CN106346511A - Linear-overlapping large-range rapid telescopic device - Google Patents
Linear-overlapping large-range rapid telescopic device Download PDFInfo
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- CN106346511A CN106346511A CN201611015907.0A CN201611015907A CN106346511A CN 106346511 A CN106346511 A CN 106346511A CN 201611015907 A CN201611015907 A CN 201611015907A CN 106346511 A CN106346511 A CN 106346511A
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- Prior art keywords
- slide block
- timing belt
- base
- push
- telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
Abstract
A linear-overlapping large-range rapid telescopic device comprises a base, a push-pull mechanism and at least two stages of slide blocks. The push-pull mechanism controls the slide blocks to slide. The slide blocks are overlapped on the base stage by stage. A linkage relation is formed among the slide blocks through an inner synchronous belt and a fixing mechanism arranged on the synchronous belt. When the output of the push-pull mechanism is not changed, different telescopic amounts and telescopic speeds can be obtained by adjusting the stage number of the slide blocks. Due to the linkage among the slide blocks, the telescopic direction of the whole telescopic device is consistent, and the telescopic amount can be directly determined according to the stage number of the slide blocks. By means of the device, the structural instability caused when a power device of a push-pull mechanism in the prior art needs to change the position in the telescopic process of the device is broken through. By keeping the position of the power device unchanged, power output is effectively transmitted to each stage of slide block through the connection relation between a transmission belt and the slide blocks, the precise control over the telescopic amount is completed, and the stability of the whole device is ensured.
Description
Technical field
The present invention relates to tunnel inspection device field, more particularly, to a kind of it is mainly used in the flexible of tunnel crusing robot
Device.
Background technology
Mechanical telescopic device in the market, by the way of great majority are using two sections are flexible or three sections stretch, and mostly
It is all the bi-directional expansion principle adopting, that is, intermediate bar is fixed, stretch to two ends (hydraulic-pneumatic retractor device due to away from difference,
Do not take into account).Thus, current retractor device, when carrying out distance and stretching, easily produces because stretching speed is too fast
Fracture.Needing to carry out in the case that distance stretches, flexible speed can only be sacrificed and exchange distance of stretch out and draw back for.For distance and speed
Degree problem.
And, existing retractor device occurs driving in expansion link when needing and install head in expansion link one end
The problem that setting position stretches with expansion link and changes.The stability meeting to whole device for the change meeting of driving means position
Produce a very large impact.
For tunnel environment, it is generally desirable to the distance of stretch out and draw back of retractor device during use and stretching speed can be expired simultaneously
Foot.Or and existing technology distance of stretch out and draw back is too short, or stretching speed not, all cannot meet tunnel crusing robot reality
Under required contraction state in application, original length is sufficiently small, and under deployed condition, length is sufficiently large, and reaches of a relatively high
Stretching speed standard.Generally, stretching speed can be improved by increasing flexible series.On this basis, to retractor device
Carry out the extension on series, by the linkage between at different levels, solve the problems, such as collapsing length and stretching speed simultaneously.
Content of the invention
In order to solve the deficiency of prior art presence, especially existing retractor device is on distance of stretch out and draw back and stretching speed
Contradiction, it is an object of the invention to provide a kind of can linear superposition rapid retracting device on a large scale.
The present invention proposes one kind rapid retracting device on a large scale, including base, push-pull mechanism and at least two-stage slide block, push-and-pull
Mechanism one end is arranged on base, and the other end is installed on first order slide block, and first order slide block is slidably arranged on base, and it is special
Levy and be, slide blocks at different levels are sequentially stacked setting step by step.Here " being sequentially stacked step by step " refers to first order slide block and is arranged on base
On, second level slide block is stacked and placed on first order slide block, and third level slide block is stacked and placed on the slide block of the second level, this by rear stage slide block
It is stacked and placed on the mounting means on previous stage slide block.Here " first order slide block is slidably arranged on base ", refers to first
Level slide block can be acted on by push-pull mechanism, and so a kind of annexation of sliding correspondingly occurs on base.This connection is closed
System can be realized it is also possible to be only simply first order slide block to be positioned over base by the projection mutually coincideing and groove
On.
The upper surface of described slide block is all provided with fluting along the overall telescopic direction of retractor device, the inside of slide block be equipped with to
Few two belt wheels, by Timing Belt around connecting between belt wheel, the upper end of the Timing Belt in described slide block is all by this grade of slide block
The lower surface of the fluting on surface and upper level slide block is fixed；The lower end of the Timing Belt in first order slide block and base are fixed, except
The lower end of the Timing Belt in slide blocks at different levels beyond one-level slide block is all fixed with the upper surface of next stage slide block.Timing Belt herein
The direction (direction that i.e. Timing Belt rotates) of setting is identical with the direction that retractor device stretches.
When the first order slide block on base is pushed outwardly by push-pull mechanism, due to the synchronization in first order slide block on base
The lower end of band is fixed with base, goes out as first order slide block is pushed, its interior Timing Belt fixing point in lower end and base
In the presence of synchronous axial system and first order slide block sliding distance identical length, the upper end of its Timing Belt is also synchronously turned out.
Lower surface due to second level slide block is fixedly connected with the upper end of the Timing Belt in first order slide block, thus, second level slide block meeting
Due to the effect of the Timing Belt in first order slide block, synchronously, anteriorly translate same distance with respect to first order slide block.With
Sample, because the Timing Belt in every one-level slide block also all can rotate respective distance with the translation of next stage slide block.And every one-level
Slide block all can be subject to the drive of next stage slide block inter-sync band to translate identical distance with respect to next stage slide block.So it is superimposed,
During to n-th grade of slide block, n-th grade of slide block is compared with respect to the position under contraction state and can be translated n times of first order slide block and translated
Distance.Thus, the present invention only needs to carry out the superposition of slide block it is possible to only promote first order slide block translation small distance
In the state of, upper level slide block is pushed out distance at double.For the device of setting three-level slide block, using this
Bright described structure, device of length no more than 30cm in a contracted state, but can stretch under fully extended state and reach more than
The length of 1m.
Wherein, described base and the upper surface of slide block are all provided with fluted, stretch overall with retractor device of the direction of groove
Direction is identical；The lower surface of described slide block is equipped with projection, and raised size is matched with the size of groove.
Wherein, described projection is arranged at the position at the rear portion of the center line of slide block lower surface, and described groove is arranged on slide block
The centre position on surface.
Wherein, described Timing Belt is fixed by the surface of bolt or screw and base or adjacent sliders.
Wherein, on described Timing Belt, the fixing point of setting bolt or screw is thicker than other positions.
Wherein, the direction of described fluting and the direction of transfer of Timing Belt are identical, and the width of fluting can accommodate bolt or spiral shell
Nail moves along Timing Belt direction.
Wherein, in a contracted state, the fixing point of the lower end of described Timing Belt is arranged at the front portion of Timing Belt；Described
The fixing point of the upper end of Timing Belt is arranged at the rear portion of Timing Belt.
Wherein, described push-pull mechanism is made up of motor and screw mandrel, and the side of the first order slide block being arranged on base sets
There is the screw mandrel mouth coincideing with screw mandrel, screw mandrel is passed through inside first order slide block by screw mandrel mouth, and the direction of screw mandrel is parallel with Timing Belt；Electricity
Machine is arranged on inside or outside screw mandrel, and drive screw is slided along the direction of groove with movable slider.
Wherein, described push-pull mechanism is made up of hydraulic means, and one end of hydraulic means is arranged on base, hydraulic means
The other end be arranged on the side of first order slide block.
For the ease of it will be appreciated by those skilled in the art that " front " described in this specification refers to retractor device direction of extension,
" afterwards " refer to direction in contrast.When being used lead screw motor combination as push-pull mechanism, " anterior " refers to fix away from motor
The direction of point；When being used hydraulic means as push-pull mechanism, refer to the direction end away from push-pull mechanism.It will be appreciated that it is right herein
" front " and the description of " afterwards ", does not constitute the specific restriction to technical solution of the present invention.
The base of this device need for slide block provide one in the plane sliding over, and can carry for push-pull mechanism simultaneously
For a fixing point.This function can be realized by a l type fixing device.One face of l type fixing device is as slide block
Slide-and-guide face, another face be push-pull mechanism provide fixing point.But the form of base is not limited to the knot of this kind of l type
Structure, can also be the plane of only push-pull mechanism offer fixing point.Push-pull mechanism passes through or one group of fixing point in plane
Fixing, promote slide block to translate in the plane.
In device of the present invention, the structure of adjacent two-stage slide block becomes space with groove place plane for the plane of symmetry with projection
Symmetrical relationss.
Beneficial effect
The present invention passes through to arrange Timing Belt inside slide block, by the fixed relationship between Timing Belt and adjacent the superior and the subordinate slide blocks,
Realize the linkage between slide blocks at different levels.Due to every one-level slide block all can be subject to next stage slide block inter-sync band drive and with respect under
The translation of one-level slide block and next stage slide block displacement identical distance, thus, just permissible only by the superposition between slide block
Exponentially increase collapsing length.That is, can only promote first order slide block to translate by the superposition between slide block
In the state of small distance, upper level slide block is pushed out distance at double, realize quick, controlled flexible.
Simultaneously as in the state of multistage slide block is set, in the case of completing certain collapsing length, every one-level slide block
Between relative movement distance not long.That is, in the case of needing to complete certain collapsing length, device integrally stretches
The distance of the driving to first order slide block needed for Len req can't be very long, thus, due to the connection between slide blocks at different levels
Dynamic relation, when completing this collapsing length, the relative driving distance needed for retractor device entirety is also just corresponding to be shortened, and drives
Time thus relative shortening.And, different flexible total amounts and not just can easily be obtained by the series of adjusting slider
(slide block series is more, and the flexible total amount of whole device is bigger, and the stretching speed completing same distance is also got over for same stretching speed
Hurry up).
And, pass through fixing between Timing Belt and adjacent the superior and the subordinate slide blocks between slide blocks at different levels, slide blocks at different levels are realized with this
Between linkage, the telescopic direction being capable of holding meanss each several part is consistent, and ensures to drive the push-pull mechanism of retractor device
Position remains constant, thus, it is more beneficial for keeping whole device stable.Specifically, push away because the present invention uses
The fixing mode of drawing mechanism, telescopic direction only one of which direction (especially for be vertical direction) that is to say, that only at one end
Load and load and be all consequently exerted on telescopic arm, in whole telescopic process, telescopic arm stress is constant, the weight of motor is to stretching
The stress of contracting arm be do not have influential.The center of gravity of whole device certain point on telescopic arm all the time, center pace of change is relatively
Slowly.If using the motor setting commonly used at present structure middle with telescoping mechanism, telescopic direction under this structure
It is two-way, telescopic arm will be made when fully deployed, the telescopic arm of epimere needs to bear motor adds plus load
The weight of lower end half telescopic arm.And, in telescopic process, position is change due to motor, the center of gravity of whole device can be with
The change in location motor has greatly changed.Thus, lead to whole telescopic process during the quick-expansion on a large scale not
Steadily.
The bottom of the slide blocks at different levels in the present invention is additionally provided with raised and groove for guiding.In order to reinforce Timing Belt it is ensured that
Slide blocks at different levels will not produce excessive tractive to Timing Belt in linkage, and this device arranges bolt or screw also on Timing Belt
Fixed point has carried out thickening process.For the transmitting range within ensureing fixing point in slide block, the present invention in a contracted state,
The fixing point of the lower end of Timing Belt is arranged on the front portion of Timing Belt；The fixing point of the upper end of Timing Belt is arranged on rear portion.
In the present invention, odd level and even level slide block are with respect to by the groove in the middle of slide block and raised institute group in structure
The plane of symmetry becoming becomes space symmetr.Installation relation between slide blocks at different levels is also merely only simple linear superposition.Thus, this
Invent provided retractor device can modularly produce in batches, and also relatively convenient is installed, be also more conducive to realize.
Other features and advantages of the present invention will illustrate in the following description, and, partly become from description
Obtain it is clear that or being understood by implementing the present invention.
Brief description
Accompanying drawing is used for providing a further understanding of the present invention, and constitutes a part for description, and with the present invention's
Embodiment together, for explaining the present invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 be can linear superposition rapid retracting device on a large scale overall structure figure；
Fig. 2 is the y-z side view of this device；
Fig. 3 is a in this device x-z face to profile；
Fig. 4 is the b in this device x-z face to profile；
Fig. 5 is the upside schematic diagram of single slide block structure；
Fig. 6 is the downside schematic diagram of single slide block structure.
Specific embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are illustrated it will be appreciated that preferred reality described herein
Apply example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
Embodiment one
It is the overall schematic of rapid retracting device on a large scale of the present invention as described in Figure 1.Retractor device in the present embodiment
It is made up of three-level slide block.With reference to Fig. 3, the label of each structure is respectively as follows: base 1, push-pull mechanism 2, motor 2-1, screw mandrel 2-2, silk
Bar mouth 2-3, belt wheel 3, Timing Belt 4, the fluting 5 of slide block upper surface, the projection 7 of slide block lower surface, the groove 8 of slide block upper surface,
The fixing point 9 of the lower end of Timing Belt, the fixing point 10 of the upper end of Timing Belt.
Here, as a example the three-level shown in by Fig. 3 is stretched, the principle of more stages retractor device is identical.Big model described in the present embodiment
Enclose base 1, push-pull mechanism 2 and the three-level slide block that rapid retracting device includes l type.Push-pull mechanism 2 is by motor 2-1 and screw mandrel 2-2
Composition, motor one end of push-pull mechanism 2 is arranged on base, and screw mandrel one end of push-pull mechanism is passed through first by screw mandrel mouth 2-3
Level slide block inside, the direction of screw mandrel 2-2 is parallel with Timing Belt, screw mandrel mouth 2-3 positioned at first order slide block side, and with screw mandrel 2-
2 coincide；Motor 2-1 is arranged on inside or outside screw mandrel 2-2, motor 2-1 drive screw 2-2 with movable slider along groove 8 direction
Slide.Wherein, first order slide block is slidably arranged on base, and second level slide block is stacked and placed on first order slide block, the third level
Slide block is stacked and placed on the slide block of the second level.
The upper surface of all slide blocks is all provided with fluting 5 along the overall telescopic direction of retractor device, and the inside of slide block is equipped with
At least two belt wheels 3, by Timing Belt 4 around connection between belt wheel 3, the upper end of the Timing Belt in all slide blocks at different levels is all by this
The level fluting 5 of slide block upper surface is fixed with the lower surface of upper level slide block；The lower end of the Timing Belt in first order slide block and base 1
Fixing, the lower end of the Timing Belt in slide blocks at different levels in addition to first order slide block is all fixed with the upper surface of next stage slide block.
Under motor 2-1 drives, screw mandrel 2-2 rotates, and orders about first order slide block and anteriorly moves, synchronous in first order slide block
The acting on and drive the Timing Belt in first order slide block to rotate counterclockwise of lower end fixing point of band.When level synchronization band is transported counterclockwise
When dynamic, the upper end fixing point of Timing Belt drives the lower surface of second level slide block (driving second level slide block entirety) anteriorly to transport
Dynamic.The lower end of Timing Belt due to second level slide block is fixed with the upper surface phase of first order slide block, so now second level slide block
Internal Timing Belt also can be rotated counterclockwise by being synchronously driven, and the translation of its amount of spin and first order slide block is long
Degree is identical.When second level expansion link anteriorly moves, due to the fixing point 9 of the lower end of the Timing Belt in the slide block of the second level
Effect make secondary synchronization band counterclockwise movement (note a secondary synchronization band internal structure symmetrical), in the slide block of the second level
Timing Belt motion while can drive its upper end pass through slot 5 connection third level slide blocks fixing point, that is, the bolt 10 of in figure to
Anterior movements, thus drive third level slide block anteriorly to move.Third level slide block is real with respect to the translation distance of second level slide block
It is exactly the length that second level slide block inter-sync band rotates on border, that is, the distance that first order slide block is pushed out with respect to base 1.
Due to the linkage between expansion links at different levels, now, whole distances that third level slide block is moved with respect to base 1, actually
3 times of the distance that first order slide block is pushed out with respect to base 1.That is, if necessary to increase distance of stretch out and draw back, or only
In the case of only promoting first order slide block mobile very little distance, upper level slide block is sent far it is only necessary to corresponding superposition is slided
The series of block.Method of attachment between slide blocks at different levels is with front what is identical.
The present invention mainly passes through the interaction relation between the fixing point of Timing Belt upper and lower ends and the superior and the subordinate's slide block, controls
Relative displacement between slide blocks at different levels is completely the same, ensures that upper level slide block is with respect to the stretching speed of base with this
The functional relationship linear with the series of stroke and slide block.Different stretching just can be obtained by simple adjusting slider quantity
Amount and stretching speed.
For the direction of movement between control slide block, with reference to the structure of Fig. 5 and Fig. 6, the slide blocks at different levels in the present embodiment
Upper surface is all provided with fluted 8, and the direction of groove 8 telescopic direction overall with retractor device is identical；The lower surface of described slide block
It is equipped with raised 7, raised 7 size is matched with the size of groove 8.Meanwhile, on the lower surface of l type base with first order slide block
The relative position of projection 7 be again provided with the groove 8 that guides.
Meanwhile, in order that the distance of slide block at different levels slip is remote as far as possible, projection 7 herein is arranged at slide block lower surface
Near the position of motor 2-1 side on center line, groove 8 is arranged at the centre position of slide block upper surface.Similar, in contraction state
Under, the fixing point on the described lower end of Timing Belt should be arranged at the one end away from motor 2-1；On the upper end of described Timing Belt
Fixing point should be disposed in proximity to one end of motor 2-1.
It will be understood by those skilled in the art that the Timing Belt 4 in embodiment can pass through bolt or screw or others
The surface phase of fixed form and base or adjacent sliders is fixed.Further, in order to ensure the mechanical strength of fixing point it is ensured that stretching
During contracting, Timing Belt will not be destroyed due to the tractive of over loading easily, and on Timing Belt, the fixing point of setting bolt or screw should be thick
In other positions.The direction of fluting 5 is identical with the direction of transfer of Timing Belt, and the width of fluting 5 is large enough to hold bolt or screw edge
Move in Timing Belt direction.
Embodiment 2
Retractor device of the present invention, its base 1 is not limited to the structure of l type.In fact, only push-pull mechanism one carries
Plane for fixing point is so that push-pull mechanism 2 can be fixed by plane or one group of fixing point, and promotes cunning
Block translates in the plane can also realize technique effect of the present invention.And described push-pull mechanism is also not limited to reality
Apply the structure that the screw mandrel described in example 1 is formed with motor.Hydraulic pressure or other can drive slide block translation structure also can
Realize the function of retractor device of the present invention.Under this configuration, the side of slide block does not need in setting such as embodiment one
Described screw mandrel mouth, and only by some fixing devices, first order slide block is fixed in the telescopic direction of hydraulic means i.e.
Can.
One of ordinary skill in the art will appreciate that: the foregoing is only the preferred embodiments of the present invention, and without
In limiting the present invention, although being described in detail to the present invention with reference to the foregoing embodiments, for those skilled in the art
For, the technical scheme that it still can be recorded to foregoing embodiments is modified, or wherein some technical characteristics are entered
Row equivalent.All any modification, equivalent substitution and improvement within the spirit and principles in the present invention, made etc., all should comprise
Within protection scope of the present invention.
Claims (9)
1. one kind rapid retracting device on a large scale, including base (1), push-pull mechanism (2) and at least two-stage slide block, push-pull mechanism
(2) one end is arranged on base, and the other end is installed on first order slide block, and first order slide block is slidably arranged on base, and it is special
Levy and be, slide blocks at different levels are sequentially stacked setting step by step；
The upper surface of described slide block is all provided with fluting (5) along the overall telescopic direction of retractor device, the inside of slide block be equipped with to
Few two belt wheels (3), by Timing Belt (4) around connecting between belt wheel (3), the upper end of the Timing Belt (4) in described slide block is passed through
The fluting (5) of this slide block upper surface is fixed with the lower surface of upper level slide block；The lower end of the Timing Belt in first order slide block is fixed
On base (1), the lower end of the Timing Belt in slide blocks at different levels in addition to first order slide block is each attached to the upper of next stage slide block
Surface.
2. rapid retracting device on a large scale as claimed in claim 1 it is characterised in that described base (1) and slide block upper
Surface is all provided with fluted (8), and the direction of groove (8) telescopic direction overall with retractor device is identical；The following table of described slide block
Face is equipped with raised (7), and the size of raised (7) is matched with the size of groove (8).
3. rapid retracting device on a large scale as claimed in claim 2 is it is characterised in that described projection (7) is arranged under slide block
The position at the rear portion of the center line on surface, described groove (8) is arranged at the centre position of slide block upper surface.
4. if claim 1 is to the arbitrary described rapid retracting device on a large scale of claim 3 it is characterised in that described is same
Step band (4) is fixed by the surface of bolt or screw and base or adjacent sliders.
5. rapid retracting device on a large scale as claimed in claim 4 it is characterised in that on described Timing Belt setting bolt or
The fixing point of screw is thicker than other positions.
6. rapid retracting device on a large scale as claimed in claim 5 it is characterised in that the described direction of fluting (5) with
The direction of transfer of step band is identical, and the width of fluting (5) can accommodate bolt or screw and move along Timing Belt direction.
7. rapid retracting device on a large scale as claimed in claim 6 is it is characterised in that in a contracted state, described synchronization
Fixing point on the lower end of band is arranged at the front portion of Timing Belt；Fixing point on the upper end of described Timing Belt is arranged at Timing Belt
Rear portion.
8. rapid retracting device on a large scale as claimed in claim 7 is it is characterised in that described push-pull mechanism (2) is by motor
(2-1) form with screw mandrel (2-2), the side of the first order slide block being arranged on base is provided with and the identical screw mandrel of screw mandrel (2-2)
Mouth (2-3), screw mandrel (2-2) is passed through inside first order slide block by screw mandrel mouth (2-3), and the direction of screw mandrel (2-2) is parallel with Timing Belt；
Motor (2-1) is arranged on inside or outside screw mandrel (2-2), and motor (2-1) drive screw (2-2) is with movable slider along groove (8)
Slide in direction.
9. the rapid retracting device on a large scale as described in claim 1 to 7 is it is characterised in that described push-pull mechanism (2) is by liquid
Pressure device is constituted, and one end of hydraulic means is arranged on base (1), and the other end of hydraulic means is arranged on the side of first order slide block
Face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611015907.0A CN106346511A (en) | 2016-11-18 | 2016-11-18 | Linear-overlapping large-range rapid telescopic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611015907.0A CN106346511A (en) | 2016-11-18 | 2016-11-18 | Linear-overlapping large-range rapid telescopic device |
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| Publication Number | Publication Date |
|---|---|
| CN106346511A true CN106346511A (en) | 2017-01-25 |
Family
ID=57862700
Family Applications (1)
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|---|---|---|---|
| CN201611015907.0A Pending CN106346511A (en) | 2016-11-18 | 2016-11-18 | Linear-overlapping large-range rapid telescopic device |
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| Country | Link |
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| CN (1) | CN106346511A (en) |
Cited By (3)
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| CN107985707A (en) * | 2017-12-28 | 2018-05-04 | 杭州博欣科技有限公司 | A kind of double outlet heparin tube printer-labelers |
| CN108016805A (en) * | 2017-12-28 | 2018-05-11 | 杭州博欣科技有限公司 | A kind of four shaft mechanical arms of intelligence and drawer tank bracket heparin tube storage system |
| CN108529147A (en) * | 2017-03-03 | 2018-09-14 | 盟立自动化股份有限公司 | Processing equipment and telescoping device thereof |
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| CN108529147A (en) * | 2017-03-03 | 2018-09-14 | 盟立自动化股份有限公司 | Processing equipment and telescoping device thereof |
| CN107985707A (en) * | 2017-12-28 | 2018-05-04 | 杭州博欣科技有限公司 | A kind of double outlet heparin tube printer-labelers |
| CN108016805A (en) * | 2017-12-28 | 2018-05-11 | 杭州博欣科技有限公司 | A kind of four shaft mechanical arms of intelligence and drawer tank bracket heparin tube storage system |
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