CN107252963B - Robot seam welding electrode drive - Google Patents
Robot seam welding electrode drive Download PDFInfo
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- CN107252963B CN107252963B CN201710503070.2A CN201710503070A CN107252963B CN 107252963 B CN107252963 B CN 107252963B CN 201710503070 A CN201710503070 A CN 201710503070A CN 107252963 B CN107252963 B CN 107252963B
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- shaft
- electrode
- rear seat
- seam welding
- tile
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/08—Seam welding not restricted to one of the preceding subgroups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/31—Electrode holders and actuating devices therefor
Abstract
The invention relates to the technical field of seam welding equipment, and discloses a robot seam welding electrode drive, which comprises an electrode mounting seat and a conductive rear seat, wherein a rotary electrode shaft is rotatably arranged in the electrode mounting seat, one end of the rotary electrode shaft is provided with a power device for driving the rotary electrode shaft to rotate, and the other end of the rotary electrode shaft is coaxially connected with a tile shaft sleeve; the conductive rear seat is arranged with the electrode mounting seat in a sliding manner along the axial direction of the rotary electrode shaft, an assembling hole is formed in the conductive rear seat, one end of the assembling hole is movably connected with the bush shaft sleeve in a sealing manner, and the other end of the assembling hole is assembled with a convex bush shaft matched with the bush shaft sleeve; the conductive rear seat is provided with a pretightening force adjusting mechanism for driving the conductive rear seat to slide relative to the electrode mounting seat, and the conductive rear seat is provided with an electrostatic polar plate in a sealing manner, and the electrostatic polar plate is fixedly connected with the convex tile shaft, so that the problems of high difficulty in controlling the process quality of the existing welding line, high labor intensity of workers and severe welding working environment are solved.
Description
Technical Field
The invention relates to the technical field of seam welding equipment, in particular to robot seam welding electrode driving.
Background
At present, the traditional manual seam welding is still adopted domestically, and the welding mode is maintained for decades. Today, the requirements of customers on product quality, product appearance and consistency after product processing are more and more strict, and a plurality of problems can occur if the traditional mode is still used for welding the fuel oil thin-wall container.
The existing seam welding technology mainly has the following problems:
1. because of adopting the manual operation mode, the stability of the welding quality is closely related to the skill and the technique of the operators and the working mood, so that uncertainty factors are generated on the instability of the quality, and the quality (welding current, welding speed and welding pressure) is difficult to control through standardized management;
2. the labor intensity of workers is high, the weight of containers with large volume is about 8KG, if 800 containers are welded every day, the upper workpiece and the lower workpiece are moved for 2 times, the moving distance is 1.5m, and the moving distance is equivalent to 2.4KM for moving 12800KG steel by one worker every day;
3. the working environment of workers is severe, and the workers work in a strong magnetic field for a long time, so that the physical health of the workers is seriously harmed.
For the reasons, an automatic seam welding machine is urgently needed, and an integrated intelligent device which is free of human participation and has controllable welding parameters (welding pressure, welding speed, welding current, welding time and cooling time) in the seam welding process of the oil tank must be met.
Disclosure of Invention
In order to solve the technical problems, the invention provides a robot seam welding electrode drive to achieve the purposes of realizing automatic welding seams and controlling welding parameters, and solves the problems of high difficulty in controlling the quality of the existing welding seam process, high labor intensity of workers and bad seam welding working environment.
In order to achieve the technical effects, the technical scheme provided by the invention is as follows: the robot seam welding electrode drive comprises an electrode mounting seat and a conductive rear seat, wherein a rotary electrode shaft is rotatably arranged in the electrode mounting seat, one end of the rotary electrode shaft is provided with a power device for driving the rotary electrode shaft to rotate, and the other end of the rotary electrode shaft is coaxially connected with a tile shaft sleeve; the conductive rear seat is arranged with the electrode mounting seat in a sliding manner along the axial direction of the rotary electrode shaft, an assembling hole is formed in the conductive rear seat, one end of the assembling hole is movably connected with the bush shaft sleeve in a sealing manner, and the other end of the assembling hole is assembled with a convex bush shaft matched with the bush shaft sleeve; the conductive rear seat is provided with a pretightening force adjusting mechanism for driving the conductive rear seat to slide relative to the electrode mounting seat, and the conductive rear seat is hermetically provided with an electrostatic polar plate which is fixedly connected with the convex tile shaft.
Furthermore, the end surface of the tile shaft sleeve is provided with a spherical groove, and a conductive tile concave sheet is assembled in the spherical groove; the end part of the convex tile shaft is provided with a spherical bulge matched with the concave sheet of the conductive tile; the tile shaft sleeve, the conductive tile concave sheet and the convex tile shaft are all made of silver materials.
Furthermore, an oil filling opening communicated with the inside of the assembling hole is formed in the side wall of the conductive rear seat.
Furthermore, a check ring is movably sleeved on the bush shaft sleeve, and a sealing washer is arranged between the check ring and the inner wall of the assembly hole; and an O-shaped sealing ring corresponding to the static electrode plate is sleeved outside the opening of the assembling hole.
Furthermore, the pretightening force adjusting mechanism comprises screw rods positioned around the conductive rear seat and insulating sleeves movably sleeved on the screw rods, the screw rods are in threaded connection with the electrode mounting seats, and springs are sleeved on the screw rods; one end of the spring is abutted against the inner bottom surface of the insulating sleeve, and the other end of the spring is provided with a nut A connected with the screw; the conductive rear seat is provided with a mounting hole matched with the insulating sleeve, and the end part of the insulating sleeve is tightly abutted to the bottom of the mounting hole.
Furthermore, the power device comprises a first gear sleeved on the rotary electrode shaft and a pneumatic motor positioned on the electrode mounting seat, and a second gear meshed with the first gear is arranged at the output end of the pneumatic motor.
Furthermore, two ends of the rotating electrode shaft are respectively sleeved with a rolling bearing, and the outer ring of the rolling bearing is sleeved with a bearing sleeve; the bearing sleeve is assembled with the inner wall of the electrode mounting seat.
The electrode shaft further comprises a rotary rolling disc, wherein the rotary rolling disc is coaxially connected with the end face of the rotary electrode shaft and is provided with a pressing mechanism.
Furthermore, the hold-down mechanism comprises a connecting column and a hold-down wheel movably sleeved on the connecting column, wherein the connecting column is in threaded connection with the end part of the rotary electrode shaft, the end part of the connecting column is in threaded connection with a nut B, and a spring sleeved on the connecting column is arranged between the nut B and the hold-down wheel.
Further, the spring is a belleville spring.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention adopts a tile shaft sleeve made of silver material, a conductive tile concave sheet and a convex tile shaft structure, and the pretightening force between the tile shaft sleeve and the convex tile shaft is adjusted by a pretightening force adjusting mechanism, wherein the pretightening force is determined by the compression amount of a spring sleeved on a screw rod; when the electrode of the tile shaft sleeve is abraded, the pretightening force between the tile shaft sleeve and the convex tile shaft can be adjusted by adjusting the external pretightening force adjusting mechanism, so that good conductivity between the static electrode plate and the rotating electrode plate is ensured.
2. Compared with the prior art, the structure has the advantages that the rotary electrode shaft is only subjected to axial force after the electrode assembly is completed, and the axial force of the rotary electrode shaft is born by the rolling bearing in the electrode mounting seat, so that the rotary electrode shaft only bears the friction force among the tile shaft sleeve, the conductive tile concave sheet and the convex tile shaft structure, the electrode can be rotated only by a small driving force to obtain better driving performance, and the convenient adjustability after the electrode is abraded and the good conductivity of the contact between the electrostatic polar plate and the rotary electrode plate can be realized.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a robot seam welding electrode drive provided by the invention;
FIG. 2 is a rear view of a robot seam welding electrode drive provided by the present invention;
FIG. 3 is a sectional view taken along line A-A of FIG. 2;
FIG. 4 is a partial cross-sectional view of a robot seam welding electrode drive provided by the present invention;
FIG. 5 is a top view of a robot seam welding electrode drive provided by the present invention;
FIG. 6 is a working state diagram of the robot seam welding electrode driving provided by the invention;
FIG. 7 is a schematic structural diagram of a concave sheet of a conductive tile in a robot seam welding electrode drive provided by the invention;
FIG. 8 is a schematic view of the structure of the rotary electrode shaft in the robot seam welding electrode driving of the present invention.
Detailed Description
The invention will now be described in further detail with reference to specific examples, which are given for the purpose of illustration and are not intended to limit the scope of the invention.
As shown in fig. 1-8, the present invention can be implemented in such a way that a robot seam welding electrode drive comprises an electrode mounting base 13 and a conductive rear base 18, wherein a rotary electrode shaft 1 is rotatably arranged inside the electrode mounting base 13, one end of the rotary electrode shaft 1 is provided with a power device for driving the rotary electrode shaft to rotate, the other end of the rotary electrode shaft 1 is coaxially connected with a bush shaft sleeve 6, and a plurality of long screws in threaded connection with the bush shaft sleeve 6 are arranged in the rotary electrode shaft 1 along the axial direction of the rotary electrode shaft, so that the bush shaft sleeve 6 and the rotary electrode shaft 1 are positioned on the same axial line and are fixedly connected; the conductive rear seat 18 is arranged in a sliding manner with the electrode mounting seat 13 along the axis direction of the rotary electrode shaft 1, an assembling hole is formed in the conductive rear seat 18, one end of the assembling hole is movably connected with the tile shaft sleeve 6 in a sealing manner, a convex tile shaft 7 matched with the tile shaft sleeve 6 is assembled at the other end of the assembling hole, and the convex tile shaft 7 is matched with the inner wall of the assembling hole; the conductive rear seat 18 is provided with a pretightening force adjusting mechanism for driving the conductive rear seat to slide relative to the electrode mounting seat 13, the conductive rear seat 18 is hermetically provided with a static electrode plate 26, the static electrode plate 26 is fixedly connected with the convex tile shaft 7, and the end surface of the convex tile shaft 7 is fixedly connected with the static electrode plate 26 through a screw. The conductive rear seat 18 slides relative to the electrode mounting seat 13 under the action of the pretightening force adjusting mechanism, so that the electrostatic pole plate 26 is driven to move relative to the electrode mounting seat 13, and good contact pretightening force is ensured to exist between the convex bush shaft 7 and the bush shaft sleeve 6 while the convex bush shaft and the bush shaft sleeve rotate relatively; the electrostatic electrode plate 26 is made of a copper plate.
A positioning pin 3 is arranged between the end part of the tile shaft sleeve 6 and the rotary electrode shaft 1, and a positioning pin 3 is arranged between the end part of the convex tile shaft 7 and the static electrode plate 26; and the positioning pins 3 are all positioned on the axis of the rotary electrode shaft 1 and used for pre-positioning when the tile shaft sleeve 6 and the convex tile shaft 7 are installed.
As shown in fig. 7, a spherical groove is formed in the end surface of the tile shaft sleeve 6, a conductive tile concave sheet 2 is assembled in the spherical groove, and the conductive tile concave sheet 2 is used for increasing the conductivity between the convex tile shaft 7 and the tile shaft sleeve 6; an oil groove is formed in one side, matched with the convex tile shaft 7, of the conductive tile concave sheet 2, and the oil groove is used for increasing the lubricating force between the conductive tile concave sheet 2 and the convex tile shaft 7; the end part of the convex tile shaft 7 is provided with a spherical bulge matched with the concave sheet 2 of the conductive tile; the tile shaft sleeve 6, the conductive tile concave sheet 2 and the convex tile shaft 7 are all made of silver materials, and the good conductivity is guaranteed.
An oil filling port 29 communicated with the inside of the assembly hole is formed in the side wall of the conductive rear seat 18, the oil filling port 29 is connected with an oil cup, the oil cup is provided with an oil cup cover, and lubricating grease can be filled into the assembly hole through the oil cup, so that the friction force among the tile shaft sleeve 6, the conductive tile concave sheet 2 and the convex tile shaft 7 is reduced; and a liquid level indicator for observing the oil quantity in the assembly is also arranged on the side wall of the conductive rear seat 18 and is communicated with the inside of the assembly hole.
The bearing bush 6 is movably sleeved with a check ring, a sealing washer 25 is arranged between the check ring and the inner wall of the assembly hole, the sealing washer 25 is a sealing washer with a groove, the outer ring of the sealing washer is assembled with the inner wall of the assembly hole, and the inner ring of the sealing washer is assembled with the check ring; an O-shaped sealing ring 24 corresponding to the static electrode plate 26 is sleeved outside the opening of the assembly hole, the O-shaped sealing ring 24 is used for sealing the opening of the assembly hole by the static electrode plate 26, an annular groove used for preventing the O-shaped sealing ring 24 is formed in the conductive rear seat 18, and the annular groove corresponds to the static electrode plate 26.
The pretightening force adjusting mechanism comprises screw rods 15 positioned around the conductive rear seat 18 and insulating sleeves 19 movably sleeved on the screw rods 15, the screw rods 15 are in threaded connection with the electrode mounting seat 13, springs 20 are sleeved on the screw rods 15, and the screw rods 15 are positioned in the axial direction of the rotary electrode shaft 1; the spring 20 is a belleville spring, one end of the spring 20 is tightly abutted to the inner bottom surface of the insulating sleeve 19, the other end of the spring 20 is provided with a nut A23 connected with the screw 15, and two nuts A23 are arranged to ensure the locking stability; the conductive rear seat 18 is provided with a mounting hole matched with the insulating sleeve 19, the insulating sleeve 19 can slide in the mounting hole relatively, and the end part of the insulating sleeve 19 is tightly abutted with the bottom of the mounting hole; a spring washer 21 sleeved on the screw rod 15 is arranged between the end part of the spring 20 and the inner bottom surface of the insulating sleeve 19, and a spring top block 22 sleeved on the screw rod 15 is arranged between the other end part of the spring 20 and the nut A23.
The power device comprises a first gear 5 sleeved on the rotary electrode shaft 1 and a pneumatic motor 30 positioned on the electrode mounting base 13, wherein the electrode mounting base 13 is provided with a motor mounting base 27 for mounting the pneumatic motor 30, the output end of the pneumatic motor 30 is provided with a second gear meshed with the first gear 5, and the first gear 5 and the second gear are both straight cylindrical gears; and a limiting pin is arranged between the inner ring of the first gear 5 and the side wall of the rotary electrode shaft 1.
Rolling bearings are respectively sleeved at two ends of the rotary electrode shaft 1, wherein one end, close to the first gear 5, of the rotary electrode shaft is sleeved with a rolling bearing A12, the other end of the rotary electrode shaft is sleeved with a rolling bearing B11, and the outer ring of the rolling bearing A12 is sleeved with a bearing sleeve A9; the bearing housing a9 is fitted to the inner wall of the electrode mount 13. Preferably, the rotating electrode shaft 1 is a stepped shaft (as shown in fig. 8), and one end of the rotating electrode shaft 1 close to the conductive rear seat 18 is equipped with a washer 31 for clamping a rolling bearing B11, and the rolling bearing B11 is installed in a matching way with the inner wall of the electrode mounting seat 13 through a bearing sleeve B10; one end of the electrode mounting base 13 close to the conductive rear base 18 is fitted with a bearing cap 14 corresponding to the rolling bearing B11.
The electrode shaft structure further comprises a rotary rolling disc 32, wherein the rotary rolling disc 32 can also be called a welding wheel, the rotary rolling disc 32 is coaxially connected with the end face of the rotary electrode shaft 1, and the rotary rolling disc 32 is provided with a pressing mechanism; the rotary rolling disc 32 is fixedly connected with the end face of the rotary electrode shaft 1 through a screw.
The pressing mechanism comprises a connecting column 8 in threaded connection with the end part of the rotary electrode shaft 1 and a pressing wheel 28 movably sleeved on the connecting column 8, the connecting column 8 is positioned on the axis of the rotary electrode shaft 1, the end part of the connecting column 8 is in threaded connection with a nut B33, and a spring 20 sleeved on the connecting column 8 is arranged between the nut B33 and the pressing wheel 28; the end face of the pressing wheel 28 abuts against the end face of the rotating rolling disc 32. Preferably, the spring 20 is a belleville spring, two ends of which respectively abut against the end surfaces of the nut B33 and the pinch roller 28, and two nuts B33 are provided.
The working conditions of the invention in the specific use process are as follows:
as shown in fig. 6, including the electrode drives above and below, the pneumatic motor 30 for driving the rotary rolling disk 32 operates at the same pressure and the same air intake condition.
Working state 1: (D1, D2 are diameters of the upper rotary roller disk and the lower rotary roller disk, respectively.)
When D1 is D2, the linear speeds of the upper and lower rotating rollers 32 are the same (V1 is V2), the driving torque T1 is T2, and T1+ T2 is T3(T3 is the robot torque).
When D1 is not equal to D2, the linear velocity V1 is not equal to V2 when the upper and lower rotating rollers 32 are separated from each other and idle, and when the upper and lower rotating rollers 32 are in contact with the surface of the workpiece, the rotating rollers 32 with the higher rotation speed will slip inside the driving motor itself, so that the speed of the driving motor is kept the same as that of the slower rotating rollers 32.
Any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present disclosure, and all such changes or substitutions are included in the scope of the present disclosure. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A robot seam welding electrode drive is characterized by comprising an electrode mounting seat and a conductive rear seat, wherein a rotary electrode shaft is rotatably arranged in the electrode mounting seat, one end of the rotary electrode shaft is provided with a power device for driving the rotary electrode shaft to rotate, and the other end of the rotary electrode shaft is coaxially connected with a tile shaft sleeve; the conductive rear seat is arranged with the electrode mounting seat in a sliding manner along the axial direction of the rotary electrode shaft, an assembling hole is formed in the conductive rear seat, one end of the assembling hole is movably connected with the bush shaft sleeve in a sealing manner, and the other end of the assembling hole is assembled with a convex bush shaft matched with the bush shaft sleeve; the conductive rear seat is provided with a pretightening force adjusting mechanism for driving the conductive rear seat to slide relative to the electrode mounting seat, and the conductive rear seat is hermetically provided with an electrostatic polar plate which is fixedly connected with the convex tile shaft.
2. The robot seam welding electrode driver of claim 1, wherein the end surface of the bushing block is provided with a spherical groove and a conductive tile concave sheet is assembled in the spherical groove; the end part of the convex tile shaft is provided with a spherical bulge matched with the concave sheet of the conductive tile; the tile shaft sleeve, the conductive tile concave sheet and the convex tile shaft are all made of silver materials.
3. The robot seam welding electrode drive of claim 1, wherein the sidewall of the conductive backseat defines an oil fill opening communicating with an interior of the mounting hole.
4. The robot seam welding electrode driver according to claim 1, characterized in that a retainer ring is movably sleeved on the bush housing, and a sealing gasket is arranged between the retainer ring and the inner wall of the assembly hole; and an O-shaped sealing ring corresponding to the static electrode plate is sleeved outside the opening of the assembling hole.
5. The robot seam welding electrode drive according to claim 1, wherein the pretightening force adjusting mechanism comprises screw rods positioned around the conductive rear seat and insulating sleeves movably sleeved on the screw rods, the screw rods are in threaded connection with the electrode mounting seat, and springs are sleeved on the screw rods; one end of the spring is abutted against the inner bottom surface of the insulating sleeve, and the other end of the spring is provided with a nut A connected with the screw; the conductive rear seat is provided with a mounting hole matched with the insulating sleeve, and the end part of the insulating sleeve is tightly abutted to the bottom of the mounting hole.
6. The robot seam welding electrode drive according to claim 1, wherein the power device comprises a first gear sleeved on the rotating electrode shaft and a pneumatic motor positioned on the electrode mounting seat, and the output end of the pneumatic motor is provided with a second gear meshed with the first gear.
7. The robot seam welding electrode drive according to claim 1, wherein rolling bearings are respectively sleeved at two ends of the rotating electrode shaft, and bearing sleeves are sleeved on outer rings of the rolling bearings; the bearing sleeve is assembled with the inner wall of the electrode mounting seat.
8. The robot seam welding electrode drive of claim 1, further comprising a rotating roller disk coaxially connected to an end face of the rotating electrode shaft and provided with a pressing mechanism.
9. The robot seam welding electrode drive according to claim 8, wherein the hold-down mechanism comprises a connecting column in threaded connection with the end of the rotary electrode shaft, and a hold-down roller movably sleeved on the connecting column, wherein a nut B is in threaded connection with the end of the connecting column, and a spring sleeved on the connecting column is arranged between the nut B and the hold-down roller.
10. A robot seam welding electrode drive according to claim 5 or 9, characterized in that the spring is provided as a belleville spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710503070.2A CN107252963B (en) | 2017-06-27 | 2017-06-27 | Robot seam welding electrode drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710503070.2A CN107252963B (en) | 2017-06-27 | 2017-06-27 | Robot seam welding electrode drive |
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| Publication Number | Publication Date |
|---|---|
| CN107252963A CN107252963A (en) | 2017-10-17 |
| CN107252963B true CN107252963B (en) | 2020-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710503070.2A Active CN107252963B (en) | 2017-06-27 | 2017-06-27 | Robot seam welding electrode drive |
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| Country | Link |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114850639B (en) * | 2022-05-25 | 2023-05-26 | 西北电子装备技术研究所(中国电子科技集团公司第二研究所) | Electrode wheel structure of anti-abrasion parallel sealing machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10216952A (en) * | 1997-02-07 | 1998-08-18 | Nippon Avionics Co Ltd | Seam welding device |
| CN2475503Y (en) * | 2001-02-26 | 2002-02-06 | 武汉国冶冶金设备物资有限公司 | Novel automatic rolling welding device for steel strip |
| KR20090120917A (en) * | 2008-05-21 | 2009-11-25 | 주식회사 포스코 | Device for grinding electrode of welding apparatus and material spot welding method using the device |
| CN201913380U (en) * | 2011-01-13 | 2011-08-03 | 无锡市振华轿车附件有限公司 | Electrode used for welding of car exterior accessories |
| CN202684479U (en) * | 2012-06-01 | 2013-01-23 | 浙江吉利汽车研究院有限公司杭州分公司 | Sphere automatic leveling device |
-
2017
- 2017-06-27 CN CN201710503070.2A patent/CN107252963B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10216952A (en) * | 1997-02-07 | 1998-08-18 | Nippon Avionics Co Ltd | Seam welding device |
| CN2475503Y (en) * | 2001-02-26 | 2002-02-06 | 武汉国冶冶金设备物资有限公司 | Novel automatic rolling welding device for steel strip |
| KR20090120917A (en) * | 2008-05-21 | 2009-11-25 | 주식회사 포스코 | Device for grinding electrode of welding apparatus and material spot welding method using the device |
| CN201913380U (en) * | 2011-01-13 | 2011-08-03 | 无锡市振华轿车附件有限公司 | Electrode used for welding of car exterior accessories |
| CN202684479U (en) * | 2012-06-01 | 2013-01-23 | 浙江吉利汽车研究院有限公司杭州分公司 | Sphere automatic leveling device |
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| CN107252963A (en) | 2017-10-17 |
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