CN106037595B - A kind of workshop intelligent ground clean robot - Google Patents

A kind of workshop intelligent ground clean robot Download PDF

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Publication number
CN106037595B
CN106037595B CN201610594953.4A CN201610594953A CN106037595B CN 106037595 B CN106037595 B CN 106037595B CN 201610594953 A CN201610594953 A CN 201610594953A CN 106037595 B CN106037595 B CN 106037595B
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China
Prior art keywords
car
electromagnet
mechanical arm
collecting
plate
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CN201610594953.4A
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Chinese (zh)
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CN106037595A (en
Inventor
吕汝金
高源清
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Guilin University of Electronic Technology
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Guilin University of Electronic Technology
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Priority to CN201610594953.4A priority Critical patent/CN106037595B/en
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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24Floor-sweeping machines, motor-driven
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013Contaminants collecting devices, i.e. hoppers, tanks or the like
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4066Propulsion of the whole machine
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • B25J11/0085Cleaning

Abstract

The present invention relates to a kind of workshop intelligent ground clean robots, it include the car body for walking, further include clearing apparatus and collecting mechanism, the clearing apparatus includes mechanical arm, and the mechanical arm rotates to the both sides of the car body and adsorbs the iron filings around car body on ground by the first electromagnet;The clearing apparatus further includes collecting mechanism, the collecting mechanism is in below the Vehicular body front and the position of the corresponding mechanical arm, the car body is interior and corresponds in the scrap collection to the collecting chamber that the position of the collecting mechanism is used to first electromagnet being adsorbed onto equipped with collecting chamber, the collecting mechanism;It is additionally provided in the car body for controlling car body walking, mechanical arm rotation, the first magnet switching electricity and the electric control gear of cleaning agency operation.Beneficial effects of the present invention are:It is thoroughly comprehensive to the cleaning of mill floor, improve the working environment in workshop, be conducive to ensure worker's health, entire cleaning is labor-saving, and to work at the same time efficiency higher.

Description

A kind of workshop intelligent ground clean robot
Technical field
The present invention relates to cleaning equipment fields, and in particular to a kind of workshop intelligent ground clean robot.
Background technology
As China industrializes the propulsion of modernization, the enterprise for being engaged in mechanical processing manufacture is more and more, more People participates in mechanical processing manufacturing.Cheap simple and durable machine tool and general NC lathe are most of Enterprise carries out rough machined first choice, they cannot shield chip in inside, and chip can be scattered near lathe, be flowed with air Entire workshop is perfused, corner nook is scattered in, is mixed with the machine oil of pollution, their cleaning has become problem.Directly by artificial Clear up time-consuming and laborious, working condition is poor, if these metals or non-metal powder not removed, they, which are likely to become, causes worker Respiratory disease causes mechanical disorder or causes the arch-criminal of fire.
Invention content
In conclusion for overcome the deficiencies in the prior art, technical problem to be solved by the invention is to provide a kind of vehicles Between intelligent ground clean robot.
The technical solution that the present invention solves above-mentioned technical problem is as follows:A kind of workshop intelligent ground clean robot, including Further include clearing apparatus and collecting mechanism for the car body of walking, the clearing apparatus includes mechanical arm, and the mechanical arm includes One end of integrally formed upper part, lower part and coupling part, the upper part and the lower part is connected by coupling part Form Z-shaped after connecing, it is described on partially away from one end of the lower part be rotatably mounted on the car body top front end Centre position is equipped with the first electromagnet for adsorbing iron filings in the lower surface of the lower part, and the mechanical arm is to the vehicle The both sides of body are rotated adsorbs the iron filings around car body on ground by the first electromagnet;
The clearing apparatus further includes collecting mechanism, and the collecting mechanism is in below the Vehicular body front and described in correspondence The position of mechanical arm, the car body is interior and corresponds to the position of the collecting mechanism equipped with collecting chamber, and the collecting mechanism is used for will In the scrap collection to the collecting chamber that first electromagnet is adsorbed onto;
It is additionally provided in the car body for controlling car body walking, mechanical arm rotates, the first magnet switching is electric and clear Sweep the electric control gear of mechanism operation;When the mechanical arm rotates, speed of the electric control gear control car body to match First electromagnet is controlled while degree walking to be powered, and car body is being returned to just after the rotation that mechanical arm completes a cycle Front, the electric control gear controls the first electromagnet power-off while starting the cleaning agency operation again, by described first Electromagnet discharges in the scrap collection to collecting chamber fallen to the ground.
Beneficial effects of the present invention are:The iron filings in entire workshop can be effectively removed by the robot and are collected, The places such as lower part or corner including the corner for being manually difficult to clean such as lathe;And the robot can be in workshop Lathe between move, it is thoroughly comprehensive to the cleaning of mill floor, improve the working environment in workshop, be conducive to ensure worker's body Health, entire cleaning is labor-saving, and to work at the same time efficiency higher.
On the basis of the technical solution, the present invention can also do improvement further below:
Further, the collecting mechanism includes worm reducer axis, cleaning wheel and collection motor, the worm reducer axis It is transversely arranged on the car body, cleaning wheel is equipped on the worm reducer axis, the collection motor is located at the car body Above and for driving the drive shaft, and then drive the cleaning wheel rotation will be in the scrap collection to collecting chamber on ground.
Using having the beneficial effect that for previous step technical solution:Clean iron filings are finally collected into collecting chamber by realization.
Further, the collecting chamber back plate is equipped with the second electromagnet for assisting iron filings into cabin, when the electric control gear control Second electromagnet is controlled while making the collecting mechanism operation to be powered.
Using having the beneficial effect that for previous step technical solution:Iron filings are made to be more prone to collect into collecting chamber.
Further, first electromagnet is in the groove of the lower part, and the following table of first electromagnet Face is above the ground level.
Using having the beneficial effect that for previous step technical solution:Ensure the smooth rotation of mechanical arm.
Further, the upper part is rotatably mounted on the top of the car body by holder, and the mechanical arm passes through Holder can respectively rotate 100 ° to the both sides of the car body respectively, be equipped on the holder for detecting the mechanical arm rotation angle The angular transducer of degree, the information that the electric control gear is detected according to the angular transducer control first electromagnet Power-off.
Using having the beneficial effect that for previous step technical solution:Accurately control when mechanical arm is located at the front of car body pair first Electromagnet powers off, and the first electromagnet is discharged the scrap collection fallen to the ground to collecting chamber so that collection device smoothly completes It is interior.
Further, further include remote controler, the electric control gear includes receiver corresponding with the remote controler, described distant Control device issues order to realize the operation of control robot by the receiver to the electric control gear.
Using having the beneficial effect that for previous step technical solution:According to the needs of practical cleaning, select robot automatic The pattern of cleaning executes cleaning by remote control control robot.
Further, the car body include successively up and down be arranged in parallel top plate, middle plate and bottom plate, and the top plate, in Plate and bottom plate are connected by copper stud, and the lower front of the bottom plate is equipped with universal wheel, and the lower rear of the bottom plate is set There is driving wheel.
Further, it is equipped with the first infrared reflection for detecting the mechanical arm position in the front bottom end of the bottom plate Formula sensor.
Using having the beneficial effect that for previous step technical solution:Judge the position of mechanical arm.
Further, the middle plate is octagonal shape, and is equipped with for car body avoidance on the outside of the middle plate each edge The second infrared reflection type sensor.
Using having the beneficial effect that for previous step technical solution:It avoids robot from bumping against foreign matter to damage.
Further, the electric control gear is on the middle plate.
Description of the drawings
Fig. 1 is the front view of the present invention;
Fig. 2 is the 3 dimensional drawing of the present invention;
Fig. 3 is the 3 dimensional drawing at another visual angle of the invention.
In attached drawing, parts list represented by the reference numerals are as follows:
1, electric control gear, 2, mechanical arm, the 3, first electromagnet, 4, collecting chamber, 5, worm reducer axis, 6, cleaning wheel, 7, Mobile phone motor, 8, holder, 9, top plate, 10, middle plate, 11, bottom plate, 12, copper stud, 13, universal wheel, 14, driving wheel.
Specific implementation mode
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and It is non-to be used to limit the scope of the present invention.
As shown in Figs. 1-3, a kind of workshop intelligent ground clean robot includes the car body for walking, the car body packet Top plate 9, middle plate 10 and the bottom plate 11 being arranged in parallel up and down successively are included, and the top plate 9, middle plate 10 and bottom plate 11 pass through copper spiral shell Column 12 connects, and the lower front of the bottom plate 11 is equipped with universal wheel 13, and the lower rear of the bottom plate 11 is equipped with driving wheel 14.The middle plate 10 is octagonal shape, and is equipped on the outside of 10 each edge of middle plate red for the second of car body avoidance Outside line reflection sensor.Car body under the driving of driving wheel 14 and under the guiding of universal wheel 13 in walking on mill floor, By clearing apparatus and collection device come the iron filings on clean catch ground during walking.
The clearing apparatus includes mechanical arm 2, and the mechanical arm 2 includes integrally formed upper part, lower part and connection Part, the upper part form Z-shaped after being connected by coupling part with one end of the lower part, it is described on partially away from institute The one end for stating lower part is rotatably mounted on the centre position of the car body top front end, specific as follows:The upper part is logical The top that holder 8 is rotatably mounted on the car body is crossed, the mechanical arm 2 respectively can be to the two of the car body by holder 8 Side respectively 100 ° of rotation.The first electromagnet 3 for adsorbing iron filings, the machinery are equipped in the groove of the lower part lower surface Arm 2 rotates to the both sides of the car body and adsorbs the iron filings around car body on ground by the first electromagnet 3.First electromagnet 3 The magnetism just after energization with absorption iron filings, with the rotation of mechanical arm 2, the first electromagnet 3 can adsorb the rotation of mechanical arm 2 Iron filings in range.The lower surface of first electromagnet 3 is above the ground level, to ensure the rotation of mechanical arm 2.
The collecting mechanism is in below the Vehicular body front and the position of the corresponding mechanical arm 2, in the car body and The position of the corresponding collecting mechanism is equipped with collecting chamber 4, the iron that the collecting mechanism is used to first electromagnet 3 being adsorbed onto Bits are collected into the collecting chamber 4.The collecting mechanism includes worm reducer axis 5, cleaning wheel 6 and collection motor 7, the snail Bar reducer shaft 5 is transversely arranged on the car body, and cleaning wheel 6, the collection motor are equipped on the worm reducer axis 5 7 are located on the car body and are used to drive the drive shaft 5, and then drive the rotation of cleaning wheel 6 by the scrap collection on ground Into collecting chamber 4.
It is additionally provided on middle plate 10 in the car body for controlling car body walking, the rotation of mechanical arm 2, the first electromagnet 3 Power on/off and the electric control gear 1 of cleaning agency operation.It is described when the rotation of the mechanical arm 2 starts to clean iron filings The control car body of electric control gear 1 does corresponding reduction of speed and provides the time for the rotation cleaning of mechanical arm 2, simultaneously controls first electricity The energization of magnet 3 makes it have magnetic absorption iron filings, and car body is returned to after rotation i.e. ± 100 ° that mechanical arm 2 completes a cycle Front, the electric control gear 1 controls first electromagnet 3 power-off while starting the cleaning agency and runs again, by institute The first electromagnet 3 is stated to discharge in the scrap collection to collecting chamber 4 fallen to the ground.It is equipped on the holder 8 for detecting The angular transducer for stating 2 rotation angle of mechanical arm is equipped in the front bottom end of the bottom plate 11 for detecting the mechanical arm 2 The the first infrared reflection type sensor set monitors the location of mechanical arm 2 by the first infrared reflection type sensor. When the rotation that mechanical arm 2 completes a cycle is in 0 °, electric control gear 1 controls first electromagnet 3 and powers off, the first electromagnetism Iron 3 loses magnetism, and iron filings will fall to the front of car body so that collection device is collected into collecting chamber 4.The collecting chamber 4 Back plate is equipped with auxiliary iron filings into second electromagnet in cabin, while the electric control gear 1 controls the collecting mechanism operation It controls second electromagnet to be powered, the second electromagnet, which is powered, while collecting mechanism is run has magnetism, in the second electromagnet Cleaning wheel 6 can be helped scrap collection to being collected into collecting chamber 4 under the action of adsorption capacity.
The robot further includes remote controler, and the electric control gear 1 includes receiver corresponding with the remote controler, described Remote controler issues order to realize the operation of control robot by the receiver to the electric control gear.According to practical clear Clean requirements of one's work select the pattern of robot automated cleaning work or execute cleaner by remote control control robot Make.
The process of a complete robot cleaner mill floor is described below, concrete operation step is as follows:
1, the main power switch of electric control gear 1 is opened, sweeping robot enters standby mode;
2, it is cleaned by remote control control robot, cleaning step is:
(1) when starting cleaning operation, electric control gear 1 controls robot with low speed walking by electron speed regulator or keeps quiet Only state, mechanical arm 2 are rotated from 0 ° to+100 °, while the first electromagnet 3 is powered, and iron adsorption on the way is got up, in machine Electric control gear 1 can be such that car body realizes between the advance of friction speed, retrogressing, traveling to turn by electron speed regulator during people advances To and pivot stud;
(2) rotation of mechanical arm 2 reversely rotates after reaching+100 °, and whole process keeps the first electromagnet 3 to be still powered on, machine The rotation of tool arm 2 continues to rotate to -100 ° by 0 °, continues iron adsorption on the way;
(3) it after the rotation of mechanical arm 2 is to -100 °, reversely rotates return to 0 ° again, after returning to 0 °, the first electromagnet 3 is disconnected Electricity loses magnetism, and the iron filings of the first electromagnet 3 absorption are fallen on immediately ahead of robot, and mechanical arm 2 stops rotating;
(4) robot car body is advanced forward, and cleaning wheel 6 rotates, and the second electromagnet in collecting bin 4 is powered, before car body The iron filings of side are swept into collecting bin 4, and so far a complete period property cleaning action is completed.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.

Claims (9)

1. a kind of workshop intelligent ground clean robot includes the car body for walking, which is characterized in that further include cleaning dress It sets, the clearing apparatus includes mechanical arm (2) and collecting mechanism, and the mechanical arm (2) includes integrally formed upper part, lower part Divide and coupling part, the upper part form Z-shaped, the top after being connected by coupling part with one end of the lower part The centre position for dividing one end far from the lower part to be rotatably mounted on the car body top front end, in the lower part Lower surface is equipped with the first electromagnet (3) for adsorbing iron filings, and the mechanical arm (2) passes through the to the rotation of the both sides of the car body One electromagnet (3) adsorbs the iron filings around car body on ground;
The collecting mechanism is in below the Vehicular body front and the position of the corresponding mechanical arm (2), in the car body and right The position of the collecting mechanism is answered to be equipped with collecting chamber (4), what the collecting mechanism was used to first electromagnet (3) being adsorbed onto In scrap collection to the collecting chamber (4);
It is equipped in the car body for controlling car body walking, mechanical arm (2) rotation, the first electromagnet (3) power on/off and clear Sweep the electric control gear (1) of mechanism operation;When the mechanical arm (2) rotate, the electric control gear (1) controls car body with phase First electromagnet (3) is controlled while matched speed walking to be powered, until mechanical arm (2) completes the rotation of a cycle The front of car body is returned to afterwards, and the electric control gear (1) controls the first electromagnet (3) power-off while starting the collection again Mechanism is run, and first electromagnet (3) is discharged the scrap collection that falls to the ground to collecting chamber (4) by the collecting mechanism It is interior;
The collecting mechanism includes worm reducer axis (5), cleaning wheel (6) and collection motor (7), the worm reducer axis (5) it is transversely arranged on the car body, cleaning wheel (6), the collection motor (7) is equipped on the worm reducer axis (5) On the car body and for driving the worm reducer axis (5), and then drive cleaning wheel (6) rotation by ground In scrap collection to collecting chamber (4).
2. intelligent ground clean robot in workshop according to claim 1, which is characterized in that collecting chamber (4) back plate Auxiliary iron filings are equipped with into second electromagnet in cabin, are controlled while the electric control gear (1) controls the collecting mechanism operation Second electromagnet is made to be powered.
3. intelligent ground clean robot in workshop according to claim 1, which is characterized in that first electromagnet (3) In groove in the lower part, and the lower surface of first electromagnet (3) is above the ground level.
4. intelligent ground clean robot in workshop according to claim 1, which is characterized in that the upper part passes through holder (8) it is rotatably mounted on the top of the car body, the mechanical arm (2) respectively can be to the two of the car body by holder (8) Side respectively 100 ° of rotation, is equipped with the angular transducer for detecting the mechanical arm (2) rotation angle, institute on the holder (8) The information that electric control gear (1) is detected according to the angular transducer is stated to control the first electromagnet (3) power-off.
5. intelligent ground clean robot in workshop according to claim 1, which is characterized in that further include remote controler, it is described Electric control gear (1) includes receiver corresponding with the remote controler, and the remote controler is by the receiver to described automatically controlled Device publication order is to realize the operation of control robot.
6. intelligent ground clean robot in workshop according to any one of claims 1 to 5, which is characterized in that the car body packet Include top plate (9), middle plate (10) and the bottom plate (11) being arranged in parallel up and down successively, and the top plate (9), middle plate (10) and bottom plate (11) it is connected by copper stud (12), the lower front of the bottom plate (11) is equipped with universal wheel (13), the bottom plate (11) Lower rear be equipped with driving wheel (14).
7. intelligent ground clean robot in workshop according to claim 6, which is characterized in that before the bottom plate (11) Bottom is held to be equipped with the first infrared reflection type sensor for detecting the mechanical arm (2) position.
8. intelligent ground clean robot in workshop according to claim 6, which is characterized in that the middle plate (10) is eight sides Shape, and the second infrared reflection type sensor for car body avoidance is equipped on the outside of the middle plate (10) each edge.
9. intelligent ground clean robot in workshop according to claim 6, which is characterized in that at the electric control gear (1) In on the middle plate (10).
CN201610594953.4A 2016-07-26 2016-07-26 A kind of workshop intelligent ground clean robot Active CN106037595B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610594953.4A CN106037595B (en) 2016-07-26 2016-07-26 A kind of workshop intelligent ground clean robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610594953.4A CN106037595B (en) 2016-07-26 2016-07-26 A kind of workshop intelligent ground clean robot

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CN106037595A CN106037595A (en) 2016-10-26
CN106037595B true CN106037595B (en) 2018-07-13

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108100587A (en) * 2017-12-15 2018-06-01 安徽杰特电气有限公司 New workshop transportation robot
CN108991996B (en) * 2018-08-31 2020-08-11 湖北钜鑫工贸有限公司 Multi-functional mill's iron fillings cleaning device
CN109106292A (en) * 2018-09-11 2019-01-01 广东宏穗晶科技服务有限公司 A kind of robot for cleaning floor
DE102018132964A1 (en) 2018-12-19 2020-06-25 Enway Gmbh AUTONOMOUS CLEANING DEVICE WITH A SUCTION ARM

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