KR20160060587A

KR20160060587A - Link fixation apparatus

Info

Publication number: KR20160060587A
Application number: KR1020150162839A
Authority: KR
Inventors: 천병식
Original assignee: 주식회사 고영테크놀러지
Priority date: 2014-11-20
Filing date: 2015-11-19
Publication date: 2016-05-30
Also published as: WO2016080793A3; WO2016080793A2

Abstract

An apparatus for fixing a link of the present invention comprises: a cylinder filled with a fluid inside; and a piston head formed to move back and forth inside the cylinder. The cylinder includes: a first flow path and a second flow path, in which the fluid is moved by reciprocal movement of the piston head; and a blocking member for blocking the movement of the fluid between the first flow path and the second flow path. Provided is the apparatus for fixing a link, capable of maintaining a position fixation state in a stable manner.

Description

Link fixture {LINK FIXATION APPARATUS}

The present invention relates to a link fixing apparatus using a fluid cylinder.

Recently, as demand and importance of precision parts manufacturing and processing, semiconductor manufacturing, micro-surgery, genetic manipulation, and cell matching have increased in industrial, medical and genetic engineering fields, researches for development and utilization of precision work robots are actively conducted . Generally, a heavy-weight fixing device (or a robot arm) having a multi-joint is provided with joints such as a human shoulder, arm, elbow, and wrist so as to have various joint angles. And such devices are being applied to various fields.

In particular, in the case of a conventional medical instrument used for surgery, treatment and diagnosis, a multi-joint fixation device in which a plurality of links are connected is used. FIG. 1 shows a conventional screw fixation type link fixation device 20 And illustratively shows the medical device 10 employed. As shown in the figure, by manipulating the relative positions of the two adjacent links 11, 12 and 13, the joint angles between the links are changed, and the weight 70 attached to one end of the link, for example, , A method of fixing various medical equipments such as an X-ray imaging apparatus or a diagnostic monitor to a predetermined position in a space. However, as shown in Fig. 1, the fixing device 20 used in the conventional medical device 10 generally has a method of restricting the rotation of the link by screwing the screw into the overlapping portion of the link and fastening the screw . However, if the length of the link becomes long or the weight of the medical equipment mounted at one end of the link becomes heavy, such a restraint method will have a large moment on the joint, making it difficult to fix the position, There is a problem. In this connection, in the following Patent Document 1, a fixed type is disclosed by using a plurality of links and springs. However, even in such a conventional patent document, the problem of slipping of the fixing device has not been solved.

As a result, there has been a need for a link fixing device that is more reliable than the medical device.

US Patent 6,732,988 ARTICULATED ARM SYSTEM FOR SUPPORTING MEDICAL IMAGING DEVICES

It is an object of the present invention to provide a link fixing device capable of restraining the position of a link by the pressure of incompressible fluid even when a large load is applied to one end of the link, and stably maintaining the position fixed state.

According to an aspect of the present invention, there is provided a link fixing apparatus including: a cylinder having a fluid filled therein; And a piston head formed to reciprocate within the cylinder, wherein the cylinder includes: a first flow path and a second flow path through which the fluid moves by the reciprocating motion of the piston head; And a blocking member for blocking the movement of the fluid between the first flow path and the second flow path.

In addition, the fluid may be an incompressible fluid.

According to another aspect of the present invention, there is provided a link fixing apparatus including: a cylinder having a fluid filled therein; And a first piston head reciprocating within the cylinder, wherein the cylinder includes: a first housing and a second housing through which the fluid moves by reciprocating motion of the first piston head; A tubular connection portion connecting the first housing and the second housing; And a blocking member for blocking the movement of the fluid between the first housing and the second housing.

In addition, the blocking member may be a valve mounted on the connecting portion.

The first piston head may be disposed in the first housing, and the second housing may further include a second piston head.

Further, the fluid may be formed to be hermetically sealed between the first and second piston heads.

The first housing may be divided into a first region and a second region by the first piston head, and the second housing may be divided into a third region and a fourth region by the second piston head.

Further, the third region may be filled with the fluid, and the fourth region may be filled with air.

Also, the fourth region may be in a vacuum state.

According to another aspect of the present invention, there is provided a link fixing apparatus comprising: a cylinder whose both ends are connected to two pivotally connected links to adjust a relative position of the link, the link fixing apparatus comprising: A piston member that divides the inside of the cylinder into a first region in the axial direction forward and a second region in the rearward axial direction and moves along the axial direction of the cylinder inside the cylinder; A fluid flow pipe connected to the first region and the second region of the cylinder; And a blocking member installed in the fluid flow pipe to open and close the fluid flow pipe, wherein during the compression stroke of the piston member, the fluid in the first region moves to the second region through the fluid flow pipe, The fluid in the second region is allowed to move to the first region through the fluid flow tube and the flow of the fluid through the fluid flow tube is stopped as the fluid flow tube is closed by the blocking member, The position of the piston member is fixed.

According to another aspect of the present invention, there is provided a link fixing apparatus comprising: a cylinder including a fluid therein; a link fixing device connected at both ends to two pivotally connected links to adjust a relative position of the link; A piston member including a first piston head that moves along the axial direction of the cylinder in the cylinder and a second piston head that is disposed in front of the first piston head; And a blocking member disposed between the first piston head and the second piston head for blocking flow of the fluid that is sealed between the first piston head and the second piston head, During a compression stroke, the first piston head pressurizes the fluid, which pressurizes the second piston head such that the first piston head, the fluid and the second piston head move forwardly within the cylinder Wherein the first piston head, the fluid, and the second piston head move rearwardly within the cylinder during an extension stroke of the piston member, the flow of the fluid as the flow of the fluid is blocked by the blocking member, By stopping the position of the first piston head and the second piston head is fixed.

Meanwhile, a link fixing apparatus according to an embodiment of the present invention includes a first housing, a second housing, and a second housing that is connected at both ends to two pivotally connected links to adjust a relative position of the link, A cylinder including a tubular connection portion connecting the first housing and the second housing; A piston member including a first piston head moving along the axial direction of the first housing inside the first housing and a second piston head moving along the axial direction of the second housing inside the second housing, ; And a blocking member disposed in the connection portion and interrupting a flow of fluid sealed between the first piston head and the second piston head, wherein during a compression stroke of the piston member, And the fluid pressurizes the second piston head via the connecting portion so that the first piston head, the fluid and the second piston head are in contact with the first housing, the connecting portion, and the second housing, respectively, Wherein the first piston head, the fluid, and the second piston head move toward the rear of the first housing, the connecting portion, and the second housing, respectively, during an extension stroke of the piston member, The flow of the fluid through the connection portion is stopped as the connection portion is closed by the first piston head and the second piston head, The position is fixed.

In addition, the fluid may be an incompressible fluid.

Further, the blocking member may be a valve.

Further, the cylinder is divided into a first region, a second region and a third region by the first piston head and the second piston head, the second region is filled with the fluid, and the third region is filled with air &Lt; / RTI >

The first housing is divided into a first region and a second region by the first piston head and the second housing is divided into a third region and a fourth region by the second piston head, 2 region, the interior of the connection portion and the third region may be filled with the fluid, and the fourth region may be filled with air.

Also, the fourth region may be in a vacuum state.

The link fixing device according to at least one embodiment of the present invention configured as described above includes a fluid cylinder having an incompressible fluid therein and a blocking member for blocking the flow of the fluid, Can be fixed more strongly and the slip problem of the fixing device can be solved.

1 is a view showing a medical device employing a screw fastening type link securing device according to the prior art.
FIG. 2A is a view showing a medical device equipped with a link fixing device according to an embodiment of the present invention.
2B is a view for explaining the compression stroke mechanism of the piston member of the link fixation apparatus shown in FIG. 2A.
FIG. 2C is a view for explaining a piston member extension stroke mechanism of the link fixing apparatus shown in FIG. 2A. FIG.
3A is a conceptual view showing a link fixing apparatus according to the first embodiment of the present invention.
3B is a view showing the extension state of the piston member of the link fixation apparatus shown in FIG. 3A.
3C is a conceptual view showing the compression state of the piston member of the link fixation apparatus shown in FIG. 3A.
4A is a conceptual view showing a link fixing apparatus according to a second embodiment of the present invention.
4B is a view showing the extension state of the piston member of the link fixation apparatus shown in FIG. 4A.
4C is a conceptual view showing the compression state of the piston member of the link fixation apparatus shown in FIG. 4A.
5A is a conceptual view showing a link fixing apparatus according to a third embodiment of the present invention.
5B is a view showing the extension state of the piston member of the link fixation apparatus shown in FIG. 5A.
5C is a conceptual view showing the compression state of the piston member of the link fixation apparatus shown in FIG. 5A.

Hereinafter, a link fixing apparatus according to the present invention will be described in detail with reference to the drawings. In the present specification, the same or similar reference numerals are given to different embodiments in the same or similar configurations. As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise.

In the present specification, the same or similar reference numerals are given to different embodiments in the same or similar configurations. As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. In addition, the suffix "module" and " part "for constituent elements used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

In describing the present invention, the terms first, second, etc. may be used to describe various components, but the components are not limited by the terms. These terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

Where an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may be present in between . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it means that no other element exists in between.

Hereinafter, a link fixing apparatus according to the present invention will be described in detail with reference to the drawings. FIG. 2A is a view showing a medical device 100 equipped with a link fixation apparatus 200 according to an embodiment of the present invention, and FIGS. 2B and 2C are views for explaining a compression and extension stroke mechanism of a piston member. In these drawings, for convenience of explanation, the medical device 100 in which three links 110, 120, and 130 are fixed and unlocked by two link fixing devices 200 is exemplarily shown. 2, the medical device 100 includes a first link 110, a second link 120, and a third link 130, and each link is connected to the link fixture 200 . Hereinafter, the link fixing device 200 will be mainly described.

A heavy object 700 is fixed to one end of the first link 110. The first link 110 is rotatably fixed to one end of the second link 120, and a wider working space can be secured through the connection structure. Here, the heavy object 700 may be a surgical microscope, an X-ray imaging apparatus or a diagnostic monitor, a surgical drill, a master of a surgical robot, or the like. At this time, if the load of the heavy object 700 exceeds the maximum moment that can be sustained by the joint portion of the link, it may become difficult to fix the heavy object 700 in a fixed position. If the heavy object 700 is not stably fixed Serious problems can arise. For example, in the surgical field, if a surgical drill or a master of a surgical robot is placed next to a doctor and the operation is carried out, if such equipment is shaken during the operation, it may pose a serious risk. Here, the link fixing device 200 is connected to the first link 110 and the second link 120 to prevent the links from arbitrarily moving. In particular, the fluid cylinders 210, 310, 410 and the blocking member 230, 330, 430 for blocking the flow of the fluid, the large load of the heavy object 700 can be efficiently and stably fixed using the pressure of the fluid. In this specification, the link fixation apparatus 200 is referred to as a link fixation apparatus for convenience of explanation, but the link fixation apparatus 200 is not limited thereto. That is, the concept of the present invention can be applied to an apparatus for fixing between two relatively movable members.

[First Embodiment]

3A to 3C are views showing a state in which the link fixation apparatus 200 according to the first embodiment of the present invention is coupled to the first link 110 and the second link 120 of the medical device. FIG. 3B is a conceptual view showing the compression state of the piston member of the link fixing device 200 according to the first embodiment, and FIG. 3C is a view showing the extension state of the piston member. Referring to FIGS. 3A to 3C, the link fixation apparatus 200 according to the first embodiment of the present invention includes a cylinder 210, a piston member, a fluid flow pipe 220, and a blocking member 230.

The cylinder 210 includes a first flow path and a second flow path through which the fluid moves due to the reciprocating motion of the piston head 210a. The first flow path may be an area in the cylinder where the piston head is disposed, and the second flow path may be a fluid flow pipe 220 described later. The inside of the cylinder 210 is divided into a first region 210r rearward by a piston head 210a described later and a second region 210r ahead of the first region 210c 210f. The direction in which the piston head 210a is inserted and compressed in the cylinder 210 is defined in front of the cylinder and the direction in which the piston head 210a is drawn out from the cylinder 210 is defined as the back of the cylinder.

One end of the cylinder 210 and the other end of the cylinder 210 are connected to the first region 210r and the second region 210r of the cylinder 210, 210f, and the fluid can be filled in the cylinder 210 and the fluid transfer tube 220. The fluid in the second region 210f in front of the cylinder can be moved to the first region 210r in the rear of the cylinder through the fluid moving tube 220. On the other hand, To the second region 210f through the second region 220f. At this time, although the fluid is an incompressible fluid, the volume of the fluid does not change even if the pressure in the cylinder 210 changes due to the movement of the piston head 210a.

On the other hand, the piston member includes a piston rod and a piston head 210a formed at one end of the piston rod. The piston head 210a moves along the axial direction of the cylinder 210 inside the cylinder 210. [ A fixing portion 241 fixed to the first link 110 is formed at the other end of the piston rod and a first coupling hole 241a is formed in the fixing portion 241 so as to be easily coupled to the first link 110. [ .

A first cap 211 may be mounted on one side of the cylinder 210 so that the piston can be engaged with the first link 211. The other side of the cylinder 210 is connected to the second link 120 A second cap 212 may be mounted. The second coupling hole 212a may be formed in the second cap 212 so that the link fixing device 200 can be easily coupled to the second link 120. [ When the first coupling hole 241a is pivotally coupled to the first link 110 and the second coupling hole 212a is pivotally coupled to the second link 120, The piston members 240 and 210a are stretched or compressed according to the relative spacing between the two links 120. [

Referring to FIG. 3B, when a compression stroke of the piston member, that is, a force pushing the piston from the outside into the cylinder 210 is applied, the piston head 210a presses the fluid filled in the second region 210f forward. The fluid that has been pressurized from the piston head 210a flows counterclockwise and the fluid filled in the second region 210f flows to the first region 210r via the fluid transfer tube 220. [

Referring to FIG. 3C, when an extension stroke of the piston member, that is, a force for pulling the piston from the cylinder 210 from the outside is applied, the piston head 210a presses backward the fluid in the first region 210r . The fluid that has been pressurized from the piston head 210a flows clockwise and the fluid filled in the first region 210r flows to the second region 210f via the fluid transfer tube 220. [ The inside of the cylinder 210 may be formed wider than the inside of the fluid transfer tube 220.

Meanwhile, the link fixing device 200 of the present invention includes a blocking member 230 for blocking the movement of fluid between the first flow path and the second flow path. As described above, the first flow path may be an area in the cylinder where the piston head is disposed, and the second flow path may be the fluid flow pipe 220 described later. At this time, the blocking member 230 may be installed in the fluid moving tube 220 to block the flow of the fluid passing through the fluid moving tube 220. The fluid in the second region 210f of the cylinder 210 can freely flow into the first region 210r when the blocking member 230 is in the open state. Also, it can flow freely in the opposite direction. In other words, when a force is applied from the piston rod 240 in a state that the blocking member 230 is open, fluid flows through the space inside the cylinder 210, and the piston head 210a can reciprocate. On the other hand, the blocking member 230 closes the opening of the fluid transfer tube 220 so that the fluid flows from the second region 210f to the first region 210r or vice versa, 210f. In other words, when the blocking member 230 is closed, the fluid can not flow through the inner space of the cylinder 210 even if a force is applied from the piston rod 240. At this time, since the fluid is incompressible, the piston head 210a is kept in a fixed state. That is, as the fluid transfer tube 220 is closed by the blocking member 230, the movement of the fluid through the fluid transfer tube 220 is stopped, so that the position of the piston member can be restrained.

Meanwhile, the link fixing apparatus according to the first embodiment of the present invention may further include a switch member (not shown) for controlling the operation state of the blocking member 230. The switch member is mounted on the blocking member 230, and the user can mechanically or electronically control the open / close state of the blocking member 230 by manually operating the switch member. At this time, the switch members are attached to the respective link fixing devices, and it is also possible to individually control the blocking members of the link fixing devices. In addition, the link fixing apparatus according to the first embodiment of the present invention may further include a control unit (not shown) connected to the switch member to adjust the operation state of the switch member. The control unit is connected to each switch member so that the open / close state of all the switch members can be automatically controlled in a lump by the operation of the control unit.

[Second Embodiment]

4A to 4C are views showing a state in which the link fixation device 300 according to the second embodiment of the present invention is coupled to the first link 110 and the second link 120 of the medical device. FIG. 4B is a conceptual view showing the extension state of the piston member of the link fixation apparatus 300 shown in FIG. 4A, and FIG. 4C is a view showing the compression state of the piston member. 4A to 4C, a link fixation apparatus 300 according to a second embodiment of the present invention includes a cylinder 310, a piston member 340 and 310a, and a shutoff member 330. As shown in FIG.

The cylinder 310 includes a first piston head 310a and a second piston head 310b along the axial direction to be described later and these first, second and third regions 310r and 310m , And 310f. The first region 310r is a rear region of the first piston head 310a and the second region 310m is a region partitioned by the first and second piston heads. 310f are the front region of the second piston. At this time, the second region 310m may be filled with incompressible fluid, and the third region 310f may be filled with air.

The piston member includes a piston rod 340 and a first piston head 310a formed at one end of the piston rod and a second piston head 310b disposed in front of the first piston head 310a. The first and second piston heads move along the axial direction of the cylinder 310 inside the cylinder 310 and the first piston head 310a and the second piston head 310b can move together. The fixing rod 341 and the first coupling hole 341a may be formed at the other end of the piston rod 340 to be fixed to the first link 110. The first cap 311 may be mounted on one side of the cylinder 310 and the second cap 312 may be mounted on the other side of the cylinder 310. In the second cap 312, A hole 312a may be formed. Since the first engaging hole, the second engaging hole, the first cap, and the second cap are the same as those in the first embodiment, repetitive description will be omitted.

Referring to FIG. 4B, in the extension stroke of the piston member, the first piston head 310a, the fluid, and the second piston head 310b move backward inside the cylinder 310. As shown in FIG. Conversely, referring to FIG. 4C, during the compression stroke of the piston member, the first piston head 310a pressurizes the fluid forward, and the fluid presses the second piston head 310b. As a result, the first piston head 310a, the fluid, and the second piston head 310b are moved forward in the cylinder 310. [

The blocking member 330 is disposed between the first piston head 310a and the second piston head 310b and has a second region 310m between the first piston head 310a and the second piston head 310b To block the movement of the stored fluid. If the blocking member 330 is open, the fluid in the second region 310m can move freely forward and backward of the cylinder 310. [ In other words, when the blocking member 330 is opened, when a force is applied from the piston rod 340, the fluid moves in the inner space of the cylinder 310 and the two piston heads 310a and 310b can reciprocate. On the other hand, when the blocking member 330 is closed, even if a force is applied from the piston rod 340, the fluid in the second region 310m can not move to the front and rear of the cylinder 310, It is impossible. In particular, since the fluid in the second region 310m is incompressible, the piston head is maintained in a fixed state.

The link fixing apparatus according to the second embodiment of the present invention includes a switch member (not shown) for controlling the operation state of the blocking member 330 and a control unit (not shown) connected to the switch member, ). The technical structure of the switch member and the control unit is the same as that in the first embodiment, and the description of the first embodiment is used.

[Third Embodiment]

5A to 5C are views showing a state in which the link fixation apparatus 400 according to the third embodiment of the present invention is coupled to the first link 110 and the second link 120 of the medical instrument. FIG. 5B is a conceptual view showing the extension state of the piston member of the link fixation apparatus 400 shown in FIG. 5A, and FIG. 5C is a view showing the compression state of the piston member. 5A to 5C, a link fixation apparatus 400 according to a third embodiment of the present invention includes a cylinder 410, piston members 440, 415a, and 417a, and a shutoff member 430. As shown in FIG.

The cylinder 410 may include a first housing 415, a second housing 417 and a connecting portion 440 connecting the first housing 415 and the second housing 417. The first housing 415 has a first piston head 415a therein and the second housing 417 has a second piston head 417a therein. The first piston head 415a divides the first housing 415 into a first region 415r along its axial direction and a second region 415f which is axially forward of the first region 415r, The piston head 417a divides the second housing 417 into a third region 417r along its axial direction and a fourth region 417f which is in front of the third region 417r. At this time, the second region 415f, the inside of the connecting portion 440 and the third region 417r may be filled with fluid, and the fourth region 417f may be filled with air. According to another embodiment, the fourth region 417f may be a vacuum.

The first housing 415 and the second housing 417 may be spaced apart from each other and a connecting portion 440 may be formed between the first housing 415 and the second housing 417 . The connection portion 440 can communicate with the second region 415f of the first housing 415 at the front end of the first housing 415 and can communicate with the second housing 417 at the rear end of the second housing 417. [ The third region 417r of the second region 417c. The fluid fills the space between the first piston head 415a and the second piston head 417a, i.e., the second region 415f, the interior of the connection portion 440 and the third region 417r, The fluid in the second region 415f can be moved to the third region 417r and vice versa. The connection portion 440 may be formed in a thin tube shape.

The piston member includes a piston rod 440, a first piston head 415a connected to one end of the piston rod and moving along the axial direction of the first housing 415 in the first housing 415, And a second piston head 417a which moves along the axial direction of the second housing 417 in the interior of the housing 417. The first piston head 415a and the second piston head 417a can move together have. A fixing portion 441 and a first engagement hole 441a may be formed at the other end of the piston rod 440 to be fixed to the first link 110. A second cap (not shown) may be mounted on the other side of the cylinder 410, and a second coupling hole (not shown) may be formed on the second cap. The first and second coupling holes, the first cap, and the second cap are the same as those in the first embodiment described above, and a repetitive description thereof will be omitted.

5B, when the extension stroke of the piston member, that is, the force to pull out the first piston head 415a from the cylinder 410 is exerted, the first piston head 415a moves to the second region 415f, The fluid in the second region 415f moves to the rear of the first housing 415 and acts on the space between the first piston head 415a and the second piston head 417a The second piston head 417a is moved to the rear of the second housing 417 by the negative pressure. Accordingly, the first piston head 415a, the fluid, and the second piston head 417a are movable rearward of the first housing 415, the connecting portion 440, and the second housing 417, respectively. 5C, when a compression stroke of the piston member, a force for pushing the piston head from the outside into the cylinder 410 is applied, the first piston head 415a pressurizes the fluid in the second region 415f, The fluid presses the second piston head 417a via the connecting portion 440 and the fluid in the second region 415f is movable to the third region 417r through the connecting portion 440. [ The first piston head 415a and the fluid and the second piston head 417a move toward the front of the first housing 415, the connecting portion 440 and the second housing 417, respectively.

The connection portion 440 may be provided with a blocking member 430 for blocking the flow of fluid between the first piston head 415a and the second piston head 417a. The blocking member 430 may be a valve for blocking a space inside the connection portion 440. The fluid in the second region 415f of the first housing 415 can flow freely into the third region 417r of the second housing 417 when the blocking member 430 is in the open state. In other words, the first piston head 415a, the fluid, and the second piston head 417a can freely reciprocate the inner space of the cylinder 410 while the blocking member 430 is open. The blocking member 430 may block the fluid in the second region 415f of the first housing 415 from flowing into the third region 417r of the second housing 417. [ That is, since the movement of the fluid through the connecting portion 440 is stopped when the blocking member 430 is closed, even if the force is applied from the piston rod, the first piston head 415a of the first housing and the second piston 417a of the second housing 417 The second piston head 417a of the second piston head 417a can not move in the housing. In particular, since the fluid is incompressible, these piston heads will remain stationary.

The link fixing apparatus according to the third embodiment of the present invention includes a switch member (not shown) for controlling the operation state of the blocking member 430 and a control unit (not shown) connected to the switch member, ). The technical structure of the switch member and the control unit is the same as that in the first embodiment, and the description of the first embodiment is used.

The link fixation device according to at least one embodiment of the present invention configured as described above includes a fluid cylinder having an incompressible fluid therein and a valve for shutting off the flow of the fluid, So that the weight can be fixed more efficiently.

The link fixing apparatus described above is not limited to the configuration and the method of the embodiments described above, but the embodiments may be configured by selectively combining all or a part of each embodiment so that various modifications can be made.

110, 120, 130: links 200, 300, 400:
210, 310, 410: cylinder 210a: piston head
220: fluid-moving tube 230, 330, 430:
310a, 415a: first piston head 310b, 417a: second piston head
415: first housing 417: second housing
440:

Claims

A cylinder filled with a fluid; And
And a piston head formed to reciprocate within the cylinder,
The cylinder
A first flow path and a second flow path in which the fluid moves by the reciprocating motion of the piston head; And
A blocking member for blocking the movement of the fluid between the first flow path and the second flow path;
Wherein the link fixing device comprises:

The method according to claim 1,
Wherein the fluid is an incompressible fluid.

A cylinder filled with a fluid; And
And a first piston head reciprocating within the cylinder,
The cylinder
A first housing and a second housing through which the fluid moves by the reciprocating motion of the first piston head;
A tubular connection portion connecting the first housing and the second housing; And
A blocking member for blocking the movement of the fluid between the first housing and the second housing;
Wherein the link fixing device comprises:

The method of claim 3,
The blocking member
And the valve is mounted on the connecting portion.

The method of claim 3,
Wherein the first piston head is disposed in the first housing,
And a second piston head is further disposed in the second housing.

6. The method of claim 5,
The fluid may comprise,
And the first and second piston heads are formed to be hermetically sealed between the first and second piston heads.

The method according to claim 6,
The first housing is divided into a first region and a second region by the first piston head,
And the second housing is divided into a third region and a fourth region by the second piston head.

8. The method of claim 7,
Said third region being filled with said fluid,
And the fourth region is filled with air.

9. The method of claim 8,
And the fourth region is in a vacuum state.

A linkage fixture having two ends pivotably connected to each other to adjust a relative position of the link,
A cylinder in which a fluid is filled;
A piston member that divides the inside of the cylinder into a first region in the axial direction forward and a second region in the rearward axial direction and moves along the axial direction of the cylinder inside the cylinder;
A fluid flow pipe connected to the first region and the second region of the cylinder; And
A blocking member installed in the fluid moving pipe to open and close the fluid moving pipe;
Lt; / RTI >
Wherein during the compression stroke of the piston member, the fluid in the first region moves to the second region through the fluid flow tube, and during the extension stroke of the piston member, the fluid in the second region flows through the fluid flow tube, 1 area,
And the position of the piston member is fixed by stopping the flow of the fluid through the fluid transfer tube as the fluid transfer tube is closed by the blocking member.

A linkage fixture having two ends pivotably connected to each other to adjust a relative position of the link,
A cylinder including a fluid therein;
A piston member including a first piston head that moves along the axial direction of the cylinder in the cylinder and a second piston head that is disposed in front of the first piston head; And
A blocking member disposed between the first piston head and the second piston head to block flow of the fluid that is sealed between the first piston head and the second piston head;
Lt; / RTI >
Wherein during a compression stroke of the piston member the first piston head pressurizes the fluid and the fluid pressurizes the second piston head such that the first piston head, The first piston head, the fluid and the second piston head move backward in the cylinder when the piston member is extended,
And the position of the first piston head and the second piston head is fixed by stopping the flow of the fluid as the flow of the fluid is blocked by the blocking member.
Link fixture.

A linkage fixture having two ends pivotably connected to each other to adjust a relative position of the link,
A cylinder including a first housing, a second housing, and a tubular connection portion connecting the first housing and the second housing;
A piston member including a first piston head moving along the axial direction of the first housing inside the first housing and a second piston head moving along the axial direction of the second housing inside the second housing, ; And
A blocking member disposed at the connecting portion to block a flow of fluid sealed between the first piston head and the second piston head;
Lt; / RTI >
Wherein during the compression stroke of the piston member the first piston head pressurizes the fluid and the fluid pressurizes the second piston head via the connection to cause the first piston head, The fluid, and the second piston head move in the forward direction of the first housing, the connecting portion, and the second housing, respectively, during the extension stroke of the piston member, the first piston, A connecting portion and a rear portion of the second housing,
And the position of the first piston head and the second piston head is fixed by stopping the flow of the fluid through the connection part as the connection part is closed by the blocking member.
Link fixture.

13. The method according to any one of claims 10 to 12,
Characterized in that the fluid is an incompressible fluid.

13. The method according to any one of claims 10 to 12,
Characterized in that the blocking member is a valve.

12. The method of claim 11,
Wherein the cylinder is divided into a first region, a second region and a third region by the first piston head and the second piston head,
Wherein the second region is filled with the fluid, and the third region is filled with air.

13. The method of claim 12,
Wherein the first housing is divided into a first region and a second region by the first piston head and the second housing is divided into a third region and a fourth region by the second piston head,
Wherein the second region, the interior of the connection and the third region are filled with the fluid, and the fourth region is filled with air.

17. The method of claim 16,
And the fourth region is in a vacuum state.