1 (en) * | 2011-09-26 | 2013-07-17 | (주)코윈테크 | Pallet changing apparatus for automatic warehouse |
| KR101287030B1 (en) * | 2011-09-26 | 2013-07-17 | (주)코윈테크 | Device for clamping pallet changing apparatus of automatic warehouse |
| CN102633131A (en) * | 2012-04-27 | 2012-08-15 | 长春北方仪器设备有限公司 | Assembly and carrying type stacking clamp device |
| CN108839051A (en) * | 2018-09-18 | 2018-11-20 | 马楠 | A kind of miniature flexible clamper based on marmem driving |
| CN108839051B (en) * | 2018-09-18 | 2024-03-29 | 马楠 | Miniature flexible clamp based on shape memory alloy drive |
| CN110562642A (en) * | 2019-10-14 | 2019-12-13 | 随州市创想汽车技术有限公司 | Garbage collection device of garbage truck |
| CN114367999A (en) * | 2021-12-28 | 2022-04-19 | 镇江市高等专科学校 | Manipulator fixture |
Also Published As
| Publication number | Publication date |
|---|---|
| KR100561237B1 (en) | 2006-03-15 |
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