WO2016096548A1 - Cylindre hydraulique muni d'un dispositif de mesure - Google Patents

Cylindre hydraulique muni d'un dispositif de mesure Download PDF

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Publication number
WO2016096548A1
WO2016096548A1 PCT/EP2015/079046 EP2015079046W WO2016096548A1 WO 2016096548 A1 WO2016096548 A1 WO 2016096548A1 EP 2015079046 W EP2015079046 W EP 2015079046W WO 2016096548 A1 WO2016096548 A1 WO 2016096548A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
hydraulic cylinder
sensors
cylinder
housing
Prior art date
Application number
PCT/EP2015/079046
Other languages
German (de)
English (en)
Inventor
Leo Caspers
Rene Coppens
Edwin Doedee
Wim ENGELSMAN DEN
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2016096548A1 publication Critical patent/WO2016096548A1/fr

Links

Classifications

    • 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
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2807—Position switches, i.e. means for sensing of discrete positions only, e.g. limit switches
    • 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
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1423—Component parts; Constructional details
    • F15B15/1428—Cylinders
    • 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
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1423—Component parts; Constructional details
    • F15B15/1433—End caps
    • 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
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1423—Component parts; Constructional details
    • F15B15/1457—Piston rods
    • F15B15/1461—Piston rod sealings
    • 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
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2892—Means for indicating the position, e.g. end of stroke characterised by the attachment means
    • 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
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/005—Fault detection or monitoring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J10/00—Engine or like cylinders; Features of hollow, e.g. cylindrical, bodies in general
    • F16J10/02—Cylinders designed to receive moving pistons or plungers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/002—Sealings comprising at least two sealings in succession
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/16—Sealings between relatively-moving surfaces
    • F16J15/32—Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings
    • F16J15/3296—Arrangements for monitoring the condition or operation of elastic sealings; Arrangements for control of elastic sealings, e.g. of their geometry or stiffness
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6343—Electronic controllers using input signals representing a temperature

Definitions

  • the invention relates to a hydraulic cylinder with a measuring device according to the preamble of patent claim 1.
  • Conventional hydraulic cylinders are known in which one or more sensors have been retrofitted for a measured value detection in order to detect an operating state of the hydraulic cylinder, a component or a component thereof. Because the subsequent
  • Measured value recording position are optimal and thus provide no optimal readings.
  • the invention is based on the object to provide a hydraulic cylinder in which a measured value is optimized for an operating state of a hydraulic cylinder.
  • Patent claim 1 Advantageous developments of the hydraulic cylinder according to the invention are described in the further subclaims.
  • a hydraulic cylinder with a cylinder housing contains a measuring device with one or more sensors.
  • an arrangement is at least one of
  • Sensors are provided on or in the cylinder housing during manufacture and / or assembly of the hydraulic cylinder.
  • An advantage of the present invention is that the at least one sensor can thus be arranged at an optimum position for determining a respective measured value, which subsequently, ie after completion of the production and / or assembly of the
  • Hydraulic cylinder in this simple way is no longer possible.
  • an optimum position for a sensor can be selected very reliably, depending on the measured value to be recorded.
  • Another advantage is that the inventive arrangement of the at least one sensor in a production and / or assembly of the hydraulic cylinder, which is advantageously already taken into account during a design phase,
  • the cylinder housing has a cylinder tube, and / or a
  • Piston rod and / or a cylinder head, and / or a cylinder bottom, and / or a flange, and / or one or more attachment points, in particular one
  • a pivot pin, or a mounting fork or a joint bearing wherein one or more of the sensors on or in the cylinder tube, and / or the piston rod, and / or the cylinder head, and / or the cylinder bottom, and / or the flange, and / or one or more of the attachment points is arranged or integrated.
  • the flange for easy attachment of the hydraulic cylinder is arranged on the cylinder head or on the cylinder bottom.
  • the cylinder housing has a passage through which a piston rod of the hydraulic cylinder is guided out of the cylinder housing, wherein in the implementation at least one measurement object is arranged, which is associated with at least one of the sensors, and wherein each of the sensors, in particular directly, adjacent to its associated measuring object is arranged.
  • This arrangement according to the invention further contributes to arranging the sensors at an optimum position for the respective measured value detection.
  • at least one of the sensors is arranged in a radial orientation in the passage or in the cylinder housing.
  • the flange and / or the cylinder head includes the implementation. This further contributes to making the sensors more accessible and / or replaceable.
  • at least one of the sensors associated with at least one of the measurement objects is arranged in the radial direction in series with its associated measurement object or is arranged offset in the radial direction or in the circumferential direction relative to its associated measurement object.
  • the sensors are located in a favorable, if not optimal, position with the associated measurement object, which is a prerequisite for providing optimal measurement values.
  • Circumferential, staggered arrangement of sensors is advantageous in determining a deviation and / or change in a measured value over the space, for example, a side load on the hydraulic cylinder and a consequent bending of the piston rod, or a temperature of a bearing element, wherein a temperature difference is an indicator of can be a page load.
  • At least one of the measured objects contains a sealing element and / or a bearing element for the piston rod and / or for the passage.
  • sealing elements and bearing elements Operating conditions of sealing elements and bearing elements, in particular independently, to measure and thus to monitor is important for the planning of
  • one of the measuring objects contains a piston chamber and / or an annular space in order to measure a pressure prevailing therein.
  • the sensor associated with the bearing element is one
  • Temperature sensor and / or a force sensor The temperature of the bearing element, which is determined by the friction, is a measure of wear of the bearing element, because the wear is also determined by the friction and is thus an important indicator of the life of the bearing element and / or the correctness of the bearing operating parameters.
  • the force acting on the bearing is also an important indicator of the life of the bearing element and / or the correctness of the operating parameters relating to the bearing.
  • Sealing elements and / or disposed between a sealing element and a bearing element, a pressure sensor to measure a pressure prevailing there and / or a pressure difference between the measured objects.
  • two bearing elements arranged one behind the other in the implementation wherein the one bearing element of the sensor in the form of a temperature sensor and the other bearing element, the sensor is assigned in the form of a force sensor.
  • the sensor is assigned in the form of a force sensor.
  • Measuring device arranged and / or is at least one of the sensors with a
  • the housing may be arranged on the outside of the cylinder tube or separately from the hydraulic cylinder.
  • the measuring device for the measured values acquired by at least one of the sensors contains a data transmission device, and / or a digitizer, and / or a data processing device, and / or a memory device.
  • a data transmission device and / or a digitizer, and / or a data processing device, and / or a memory device.
  • the measuring device contains a firmware in which rules are stored for a statistical evaluation of the measured values, and / or combinations of the measured values and / or derivatives of the measured values. Based on the rules, it is preferable to judge whether and to what extent the respective hydraulic cylinder is within the firmware.
  • warning messages can advantageously be output, in particular if the measured values or the variables derived therefrom are an indication that there is no intended use of the hydraulic cylinder.
  • the warning messages can be logged, in particular stored in a log file, in order, if appropriate, to set out a frequency and / or more precise circumstances of a use that is no longer intended.
  • the housing contains at least one sensor interface and / or a user interface.
  • the detected measured values can advantageously be visualized via the user interface and / or a device for visualizing the measured values and / or a device for evaluating the measured values on which a suitable program can be executed can be connected.
  • the measuring device is designed for battery operation in order to permit a check of the measuring device during a production end control, and / or during storage, and / or during transport and / or decommissioning, without being installed in a system with corresponding auxiliary energy is.
  • At least one of the sensors is designed as a
  • Temperature sensor a force sensor, a strain sensor, a pressure sensor, a
  • Position / attitude sensor an acceleration sensor, a GPS sensor, or a
  • Pressure medium condition sensor wherein combinations of said sensors are used, for example, a combined temperature / pressure sensor.
  • Temperature sensor for use wherein for the monitoring of contact loads in a bearing element and / or side loads of the hydraulic cylinder, a force sensor is used.
  • a bearing element and a strain sensor can be used.
  • a pressure sensor, and / or a temperature sensor, and / or a pressure medium condition sensor can be used for monitoring a pressure medium.
  • a position sensor and / or a position sensor on the piston rod can be used
  • a side load of the hydraulic cylinder may alternatively or additionally to the force sensor, an acceleration sensor, in particular on the cylinder head or its flange arranged to be used; for example
  • a force sensor For monitoring an attachment point of the hydraulic cylinder, a force sensor can be used, over which by means of the known force application points also acting moments at the attachment point can be measured.
  • a GPS sensor for example with three degrees of freedom, can be used.
  • Figure 1 in a simplified longitudinal section a front view of a
  • Hydraulic cylinder according to the invention with a measuring device
  • FIG. 2 is an enlarged detail of the hydraulic cylinder shown in Figure 1.
  • the illustrated in Figure 1 hydraulic cylinder 1 has a cylinder housing 2, a
  • Cylinder tube 4 contains, where on
  • Cylinder head 6 a flange 10 is provided.
  • sensors 12 are provided on the cylinder tube 4 receptacles designed as pressure sensors, which detect a pressure in a piston chamber 14 and an annular space 16.
  • the sensors 12 are part of a measuring device 18, with which the hydraulic cylinder 1 is equipped.
  • the flange 10 and the cylinder head 6 includes a
  • Cylinder housing 2 is guided.
  • the flange 10 is shown as an enlarged detail of the hydraulic cylinder 1 of Figure 1.
  • a plurality of measuring objects 24 are arranged: two
  • a temperature sensor and / or a force sensor is associated with the one sealing element 26 and the bearing elements 28; a pressure sensor is arranged between the bearing elements 28 arranged one behind the other in the axial direction. Between the sealing elements 26, a pressure sensor is arranged. Every one of them
  • the measuring objects 24 may also have one or more additional sensors 12 (not shown) offset in the circumferential direction.
  • a trained as a position sensor 30 sensor is integrated into the flange 10 and detects the position and / or position of the piston rod 22nd
  • the sensors 12 associated with the measuring objects 24 are each arranged in series with their associated measuring objects 24 when viewed in the radial direction.
  • Sensors 12 are arranged directly adjacent to its associated measurement object 24. As measuring objects 24 and the above-described piston chamber 14 and the annular space 16 are to be considered.
  • a housing 32 of the measuring device 18 is provided in which further sensors 12 may be included (not shown in Figure 1 and Figure 2), wherein the housing 32 includes at least one sensor interface and / or a user interface.
  • a device 34 for visualizing or for further processing the measured values can be connected to the user interface.
  • a hydraulic cylinder with a measuring device wherein an array of sensors in particular already in a planning and / or design phase taken into consideration.
  • the sensors can be arranged in an economical manner in the hydraulic cylinder.
  • Hydraulic cylinders according to the invention sensors are placed in a cost-effective manner where they provide optimal readings for measured value. Following a manufacturing process and / or assembly process that would not be possible in such economically favorable manner with the same optimized result.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Actuator (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

L'invention concerne un cylindre hydraulique comportant un carter de cylindre (2) et un dispositif de mesure (18) qui présente un ou plusieurs capteurs (12, 30, 31). Selon l'invention, un agencement d'au moins un des capteurs sur ou dans le carter de cylindre est effectué lors de la fabrication et/ou du montage du cylindre hydraulique.
PCT/EP2015/079046 2014-12-15 2015-12-09 Cylindre hydraulique muni d'un dispositif de mesure WO2016096548A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014225872.3 2014-12-15
DE102014225872.3A DE102014225872A1 (de) 2014-12-15 2014-12-15 Hydrozylinder mit einer Messeinrichtung

Publications (1)

Publication Number Publication Date
WO2016096548A1 true WO2016096548A1 (fr) 2016-06-23

Family

ID=54843827

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2015/079046 WO2016096548A1 (fr) 2014-12-15 2015-12-09 Cylindre hydraulique muni d'un dispositif de mesure

Country Status (2)

Country Link
DE (1) DE102014225872A1 (fr)
WO (1) WO2016096548A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018200066A1 (de) 2018-01-04 2019-07-04 Robert Bosch Gmbh Einrichtung und Verfahren zum Erfassen von Funktionsstörungen eines hydraulischen Aktuators
KR20210075956A (ko) * 2019-04-08 2021-06-23 주식회사 국일인토트 유압실린더용 실링부재 및 결합 방법

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6819566B2 (ja) 2017-12-27 2021-01-27 新東工業株式会社 直動アクチュエーターの損耗検出方法および損耗検出システム
DE102019200165A1 (de) * 2019-01-09 2020-07-09 Zf Friedrichshafen Ag Verfahren zur Ermittlung eines Verschleißzustands eines konzentrischen Ausrückers sowie ein konzentrischer Ausrücker
EP3730805A1 (fr) * 2019-04-24 2020-10-28 Claverham Limited Détection de fuite
WO2024086357A1 (fr) * 2022-10-20 2024-04-25 Dover Pumps & Process Solutions Segment, Inc. Boîte d'emballage avec surveillance de la dégradation

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58182534A (ja) * 1982-04-21 1983-10-25 Hitachi Ltd 軸受の異常診断方法
DE9101497U1 (de) * 1991-02-09 1992-06-04 Robert Bosch Gmbh, 7000 Stuttgart Druckmittelbetätigte Einrichtung
US20040239339A1 (en) * 2003-03-07 2004-12-02 Fred Bassali Novel microwave measurement system for piston displacement
DE102005048745A1 (de) * 2005-10-10 2007-04-12 Ludwig Ehrhardt Gmbh Druckmittelzylinder sowie Verfahren zum Erfassen der Betriebszeit und/oder Betriebszyklen eines Druckmittelzylinders
WO2013152807A1 (fr) * 2012-04-13 2013-10-17 Aktiebolaget Skf Dispositif de détection d'usure de bague

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AT410291B (de) * 1997-08-18 2003-03-25 Walter Sticht Bewegungseinheit
DE19915260C5 (de) * 1999-04-03 2009-06-04 Robert Bosch Gmbh Linearantrieb
DE102006016709A1 (de) * 2006-04-08 2007-10-11 Festo Ag & Co. Vorrichtung zur Überwachung und/oder Regelung der Bewegung einer fluidischen Komponente in einem fluidischen System
DE102009032897B4 (de) * 2009-07-10 2013-09-19 Stabilus Gmbh Kolben-Zylinderaggregat

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58182534A (ja) * 1982-04-21 1983-10-25 Hitachi Ltd 軸受の異常診断方法
DE9101497U1 (de) * 1991-02-09 1992-06-04 Robert Bosch Gmbh, 7000 Stuttgart Druckmittelbetätigte Einrichtung
US20040239339A1 (en) * 2003-03-07 2004-12-02 Fred Bassali Novel microwave measurement system for piston displacement
DE102005048745A1 (de) * 2005-10-10 2007-04-12 Ludwig Ehrhardt Gmbh Druckmittelzylinder sowie Verfahren zum Erfassen der Betriebszeit und/oder Betriebszyklen eines Druckmittelzylinders
WO2013152807A1 (fr) * 2012-04-13 2013-10-17 Aktiebolaget Skf Dispositif de détection d'usure de bague

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018200066A1 (de) 2018-01-04 2019-07-04 Robert Bosch Gmbh Einrichtung und Verfahren zum Erfassen von Funktionsstörungen eines hydraulischen Aktuators
KR20210075956A (ko) * 2019-04-08 2021-06-23 주식회사 국일인토트 유압실린더용 실링부재 및 결합 방법
KR102390604B1 (ko) 2019-04-08 2022-04-26 주식회사 국일인토트 유압실린더용 실링부재 및 결합 방법

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