CN102632510B - an automatic connector - Google Patents

an automatic connector Download PDF

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Publication number
CN102632510B
CN102632510B CN201210096404.6A CN201210096404A CN102632510B CN 102632510 B CN102632510 B CN 102632510B CN 201210096404 A CN201210096404 A CN 201210096404A CN 102632510 B CN102632510 B CN 102632510B
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circuit cylinder
hollow circuit
taper seat
cylinder
motor
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CN102632510A (en
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王子剑
杨健勃
王少萍
高杰
叶祥深
洪葳
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Beihang University
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Beihang University
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Abstract

本发明提出一种自动连接件,属于模块化机器人技术领域,具体为一种自动对接并稳定机械连接的装置。该自动连接件包括上部套接卡环和下部弹销基座;上部套接卡环包括上下顺次同轴连接两个中空圆柱结构;下部弹销基座包括中心弹销、基座和电机部件;中心弹销在电机驱动的顶尖作用下,在基座的上中空圆锥C的通孔中运动。本发明的连接件的可允许的配合误差较大,具有鲁棒特性。在轴向施力的情况下,即使存在配合误差也可以成功连接。并可进行有效地电气连接,采用滑道与弹簧触点的接触传递控制电信号和电能传递,连接稳定可靠,而且有电磁连接所不具备的抗剪力扰动。

The invention proposes an automatic connector, which belongs to the technical field of modular robots, and is specifically a device for automatic docking and stable mechanical connection. The automatic connector includes an upper sleeve snap ring and a lower spring pin base; the upper sleeve snap ring includes two hollow cylindrical structures that are coaxially connected up and down in sequence; the lower spring pin base includes a central spring pin, a base and a motor component ; The center spring pin moves in the through hole of the hollow cone C on the base under the action of the top driven by the motor. The allowable matching error of the connecting piece of the present invention is relatively large, and has robust characteristics. In the case of axial force, the connection can be successfully connected even in the presence of fit errors. It can also carry out effective electrical connection, using the contact transmission between the slideway and the spring contact to control the transmission of electrical signals and electric energy, the connection is stable and reliable, and it has the anti-shear disturbance that the electromagnetic connection does not have.

Description

一种自动连接件an automatic connector

技术领域technical field

本发明属于模块化机器人技术领域,具体涉及一种自动连接件,具体为一种自动对接并稳定机械连接的装置。The invention belongs to the technical field of modular robots, and in particular relates to an automatic connector, in particular to a device for automatic docking and stable mechanical connection.

背景技术Background technique

机器人技术的发展使得机器人的能力不断提高,机器人应用的领域和范围正在不断扩展,人们希望机器人能完成更加复杂的任务,通过对其进行重新编程,机器人能很容易地完成许多不同的任务。然而一台机器人能完成任务的范围受到其自身机械结构的限制,对于给定任务,可以根据任务要求选择机器人的最佳结构。The development of robot technology has made the ability of robots continuously improved, and the field and scope of robot applications are constantly expanding. People hope that robots can complete more complex tasks. By reprogramming them, robots can easily complete many different tasks. However, the range of tasks that a robot can complete is limited by its own mechanical structure. For a given task, the optimal structure of the robot can be selected according to the task requirements.

而在特定环境下重构机器人要实现无人的对接就要求有自动连接装置使机器人可以在无人条件下实现自动的对接。However, in order to achieve unmanned docking in a specific environment, an automatic connection device is required to enable the robot to realize automatic docking under unmanned conditions.

发明内容Contents of the invention

针对现有技术中存在的问题,本发明提出一种自动连接件,用于实现两个模块间的相互对接,该自动连接件包括两部分,分别为上部套接卡环和下部弹销基座。Aiming at the problems existing in the prior art, the present invention proposes an automatic connector for realizing mutual docking between two modules. The automatic connector includes two parts, namely the upper sleeve snap ring and the lower spring pin base .

所述的上部套接卡环包括上下顺次同轴连接两个中空圆柱结构,上中空圆柱A的内壁面为圆锥面,所述的上中空圆柱A的内壁面圆锥面为向下中空圆柱B方向收缩的圆锥面,下中空圆柱B的内壁面为圆锥面,该圆锥面为向上中空圆柱A方向收缩的圆锥面,该圆锥面母线与中心轴线之间的夹角为β;The upper sleeve snap ring includes two hollow cylindrical structures coaxially connected up and down in sequence, the inner wall surface of the upper hollow cylinder A is a conical surface, and the inner wall surface conical surface of the upper hollow cylinder A is a downward hollow cylinder B The conical surface shrinks in the direction, the inner wall surface of the lower hollow cylinder B is a conical surface, and the conical surface is a conical surface that shrinks in the direction of the upward hollow cylinder A, and the angle between the generatrix of the conical surface and the central axis is β;

所述的下部弹销基座包括中心弹销、基座和电机部件,基座包括顺次同轴连接的上中空圆锥C和下中空圆柱D,上中空圆锥C的内径与下中空圆柱D的内径相等,上中空圆锥C的侧壁上设置三个以上的通孔,用于安装中心弹销。下中空圆柱D的内壁为螺纹结构,且下中空圆柱D的底部同轴连接有内螺纹中空圆柱E,下中空圆柱D和内螺纹中空圆柱E的内部连接有电机部件,该电机部件包括顶尖和电机两部分,顶尖分为上下一体同轴的圆锥F(该圆锥面母线与其中心线夹角为ζ)和圆柱G两部分,圆锥F外表面为光滑表面,圆柱G外表面为外螺纹表面,圆柱G的下方同轴连接有电机,且电机输出轴与顶尖周向固定,电机部件通过圆柱G的外螺纹连接于中空圆柱E和下中空圆柱D的内螺纹结构中,在电机驱动下,使圆柱G在下中空圆柱D和中空圆柱E的内螺纹中行进,进而带动顶尖沿中心轴线轴向运动;中心弹销为两端均为圆锥面的圆柱结构,其一端圆锥面的角度与顶尖的圆锥F圆锥面相配合,另一端圆锥面的角度与上中空圆柱A的内圆锥面角度相配合,使中心弹销位于上中空圆锥C侧壁的通孔中,中心弹销在电机驱动的顶尖作用下,在上中空圆锥C的通孔中运动;The lower spring pin base includes a central spring pin, a base and a motor component, and the base includes an upper hollow cone C and a lower hollow cylinder D connected coaxially in sequence, and the inner diameter of the upper hollow cone C is the same as that of the lower hollow cylinder D. The inner diameters are equal, and more than three through holes are arranged on the side wall of the upper hollow cone C for installing the center spring pin. The inner wall of the lower hollow cylinder D is a threaded structure, and the bottom of the lower hollow cylinder D is coaxially connected with an internally threaded hollow cylinder E, and the interior of the lower hollow cylinder D and the internally threaded hollow cylinder E is connected with a motor component, which includes a top and a The motor has two parts, the tip is divided into two parts: the upper and lower coaxial cone F (the angle between the generatrix of the cone surface and its center line is ζ) and the cylinder G. The outer surface of the cone F is a smooth surface, and the outer surface of the cylinder G is an external thread surface. A motor is coaxially connected to the bottom of the cylinder G, and the output shaft of the motor is fixed circumferentially to the top. The motor part is connected to the internal thread structure of the hollow cylinder E and the lower hollow cylinder D through the external thread of the cylinder G. Driven by the motor, the Cylinder G travels in the internal thread of the lower hollow cylinder D and hollow cylinder E, and then drives the tip to move axially along the central axis; the center spring pin is a cylindrical structure with conical surfaces at both ends, and the angle of the conical surface at one end is the same as that of the tip. The conical surface of F matches, and the angle of the conical surface at the other end matches the angle of the inner conical surface of the upper hollow cylinder A, so that the center spring pin is located in the through hole of the side wall of the upper hollow cone C, and the center spring pin is driven by the top of the motor. , moving in the through hole of the upper hollow cone C;

所述的上中空圆锥C表面设置有导电滑道,下中空圆柱B的表面设置有弹簧触点,通过导电滑道与弹簧触点的稳定接触,实现电磁连接。The surface of the upper hollow cone C is provided with a conductive slide, and the surface of the lower hollow cylinder B is provided with a spring contact, and the electromagnetic connection is realized through the stable contact between the conductive slide and the spring contact.

本发明具有的优点在于:The present invention has the advantage that:

1、本发明提出一种自动连接件,其可允许的配合误差较大,具有鲁棒特性。在轴向施力的情况下,即使存在配合误差也可以成功连接。1. The present invention proposes an automatic connector, which has a relatively large allowable matching error and has robust characteristics. In the case of axial force, the connection can be successfully connected even in the presence of fit errors.

2、本发明提出一种自动连接件,可进行有效地电气连接,采用巧妙的滑道与弹簧触点的接触传递控制电信号和电能传递2. The present invention proposes an automatic connector, which can be effectively electrically connected, and uses ingenious contact transmission between the slideway and the spring contact to control the transmission of electrical signals and electric energy

3、本发明提出一种自动连接件,连接为机械连接,而非通常自动连接所使用的电磁连接,连接更加稳定可靠,而且有电磁连接所不具备的抗剪力扰动3. The present invention proposes an automatic connector, the connection is a mechanical connection instead of the electromagnetic connection used in the usual automatic connection, the connection is more stable and reliable, and it has the anti-shear disturbance that the electromagnetic connection does not have

4、本发明提出一种自动连接件,可实现自动分离,从而可实现机械的自拼装。4. The present invention proposes an automatic connector, which can realize automatic separation, thereby realizing mechanical self-assembly.

附图说明Description of drawings

图1:本发明提出一种自动连接件的结构示意图;Figure 1: The present invention proposes a schematic structural view of an automatic connector;

图2:本发明提出一种自动连接件无电机结构时的结构示意图;Figure 2: The present invention proposes a structural schematic diagram of an automatic connector without a motor structure;

图3:本发明中上部套接卡环的空间结构示意图;Fig. 3: the schematic diagram of the spatial structure of the middle and upper sleeve snap ring of the present invention;

图4:本发明中上部套接卡环的主视图;Fig. 4: the front view of the middle and upper sleeve snap ring of the present invention;

图5:本发明中上部套接卡环的截面图;Fig. 5: a sectional view of the middle and upper sleeve snap ring of the present invention;

图6是本发明中下部弹销基座的基座的结构示意图;Fig. 6 is a schematic structural view of the base of the middle and lower spring pin base of the present invention;

图7:本发明中下部弹销基座的电机部件结构示意图;Fig. 7: Structural schematic diagram of the motor part of the middle and lower spring pin base of the present invention;

图8:本发明中电机座结构示意图;Figure 8: Schematic diagram of the structure of the motor seat in the present invention;

图9:本发明中电机座结构示意图;Figure 9: Schematic diagram of the structure of the motor seat in the present invention;

图10:本发明中下部弹销基座的中心弹销结构示意图。Fig. 10: Schematic diagram of the structure of the center spring pin of the middle and lower spring pin base of the present invention.

图中:1-上部套接卡环;   2-下部弹销基座;     3-上中空圆柱A;In the figure: 1- the upper socket snap ring; 2- the lower spring pin base; 3- the upper hollow cylinder A;

      4-下中空圆柱B;    5-中心弹销;         6-基座;4-lower hollow cylinder B; 5-center spring pin; 6-base;

      7-电机部件;       8-上中空圆锥C;      9-下中空圆柱D;7-motor parts; 8-upper hollow cone C; 9-lower hollow cylinder D;

      10-顶尖;          11-电机;            12-圆锥F;10-top; 11-motor; 12-conical F;

      13-圆柱G;         14-中空圆柱E;       15-电机座。13-Cylinder G; 14-Hollow cylinder E; 15-Motor seat.

具体实施方式Detailed ways

下面将结合附图对本发明进行详细说明:The present invention will be described in detail below in conjunction with accompanying drawing:

本发明提出一种自动连接件,如图1和图2所示,包括上部套接卡环1和下部弹销基座2;如图3、图4所示,所述的上部套接卡环1包括上下顺次同轴连接两个中空圆柱结构,上中空圆柱A3的外径小于下中空圆柱B4的外径,下中空圆柱B4的边缘通过螺钉与外部需连接的连接件连接。上中空圆柱A3的内壁面为圆锥面,该圆锥面为向下中空圆柱B4方向收缩的圆锥面,如图5所示,且圆锥面母线与中心轴线之间的夹角为α,α>45°,下中空圆柱B4的内壁面为圆锥面,如图5所示,该圆锥面为向上中空圆柱A3方向收缩的圆锥面,该圆锥面母线与中心轴线之间的夹角为β。The present invention proposes an automatic connector, as shown in Figures 1 and 2, comprising an upper sleeve snap ring 1 and a lower spring pin base 2; as shown in Figures 3 and 4, the upper sleeve snap ring 1 includes two hollow cylinder structures connected coaxially up and down in sequence, the outer diameter of the upper hollow cylinder A3 is smaller than the outer diameter of the lower hollow cylinder B4, and the edge of the lower hollow cylinder B4 is connected to the external connecting piece to be connected by screws. The inner wall surface of the upper hollow cylinder A3 is a conical surface, and the conical surface is a conical surface that shrinks in the direction of the downward hollow cylinder B4, as shown in Figure 5, and the angle between the generatrix of the conical surface and the central axis is α, α>45 °, the inner wall surface of the lower hollow cylinder B4 is a conical surface, as shown in Figure 5, the conical surface is a conical surface that shrinks toward the upward hollow cylinder A3, and the angle between the generatrix of the conical surface and the central axis is β.

如图6所示,所述的下部弹销基座2包括中心弹销5、基座6和电机部件7,基座6包括顺次同轴连接的上中空圆锥C8和下中空圆柱D9,上中空圆锥C8的内径与下中空圆柱D9的内径相等,上中空圆锥C8的底面外径小于下中空圆柱D9的底面外径,且下中空圆柱D9的底面外径大于上部套接卡环1的下中空圆柱B4底面内径,且上中空圆锥C3的圆锥面母线与中心轴线的夹角为γ,优选为γ=β,上中空圆锥C8的侧壁上设置三个以上的通孔,用于安装中心弹销5。下中空圆柱D9的内壁为螺纹结构,且下中空圆柱D9的底部同轴连接有内螺纹中空圆柱E14,下中空圆柱D9和内螺纹中空圆柱E14的内部连接有电机部件7,该电机部件7包括顶尖10和电机11两部分,如图7所示,顶尖10分为上下一体同轴的圆锥F12和圆柱G13两部分,圆锥F12外表面为光滑表面,圆锥的圆锥面母线与其中心线的夹角为ζ,圆柱G13外表面为外螺纹表面,圆柱G13的下方同轴连接有电机11,且电机11出轴与顶尖10周向固定,电机部件7通过圆柱G13的外螺纹连接于中空圆柱E14和下中空圆柱D9的内螺纹结构中。在电机11驱动下,使圆柱G13在下中空圆柱D9和中空圆柱E14的内螺纹中行进,进而带动顶尖10沿中心轴线轴向运动。电机11通过电机座15固定于下中空圆柱D9的底部,如图8和图9所示,使电机座15与基座固定连接。如图10所示,中心弹销5为两端均为圆锥面的圆柱结构,其一端圆锥面的角度与顶尖10的圆锥F12圆锥面相配合,该端圆锥面母线与中心线的夹角为δ,优选的δ+ζ=90°,中心弹销5另一端圆锥面的角度与上中空圆柱A的内圆锥面角度相配合,该端圆锥面母线与中心线夹角为θ,优选的θ+α=90°,中心弹销5位于上中空圆锥C8侧壁的通孔中,中心弹销5在电机11驱动的顶尖10作用下,在上中空圆锥C8的通孔中运动。电机11带动螺纹顶尖10轴向运动,推动中心弹销5弹出,中心弹销5与上中空圆柱B4的内圆锥面配合,将上部套接卡环1和下部弹销基座2卡紧。As shown in Figure 6, the lower spring pin base 2 includes a central spring pin 5, a base 6 and a motor part 7, the base 6 includes an upper hollow cone C8 and a lower hollow cylinder D9 connected coaxially in sequence, and the upper The inner diameter of the hollow cone C8 is equal to the inner diameter of the lower hollow cylinder D9, the outer diameter of the bottom surface of the upper hollow cone C8 is smaller than the outer diameter of the bottom surface of the lower hollow cylinder D9, and the outer diameter of the bottom surface of the lower hollow cylinder D9 is greater than that of the upper sleeve snap ring 1. The inner diameter of the bottom surface of the hollow cylinder B4, and the angle between the generatrix of the conical surface of the upper hollow cone C3 and the central axis is γ, preferably γ=β, and more than three through holes are arranged on the side wall of the upper hollow cone C8 for installing the center Bullpin 5. The inner wall of the lower hollow cylinder D9 is a threaded structure, and the bottom of the lower hollow cylinder D9 is coaxially connected with an internally threaded hollow cylinder E14, and the interior of the lower hollow cylinder D9 and the internally threaded hollow cylinder E14 is connected with a motor component 7, and the motor component 7 includes The top 10 and the motor 11 are two parts. As shown in Figure 7, the top 10 is divided into two parts: the upper and lower coaxial cone F12 and the cylinder G13. The outer surface of the cone F12 is smooth. is ζ, the outer surface of the cylinder G13 is an external thread surface, the motor 11 is coaxially connected to the bottom of the cylinder G13, and the output shaft of the motor 11 is fixed to the top 10 in the circumferential direction, and the motor part 7 is connected to the hollow cylinder E14 and the hollow cylinder E14 through the external thread of the cylinder G13. In the internal thread structure of the lower hollow cylinder D9. Driven by the motor 11, the cylinder G13 travels in the internal threads of the lower hollow cylinder D9 and the hollow cylinder E14, and then drives the tip 10 to move axially along the central axis. The motor 11 is fixed on the bottom of the lower hollow cylinder D9 through the motor base 15, as shown in Figure 8 and Figure 9, so that the motor base 15 is fixedly connected with the base. As shown in Figure 10, the central spring pin 5 is a cylindrical structure with conical surfaces at both ends, the angle of the conical surface at one end matches the conical F12 conical surface of the tip 10, and the angle between the generatrix of the conical surface at this end and the center line is δ , the preferred δ+ζ=90°, the angle of the conical surface at the other end of the center spring pin 5 matches the angle of the inner conical surface of the upper hollow cylinder A, the angle between the generatrix of the conical surface and the center line is θ, and the preferred θ+ α=90°, the center spring pin 5 is located in the through hole on the side wall of the upper hollow cone C8, and the center spring pin 5 moves in the through hole of the upper hollow cone C8 under the action of the top 10 driven by the motor 11. The motor 11 drives the threaded tip 10 to move axially, and pushes the center spring pin 5 to pop out. The center spring pin 5 cooperates with the inner conical surface of the upper hollow cylinder B4 to clamp the upper sleeve snap ring 1 and the lower spring pin base 2.

所述的上中空圆锥C表面设置有导电滑道,下中空圆柱B4的表面设置有弹簧触点,通过导电滑道与弹簧触点的稳定接触,从而进行有效的电磁连接。当上部套接卡环1和下部弹销基座2连接后,自动连接件的弹销自动锁紧连接,并使导电滑道和弹簧触点连通,使分别与上部套接卡环1、下部弹销基座2连接的主动连接件、被动连接件实现电气连接,当主动连接件、被动连接件需要分离时,通过主动连接件和被动连接件的电信号控制部套接卡环和下部弹销基座分离。The surface of the upper hollow cone C is provided with a conductive slideway, and the surface of the lower hollow cylinder B4 is provided with a spring contact, and an effective electromagnetic connection is performed through the stable contact between the conductive slideway and the spring contact. When the upper sleeve snap ring 1 is connected to the lower spring pin base 2, the spring pin of the automatic connector is automatically locked and connected, and the conductive slideway and the spring contact are connected, so that they are respectively connected to the upper sleeve snap ring 1 and the lower spring pin. The active connecting piece and the passive connecting piece connected to the spring pin base 2 realize electrical connection. When the active connecting piece and the passive connecting piece need to be separated, the electrical signal control part of the active connecting piece and the passive connecting piece is used to socket the snap ring and the lower spring. Pin base detached.

Claims (7)

1. an automated attachment, is characterized in that: comprise top socket snap ring and bottom bullet pin pedestal; Described top socket snap ring comprises and coaxially connects in turn up and down two hollow cylindrical structures, the internal face of upper hollow circuit cylinder A is taper seat, the internal face taper seat of described upper hollow circuit cylinder A is the taper seat that downward hollow circuit cylinder B direction is shunk, the internal face of lower hollow circuit cylinder B is taper seat, this taper seat is the taper seat that upwards hollow circuit cylinder A direction is shunk, and the angle between this taper seat bus and central axis is β;
Described bottom bullet pin pedestal comprises center bullet pin, pedestal and motor component, pedestal comprises coaxial upper hollow cone C and the lower hollow circuit cylinder D connecting in turn, the internal diameter of upper hollow cone C equates with the internal diameter of lower hollow circuit cylinder D, three above through holes are set on the sidewall of upper hollow cone C, for mounting center bullet pin, the inwall of lower hollow circuit cylinder D is helicitic texture, and the bottom of lower hollow circuit cylinder D is coaxially connected with internal thread hollow circuit cylinder E, lower hollow circuit cylinder D and internal thread hollow circuit cylinder E are internally connected with motor component, this motor component comprises top and motor two parts, the top coaxial circular cone F of upper and lower one and cylinder G two parts of being divided into, circular cone F outer surface is smooth surface, cylinder G outer surface is external threaded surface, the below of cylinder G is coaxially connected with motor, and motor output shaft and top circumferentially fixing, motor component is connected in the female thread structure of hollow circuit cylinder E and lower hollow circuit cylinder D by the external screw thread of cylinder G, under motor drives, cylinder G is advanced in the internal thread of lower hollow circuit cylinder D and hollow circuit cylinder E, and then drive top along central axis axially-movable, Dan Xiaowei two ends, center are the column structure of taper seat, the angle of its one end taper seat matches with top circular cone F taper seat, the angle of this end taper seat bus and center line is δ, the angle of other end taper seat matches with the internal conical surface angle of upper hollow circuit cylinder A, and this end taper seat bus and center line angle are θ, center bullet pin is arranged in the through hole of hollow cone C sidewall, and center bullet pin, under motor-driven top effect, moves in the through hole of upper hollow cone C,
Described upper hollow cone C surface is provided with conduction slideway, and the surface of lower hollow circuit cylinder B is provided with spring contact, by conduction slideway, contacts with the stable of spring contact, realizes electromagnetism and connects.
2. a kind of automated attachment according to claim 1, is characterized in that: described motor is fixed on the bottom of lower hollow circuit cylinder D by motor cabinet, and motor cabinet is fixedly connected with pedestal.
3. a kind of automated attachment according to claim 1, is characterized in that: the external diameter of described upper hollow circuit cylinder A is less than the external diameter of lower hollow circuit cylinder B, and the edge of lower hollow circuit cylinder B is connected with exterior part by screw.
4. a kind of automated attachment according to claim 1, is characterized in that: internal face taper seat bus and the angle between central axis of described upper hollow circuit cylinder A are α, 45 ° of α >.
5. a kind of automated attachment according to claim 1, it is characterized in that: the bottom surface external diameter of described upper hollow cone C is less than the bottom surface external diameter of lower hollow circuit cylinder D, and the bottom surface external diameter of lower hollow circuit cylinder D is greater than the lower hollow circuit cylinder B bottom surface internal diameter of top socket snap ring, and the taper seat bus of upper hollow cone C and the angle of central axis are γ, γ=β.
6. a kind of automated attachment according to claim 1, it is characterized in that: described center bullet pin contacts one end taper seat bus and center line angle δ with top circular cone F meet δ+ζ=90 °, described ζ is the taper seat bus of top circular cone F and the angle of its center line.
7. a kind of automated attachment according to claim 1, it is characterized in that: described center bullet pin contacts one end taper seat bus and center line angle theta with upper hollow circuit cylinder A meet θ+α=90 °, described α is the taper seat bus of upper hollow circuit cylinder A and the angle between central axis.
CN201210096404.6A 2012-04-01 2012-04-01 an automatic connector Expired - Fee Related CN102632510B (en)

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CN104212963A (en) * 2014-09-17 2014-12-17 平湖市当湖街道飞天人机械图文设计服务部 Industrial sewing machine oil pump head connecting piece and heat treatment technology thereof
CN105299002B (en) * 2015-10-12 2017-10-27 北京可以科技有限公司 A kind of revolving joint
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