CN104088965A - Linear telescopic device - Google Patents
Linear telescopic device Download PDFInfo
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- CN104088965A CN104088965A CN201410334050.3A CN201410334050A CN104088965A CN 104088965 A CN104088965 A CN 104088965A CN 201410334050 A CN201410334050 A CN 201410334050A CN 104088965 A CN104088965 A CN 104088965A
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Abstract
The invention discloses a linear telescopic device. The linear telescopic device comprises a telescopic chain, a steel wire rope, a worm-type chain storage box, a driving mechanism and the like, wherein a groove channel extending along a spiral line is arranged in the worm-type chain storage box; the telescopic chain can be bent to one direction and then can be coiled in the groove channel of the worm-type chain storage box, and the head end of the telescopic chain is located outside the worm-type chain storage box and can stretch and retract in the linear direction; the steel wire rope is located on the back side of the single bending direction of the telescopic chain, the end of the steel wire rope is fixed to the head end and can synchronously stretch and retract along with the head end, and the stretch-out part of the telescopic chain is tensioned to be linear; the driving mechanism is connected with the telescopic chain and the steel wire ripe and drives the telescopic chain and the steel wire ripe to stretch and retract, and the stretching and retracting linear speed of the telescopic chain is the same as that of the steel wire rope. The linear telescopic device solves the long-distance transmission problem in finite constraint space, and the ratio of stretching length to the overall length after retracting is increased.
Description
Technical field
The present invention relates to expansion device field, relate in particular to a kind of linear telescopic device little and that extrusion is longer that takes up room.
Background technique
Linear telescopic device is widely used in, in lifting and high-lift operation machinery and automatic line, object or personnel being transported to another location from a position, and distant between two positions, can carry out the conveying of level and vertical direction.
Linear telescopic device is applied more in Hoisting Machinery, and the expansion device of hoist comprises arm frame telescopic mechanism and supporting leg supporting mechanism.The effect of arm frame telescopic mechanism is to change jib length, to obtain amplitude and the lifting altitude needing, meets job requirements.Arm frame telescopic mechanism adopts the arm of composite-type, generally has three joints and the above arm of three joints, and stretching of each arm has three kinds of motion modes substantially: sequential telescopic, synchronization telescope and independent telescope.The driving mode of arm frame telescopic mechanism has three kinds of machinery, hydraulic pressure and combined types, and mechanical type driving apparatus simple structure, is mainly driven by wire rope, reel; Hydraulic driving is the main driving mode of arm frame telescopic mechanism, and by the extrusion and the speed that pump into and eject out control extending means of hydraulic oil, and lifting weight is larger.
Linear telescopic device is also widely used in high-altitude lifter, to complete high-lift operation and maintenance task.High-altitude lifter is mainly divided into fork type elevator and single lower mast lift, the extending means of fork type elevator is mainly comprised of X frame, through hole increases the quantity of X frame and the height that bar length changes lifting, X frame extending means mainly adopts hydraulic driving, according to the height of lifting, X frame quantity and load-carrying, the oil hydraulic cylinder of some is set.The extending means of single lower mast lift is mainly comprised of wire rope, pulley and flat board, the dull and stereotyped head and the tail of every joint are all connected with pulley by wire rope with two adjacent platforms, relative velocity between flat board equates, the height of lift is determined by dull and stereotyped quantity and each dull and stereotyped length, single lower mast lift adopts motor to drive, driven by motor reel, controls the movement velocity of lift by controlling the speed of reel curled wire rope.Single lower mast lift bearing capacity is less than fork type elevator, and both select suitable lift according to different occasions.
For higher load capacity is provided, the telescopic section design comparison of above-mentioned linear telescopic device is sturdy, cause the base part volume of extending means larger, and collapsing length and the smaller of rear entire length of retracting, can not effectively in space, realize longer-distance stretching.In automatic line, Spatial General 6 R is narrow, collapsing length is larger, it is larger that above-mentioned several expansion device takies volume, guaranteeing on the basis of extrusion, how compressing the volume of described expansion device to be applicable to limited constraint space, is linear telescopic device technical problem urgently to be resolved hurrily.
Based on this, the invention provides a kind of novel linear telescopic device.
Summary of the invention
The object of the present invention is to provide a kind of linear telescopic device, to solve a difficult problem that realizes long Distance Transmission in limited constraint space, and improved extrusion and the ratio of the rear entire length of retracting.
Based on above-mentioned purpose, the invention provides a kind of linear telescopic device, this device comprises stretching chain, wire rope, snail formula storage chain box and driving mechanism, wherein:
In described snail formula storage chain box, there is the conduit extending along helix;
Described stretching chain can bend in one direction, be wrapped in the conduit of described snail formula storage chain box, and the head end of described stretching chain is positioned at outside described snail formula storage chain box after its bend in one direction, and described head end can be flexible along rectilinear direction;
Described wire rope is positioned at the back side of described stretching chain bend in one direction direction, its one end is wrapped on reel, its the other end is fixed on the head end of described stretching chain, and described wire rope can be with the head end synchronization telescope of described stretching chain, after described head end stretches out, the part tension that described flexible rope stretches out stretching chain linearly;
Described driving mechanism is connected to described stretching chain and described wire rope, order about the flexible of described stretching chain and described wire rope, and the line stretcher speed of described stretching chain and described wire rope is identical.
Optionally, the helix of described conduit is set to spiral of Archimedes.
Optionally, the outlet of described conduit is connected with support mouth, and the inner chamber of described support mouth communicates with described conduit, and the described inner chamber direction of stretching out along described stretching chain straight line extends, for the flexible of described stretching chain led.
Optionally, the other end of described wire rope, through the casing of described snail formula storage chain box and after extending along described inner chamber, is fixed on the head end of described stretching chain.
Optionally, described stretching chain has some chain links, and described chain link is rectangular configuration, two end faces that this rectangular configuration comprises bottom surface, is opposed to the end face of described bottom surface and is positioned at described stretching chain length direction; Wherein:
The two ends of the described bottom surface of adjacent described chain link are hinged by bearing pin, and the length direction that is axially perpendicular to described stretching chain of described bearing pin, can be crooked towards described bottom surface for realizing described stretching chain;
The adjacent face of adjacent described chain link can fit together, for preventing that described stretching chain is crooked towards described end face.
Optionally, the back side of described chain link has the groove of bar shaped, and the length direction that the bearing of trend of described groove is described stretching chain, for holding described wire rope.
Optionally, the back side of described chain link has two grooves, and described two grooves parallel; Answer in contrast, described wire rope is set to two, and two wire rope parallel.
Optionally, described driving mechanism comprises motor, band wheels and sprocket wheel, and described motor orders about described sprocket wheel and the run-in synchronism of described band wheels, and described sprocket wheel orders about the flexible of described stretching chain, and described band wheels drive described rollers running.
Optionally, on described bearing pin, roller is installed, described roller is meshed with described sprocket wheel.
Optionally, described motor, described sprocket wheel and described reel are arranged on respectively on the casing of described snail formula storage chain box, the described driving pulley with wheels and described sprocket coaxiality are installed and run-in synchronism, the described driven pulley with wheels and the coaxial installation of described reel and run-in synchronism.
In sum, linear telescopic device provided by the invention, employing has the special chain and the effect of matching of snail formula storage chain box of bend in one direction characteristic, realize expanding-contracting action, helix conduit in snail formula storage chain box is for holding the chain of retraction, than the expansion device of traditional composite-type, scissors type or single column type, pedestal volume of the present invention is little, more can be applicable to limited constraint space.The present invention adopts wire rope from the back side application of force of special chain bending direction, realizes the control to bend in one direction, need to, by the gravity of chain, therefore can not realize chain and stretch out along any direction straight line.
Accompanying drawing explanation
Fig. 1 is the axis side view of linear telescopic device of the present invention;
Fig. 2 is the schematic diagram that linear telescopic device of the present invention stretches out state completely;
Fig. 3 is the schematic diagram of linear telescopic device retracted state of the present invention;
Fig. 4 is that the axle of stretching chain of the present invention is surveyed view;
Fig. 5 is that the axle of driving mechanism of the present invention is surveyed view.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Referring to Fig. 1-3, it is a specific embodiment of the present invention.
This embodiment provides a kind of linear telescopic device, and this device comprises stretching chain 20, wire rope 9, snail formula storage chain box 7 and driving mechanism 30.Adopt stretching chain 20 and the mating reaction of snail formula storage chain box 7 to realize expanding-contracting action, and on this basis, make expansion device have the advantages that volume is little, more can be applicable to the operation place little to constraint space, for example, be applied among automatic line and robot industry; The linear telescopic that adopts the tractive force control wire rope 9 of wire rope 9, does not need to rely on the Action of Gravity Field of stretching chain 20 can keep linear telescopic, makes expansion device linear telescopic in any direction, has improved its Applicable scope.Particularly,
In described snail formula storage chain box 7, there is the conduit extending along helix, adopt helix can guarantee that stretching chain 20 slides along conduit smoothly.In this embodiment's possibility, the helix of described conduit is set to spiral of Archimedes, can in limited space, store the stretching chain 20 of extreme length.
Described stretching chain 20 can bend in one direction, is wrapped in the conduit of described snail formula storage chain box 7 after its bend in one direction.The head end 2 of described stretching chain 20 is positioned at outside described snail formula storage chain box 7, and described head end 2 can be flexible along rectilinear direction; The end of described stretching chain 20 is positioned at the conduit of described snail formula storage chain box 7, and described end is along with stretching of described head end 2 reciprocatingly slides in described conduit.
Described wire rope 9 is positioned at the back side of described stretching chain 20 bend in one direction directions, its one end is wrapped on reel 10, its the other end is fixed on the head end 2 of described stretching chain 20, and described wire rope 9 can be with head end 2 synchronization telescopes of described stretching chain 20, after described head end 2 stretches out, the part tension that described flexible rope stretches out stretching chain 20 linearly.Concrete running: participate in Fig. 2, when the head end 2 of stretching chain 20 stretches out, the part tension that described wire rope 9 stretches out stretching chain 20, described stretching chain 20 loses bend in one direction, each chain link 4 that is stretching chain 20 keeps being rigidly connected, and stretching chain 20 can keep straight line rigidity to stretch out; Referring to Fig. 3, when driving mechanism 30 orders about sprocket wheel 6 and wire rope 9 retraction, wire rope 9 wraparounds are on reel 10, and the stretching chain 20 of throwing off wire rope 9 has bend in one direction performance again, and the helix conduit coiling along storage chain box on bending direction stores.
Described driving mechanism 30 is connected to described stretching chain 20 and described wire rope 9, order about the flexible of described stretching chain 20 and described wire rope 9, and the line stretcher speed of described stretching chain 20 and described wire rope 9 is identical, to guarantee in telescopic process, described wire rope 9 can be strained the head end 2 of described stretching chain 20 all the time.
Referring to Fig. 1 and Fig. 3, in this embodiment's a possibility, the outlet of described conduit is connected with supports mouth 8, the inner chamber of described support mouth 8 communicates with described conduit, and the direction that described inner chamber stretches out along described stretching chain 20 straight lines is extended, for the flexible of described stretching chain 20 led, the extension of further guaranteeing described stretching chain 20 is linear state.In this scheme, the other end of described wire rope 9 is through the casing of described snail formula storage chain box 7 and after extending along described inner chamber, be fixed on the head end 2 of described stretching chain 20, also be, described snail formula storage chain box 7 is between described reel 10 and the head end 2 of described stretching chain 20, the arrangement of this spatial structure, further guarantees that wire rope 9 provides tightening force to the head end 2 of described stretching chain 20 all the time, to adapt to the linear telescopic of any direction of stretching chain 20.
Referring to Fig. 1, Fig. 3 and Fig. 4, in another possibility of this embodiment, for realizing described stretching chain 20, there is bend in one direction characteristic, described stretching chain 20 for example can be set to: described stretching chain 20 comprises the chain link 4 of some rollers 3 and some same models, when described stretching chain 20 from coil to coils are coiled in conduit, because the bending radius in snail formula storage chain box 7 center portions is too small, the chain link 4 of stretching chain 20 cannot continue motion, so the quantity of chain link 4 must be mated with the track of snail formula storage chain box 7.Described chain link 4 is rectangular configuration, two end faces that this rectangular configuration comprises bottom surface, is opposed to the end face of described bottom surface and is positioned at described stretching chain 20 length directions.The two ends of the described bottom surface of adjacent described chain link 4 are hinged by bearing pin 12, and the length direction that is axially perpendicular to described stretching chain 20 of described bearing pin 12, can be crooked towards described bottom surface for realizing described stretching chain 20; The adjacent face of adjacent described chain link 4 can fit together, be mutually against together, the force direction supporting is mutually direction as shown in Fig. 4 haircut, hinder stretching chain 20 back-flexings, be used for preventing that described stretching chain 20 is crooked towards described end face, can be for example that described end face is respectively perpendicular to corresponding end face.Accordingly, under the hinged effect of bearing pin 12 of bottom surface, realizing can be crooked towards bottom surface, makes it can not be crooked towards end face under the position-limiting action of end face, and then makes stretching chain 20 have the characteristic of bend in one direction.When specific design is installed, also comprise that the chain link 4 that packing ring 121, two is adjacent is all hinged with bearing pin 12, bearing pin 12 forms stretching chain 20 together with being riveted on packing ring 121 thus.Described roller 3 is sleeved on described bearing pin 12, and making between described stretching chain and described conduit is rolling friction.
In this embodiment, institute is preferred, the back side of described chain link 4 has the groove of bar shaped, and the bearing of trend of described groove is the length direction of described stretching chain 20, for holding described wire rope 9, improve compact structure degree, and realize wire rope 9 and synchronize with stretching chain 20 maintenance when mobile.As shown in the figure, the back side of described chain link 4 has two grooves, and described two grooves parallel; Answer in contrast, described wire rope 9 is set to two, and two wire rope 9 parallel.The design of double-steel wire rope 9 and dual-cavity, the stability while effectively having improved wire rope 9 tension, and then the homework precision of raising expansion device of the present invention.
In this preferred version, described support mouth 8 is further used for: stretch out in process, described wire rope 9 and described stretching chain 20 are when the inner chamber through described support mouth 8, and described inner chamber is pressed together on described wire rope 9 in the groove at described chain link 4 back sides; And, in retraction process, described wire rope 9 and described stretching chain 20 after the inner chamber through described support mouth 8, the groove that described wire rope 9 departs from described chain link 4 back sides.
Referring to Fig. 1, Fig. 3 and Fig. 5, in this embodiment's another possibility, for on the basis of compact structure, the phase Constant Linear Velocity of realizing 30 pairs of stretching chains 20 of described driving mechanism and wire rope 9 drives, described driving mechanism 30 for example can be set to, and it comprises motor 5, band wheels and sprocket wheel 6, and described motor 5 orders about described sprocket wheel 6 and the run-in synchronism of described band wheels, described sprocket wheel 6 orders about the flexible of described stretching chain 20, and described band wheels drive described rollers running.
This scheme institute is preferred, and roller 3 is installed on described bearing pin 12, and described roller 3 is meshed with described sprocket wheel 6.Described motor 5, described sprocket wheel 6 and described reel 10 are arranged on the casing of described snail formula storage chain box 7 by fitting seat 11 respectively, the described driving pulley 13 with wheels and the coaxial installation of described sprocket wheel 6 and run-in synchronism, to guarantee that both have good speeds match, described driving pulley 13 is arranged on and connects on wheel shaft 12 with described sprocket wheel as shown in Figure 5; The described driven pulley 16 with wheels and the coaxial installation of described reel 10 and run-in synchronism, described driven pulley 16 and described reel are arranged in spool shaft 15 as shown in Figure 5; Between driving pulley 13 and driven pulley 16, by Timing Belt 14 transferring power, the velocity ratio of two synchronous pulleys is according to the diameter ratio design of sprocket wheel 6 and reel 10, to guarantee that wire rope 9 and stretching chain 20 have identical linear velocity.By the clockwise and anticlockwise of described motor 5, order about described sprocket wheel 6 and described reel 10 clockwise, be rotated counterclockwise, and then order about the flexible of described stretching chain 20 and described wire rope 9.
Linear telescopic device of the present invention can be realized remote propelling movement and gripping objects, when concrete operation, at the head end 2 of described stretching chain 20, described clamp holder 1 is installed, for capturing object.
This embodiment's linear telescopic device, when straight line stretches out, sprocket wheel 6 is transferred to stretching chain 20 from snail formula storage chain box 7, wire rope 9 is synchronizeed and is stretched out with stretching chain 20, and each special chain link 4 in tensioning chain, each chain link 4 keeps being rigidly connected under tightening force effect, so stretching chain 20 can keep straight line to stretch out.When stretching chain 20 is retracted, sprocket wheel 6 and reel 10 rotate counterclockwise simultaneously, wire rope 9 is synchronizeed retraction with stretching chain 20, wire rope 9 is progressively thrown off special chain link 4, between chain link 4, by being rigidly connected, be separated into discrete single chain link 4, performance bend in one direction characteristic, stretching chain 20 can be filled in storage chain box.
Compared with prior art, beneficial effect of the present invention is at least:
1, snail type linear telescopic device extrusion is controlled, and has very high Security, and extrusion is greater than traditional expansion device with the ratio of initial length.
2, stretching chain 20 stretch out after between each chain link 4 for being rigidly connected, during retraction, can by being rigidly connected, be converted to chain connection, can be retracted to snail formula and store up chain box 7, reduced the volume that this expansion device retracted mode takies.
3, the line of motion speed of wire rope 9 and stretching chain 20 is identical, by same motor 5, drives reel 10 and sprocket wheel 6, has guaranteed inter-agency speeds match.
4, this linear telescopic device does not rely on gravity and keeps straight line to stretch out, can be in space arbitrarily angled stretching out.
The foregoing is only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.All any modifications of doing within the spirit and principles in the present invention, be equal to replacement, improvement etc., be all included in protection scope of the present invention.
Claims (10)
1. a linear telescopic device, is characterized in that, this device comprises stretching chain, wire rope, snail formula storage chain box and driving mechanism, wherein:
In described snail formula storage chain box, there is the conduit extending along helix;
Described stretching chain can bend in one direction, be wrapped in the conduit of described snail formula storage chain box, and the head end of described stretching chain is positioned at outside described snail formula storage chain box after its bend in one direction, and described head end can be flexible along rectilinear direction;
Described wire rope is positioned at the back side of described stretching chain bend in one direction direction, its one end is wrapped on reel, its the other end is fixed on the head end of described stretching chain, and described wire rope can be with the head end synchronization telescope of described stretching chain, after described head end stretches out, the part tension that described flexible rope stretches out stretching chain linearly;
Described driving mechanism is connected to described stretching chain and described wire rope, order about the flexible of described stretching chain and described wire rope, and the line stretcher speed of described stretching chain and described wire rope is identical.
2. linear telescopic device according to claim 1, is characterized in that, the helix of described conduit is set to spiral of Archimedes.
3. linear telescopic device according to claim 1, it is characterized in that, the outlet of described conduit is connected with support mouth, the inner chamber of described support mouth communicates with described conduit, and the direction that described inner chamber stretches out along described stretching chain straight line is extended, for the flexible of described stretching chain led.
4. linear telescopic device according to claim 3, is characterized in that, the other end of described wire rope, through the casing of described snail formula storage chain box and after extending along described inner chamber, is fixed on the head end of described stretching chain.
5. according to the linear telescopic device described in claim 1.4 any one, it is characterized in that, described stretching chain has some chain links, and described chain link is rectangular configuration, two end faces that this rectangular configuration comprises bottom surface, is opposed to the end face of described bottom surface and is positioned at described stretching chain length direction; Wherein:
The two ends of the described bottom surface of adjacent described chain link are hinged by bearing pin, and the length direction that is axially perpendicular to described stretching chain of described bearing pin, can be crooked towards described bottom surface for realizing described stretching chain;
The adjacent face of adjacent described chain link can fit together, for preventing that described stretching chain is crooked towards described end face.
6. linear telescopic device according to claim 5, is characterized in that, the back side of described chain link has the groove of bar shaped, and the length direction that the bearing of trend of described groove is described stretching chain, for holding described wire rope.
7. linear telescopic device according to claim 6, is characterized in that, the back side of described chain link has two grooves, and described two grooves parallel; Answer in contrast,
Described wire rope is set to two, and two wire rope parallel.
8. linear telescopic device according to claim 5, it is characterized in that, described driving mechanism comprises motor, band wheels and sprocket wheel, described motor orders about described sprocket wheel and the run-in synchronism of described band wheels, described sprocket wheel orders about the flexible of described stretching chain, and described band wheels drive described rollers running.
9. linear telescopic device according to claim 8, is characterized in that, on described bearing pin, roller is installed, and described roller is meshed with described sprocket wheel.
10. linear telescopic device according to claim 8, it is characterized in that, described motor, described sprocket wheel and described reel are arranged on respectively on the casing of described snail formula storage chain box, the described driving pulley with wheels and described sprocket coaxiality are installed and run-in synchronism, the described driven pulley with wheels and the coaxial installation of described reel and run-in synchronism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410334050.3A CN104088965B (en) | 2014-07-14 | 2014-07-14 | A kind of linear telescopic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410334050.3A CN104088965B (en) | 2014-07-14 | 2014-07-14 | A kind of linear telescopic device |
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| CN104088965A true CN104088965A (en) | 2014-10-08 |
| CN104088965B CN104088965B (en) | 2016-05-18 |
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| CN201410334050.3A Expired - Fee Related CN104088965B (en) | 2014-07-14 | 2014-07-14 | A kind of linear telescopic device |
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| CN106195179A (en) * | 2016-07-30 | 2016-12-07 | 北京工业大学 | A kind of pinion and-rack retractor device |
| CN106354235A (en) * | 2016-11-18 | 2017-01-25 | 佛山蓝途科技有限公司 | Portable chain-type notebook computer pad |
| CN106493720A (en) * | 2015-09-06 | 2017-03-15 | 上海科斗电子科技有限公司 | Beformable body mechanical bone |
| CN106553509A (en) * | 2016-12-23 | 2017-04-05 | 北海和思科技有限公司 | A kind of automobile automatic sun shade |
| CN106934932A (en) * | 2015-12-30 | 2017-07-07 | 蔡异 | A kind of vending machine picking mechanism suitable for various goods |
| CN108340381A (en) * | 2018-03-07 | 2018-07-31 | 燕山大学 | A kind of telescopic Rescaling continuity humanoid robot |
| CN108698237A (en) * | 2016-02-29 | 2018-10-23 | 生活机器人学股份有限公司 | Direct acting telescoping mechanism and mechanical arm mechanism with the direct acting telescoping mechanism |
| CN109153133A (en) * | 2016-05-31 | 2019-01-04 | 生活机器人学股份有限公司 | Direct acting telescoping mechanism |
| CN111418344A (en) * | 2020-03-19 | 2020-07-17 | 常熟理工学院 | Manual-automatic telescopic rod of fruit picker |
| CN111823269A (en) * | 2020-06-23 | 2020-10-27 | 北京航空航天大学 | Measuring tape zipper type telescopic mechanical arm and design method thereof |
| CN112573105A (en) * | 2020-12-25 | 2021-03-30 | 刘帅 | Chain conveying mechanism |
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| CN106493720A (en) * | 2015-09-06 | 2017-03-15 | 上海科斗电子科技有限公司 | Beformable body mechanical bone |
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| CN106934932A (en) * | 2015-12-30 | 2017-07-07 | 蔡异 | A kind of vending machine picking mechanism suitable for various goods |
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| CN106553509A (en) * | 2016-12-23 | 2017-04-05 | 北海和思科技有限公司 | A kind of automobile automatic sun shade |
| CN108340381B (en) * | 2018-03-07 | 2021-03-19 | 燕山大学 | Telescopic variable-scale continuous robot |
| CN108340381A (en) * | 2018-03-07 | 2018-07-31 | 燕山大学 | A kind of telescopic Rescaling continuity humanoid robot |
| CN111418344A (en) * | 2020-03-19 | 2020-07-17 | 常熟理工学院 | Manual-automatic telescopic rod of fruit picker |
| CN111418344B (en) * | 2020-03-19 | 2022-03-25 | 常熟理工学院 | Manual-automatic telescopic rod of fruit picker |
| CN111823269A (en) * | 2020-06-23 | 2020-10-27 | 北京航空航天大学 | Measuring tape zipper type telescopic mechanical arm and design method thereof |
| CN112573105A (en) * | 2020-12-25 | 2021-03-30 | 刘帅 | Chain conveying mechanism |
| CN114148736A (en) * | 2022-02-07 | 2022-03-08 | 秦皇岛优益创联特种车辆制造有限公司 | Horizontal material conveying device |
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| CN104088965B (en) | 2016-05-18 |
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