CN107787679A - Portable telescopic fruits picking mechanical hand - Google Patents

Portable telescopic fruits picking mechanical hand Download PDF

Info

Publication number
CN107787679A
CN107787679A CN201711294477.5A CN201711294477A CN107787679A CN 107787679 A CN107787679 A CN 107787679A CN 201711294477 A CN201711294477 A CN 201711294477A CN 107787679 A CN107787679 A CN 107787679A
Authority
CN
China
Prior art keywords
shell
control cabinet
cabinet shell
manipulator
worm gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201711294477.5A
Other languages
Chinese (zh)
Inventor
郑智祥
薛玉峰
林佩池
孙亚玲
武立波
宋若冰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian Ocean University
Original Assignee
Dalian Ocean University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dalian Ocean University filed Critical Dalian Ocean University
Priority to CN201711294477.5A priority Critical patent/CN107787679A/en
Publication of CN107787679A publication Critical patent/CN107787679A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D46/00Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/24Devices for picking apples or like fruit
    • A01D46/253Portable motorised fruit pickers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0206Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0233Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • B25J18/02Arms extensible
    • B25J18/025Arms extensible telescopic
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123Linear actuators

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

Portable telescopic fruits picking mechanical hand, including control cabinet shell, motor is provided with control cabinet shell, the working shaft of motor is connected by bevel gear transmission with the worm gear pole being rotatably supported in control cabinet shell, mutually it is furnished with worm gear with worm gear pole, and worm gear is connected with the worm-wheel shaft being rotatably supported in control cabinet shell, turbine wheel shaft is connected by shaft coupling with power transmission shaft, the power transmission shaft, which is located at, to be fixedly connected in the outer barrel in control cabinet shell, the other end of power transmission shaft is connected by shaft coupling with leading screw, mutually it is furnished with screw with described leading screw, described screw is arranged on the bottom of manipulator shell, and manipulator shell is then by the slip ring positioned at outer barrel top and outer barrel pivot bush unit, the top of the manipulator shell is then hinged with two symmetrically arranged mechanical paws.This is a kind of simple in construction, deft design, easily operated, and being capable of the portable telescopic fruits picking mechanical hand safe efficient, without damage for implementing harvesting to fruit.

Description

Portable telescopic fruits picking mechanical hand
Technical field
The present invention relates to a kind of fruit picker, particularly a kind of portable telescopic fruits picking mechanical hand.
Background technology
At present, in the relatively small application field of area, fruit is mainly carried out by the way of manually plucking Harvesting, this mode time and effort consuming, workload is big, but operating efficiency is relatively low, while plucker ascend a height operation when also exist one Fixed potential safety hazard;And for the relatively large application field of area, then need to be plucked using heavy-duty machines, it is this Although mode can improve the efficiency of harvesting, cost is higher, and can cause certain journey to substantial amounts of fruit in picking process The damage of degree.Therefore a kind of method or apparatus that can solve the problem that above mentioned problem is needed now.
The content of the invention
The present invention is to solve the above-mentioned deficiency present in prior art, proposes a kind of simple in construction, deft design, easily In operation, and being capable of the portable telescopic fruits picking mechanical hand safe efficient, without damage that harvesting implemented to fruit.
The present invention technical solution be:A kind of portable telescopic fruits picking mechanical hand, it is characterised in that:Described Manipulator includes control cabinet shell, and motor is provided with control cabinet shell, and the working shaft of motor by bevel gear transmission and turns The dynamic worm gear pole being supported in control cabinet shell is connected, and is mutually furnished with worm gear with worm gear pole, and worm gear is with being rotatably supported in control cabinet Worm-wheel shaft in shell is connected, and turbine wheel shaft is connected by shaft coupling with power transmission shaft, and the power transmission shaft, which is located at, is fixedly connected on control In outer barrel on case shell, the other end of power transmission shaft is connected by shaft coupling with leading screw, is mutually furnished with screw, institute with described leading screw The screw stated is arranged on the bottom of manipulator shell, and manipulator shell then passes through the slip ring positioned at outer barrel top and outer barrel activity Socket, the top of the manipulator shell are then hinged with two symmetrically arranged mechanical paws, mechanical paw by being connected with each other and Horizontal component at an angle to each other and vertical portion composition, the end of horizontal component is connected with steel wire rope, at two horizontal component ends Restoring board is additionally provided with below head, back-moving spring is provided with below restoring board.
Also rotational support has roll in control cabinet shell, and roll is entered by the handle outside control cabinet shell Row driving, also key connection has reel on roll, and reel is connected with the steel wire rope bottom, and steel wire rope passes through setting Multiple transition wheels in outer barrel and manipulator shell are supported, and handle, handle are additionally provided with the outside of control cabinet shell On be hinged with paw control swing rod, paw control swing rod is also connected by connecting rope with the towing point on steel wire rope.
Positioning screw is provided with the slip ring, is offered vertically on the outer wall of manipulator shell and the positioning spiral shell Follow closely the stopper slot to match.
The present invention compared with the existing technology, has the following advantages that:
There is the problems such as time and effort consuming, efficiency is low in the mode of traditional picked by hand fruit, while certain safety also be present Hidden danger;And if operated using large-scale picking mechanical, although being greatly improved operating efficiency, picking mechanical entirety body Product is big, can take larger space, while fruit can also be caused certain and damaged, and cost is of a relatively high.For upper Problem is stated, the application designs a kind of special structure, and the output torque of motor is converted into machinery by it using a variety of transmissions The linear motion of hand, and control swing rod to be acted come the crawl of control machinery paw or release by paw.The price of the present apparatus is low It is honest and clean, it is easy to operate, it is easier to be received by numerous orchard workers, its wider, either large-scale orchard planting harvesting ground of benefiting from scope Or small-sized orchard planting harvesting ground can be used, and can be directed to the harvesting work of all hard fruit, facilitate orchard worker's fruit-picking, Efficiency is improved, easy to operate due to its small volume, cost, closer to domestic orchard worker's investment of production cost budgeting, is more held with price Easily occupied a tiny space in selling market, development prospect is optimistic.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention.
Embodiment
Below in conjunction with the embodiment of the brief description of the drawings present invention.As shown in Figure 1:A kind of portable telescopic fruit is adopted Manipulator, including a control cabinet shell 1 are plucked, motor 2 is provided with control cabinet shell 1, the working shaft of motor 2 passes through umbrella tooth Wheel transmission 3 is connected with the worm gear pole 4 being rotatably supported in control cabinet shell 1, is furnished with worm gear 5, and snail with this phase of worm gear pole 4 Wheel 5 is connected with the worm-wheel shaft 6 being rotatably supported in control cabinet shell 1, and turbine wheel shaft 6 is then connected by shaft coupling 7 with power transmission shaft 8, Power transmission shaft 8 positioned at being fixedly connected in the outer barrel 9 in control cabinet shell 1, the other end of power transmission shaft 8 again by shaft coupling 7 with Leading screw 10 is connected, and is furnished with screw 11 with the described phase of leading screw 10, this screw is arranged on the bottom of manipulator shell 12, and mechanical For hand shell 12 then by the slip ring 27 positioned at the top of outer barrel 9 and the pivot bush unit of outer barrel 9, i.e. manipulator shell 12 can along its axial direction Moved back and forth relative to outer barrel 9;Two symmetrically arranged mechanical paws 13 are then hinged with the top of manipulator shell 12, machinery Paw 3 is made up of interconnection and horizontal component 14 at an angle to each other and vertical portion 15, and the end of horizontal component 14 is connected with Steel wire rope 16(I.e. two steel wire ropes 16 are connected with two horizontal components 14 respectively), in the lower section of two end heads of horizontal component 14 Restoring board 17 is additionally provided with, the lower section of restoring board 17 is provided with back-moving spring 18, and restoring board 17 promotes two water simultaneously from below Move upwards flat part 14;
Also rotational support has roll 19 in control cabinet shell 1, and roll 19 passes through the handle outside control cabinet shell 1 20 are driven, and also key connection has reel 21 on roll 19, and reel 21 is connected with the bottom of steel wire rope 16(With water Two connected steel wire ropes 16 of flat part 14 are combined into one), and steel wire rope 16 is by being arranged in outer barrel 9 and manipulator shell 12 Multiple transition wheels be supported, handle 22 is additionally provided with the outside of control cabinet shell 1, paw control is hinged with handle 22 Swing rod 23, and paw control swing rod 23 is also connected by connecting rope 24 with the towing point on steel wire rope 16.
Be provided with positioning screw 25 in above-mentioned slip ring 27, offered vertically on the outer wall of manipulator shell 12 with The stopper slot 26 that the positioning screw 25 matches.
The course of work of the portable telescopic fruits picking mechanical hand of the embodiment of the present invention is as follows:Carried out using this manipulator During the harvesting of fruit, operating personnel start motor 2 hold the part of control cabinet shell 1, and motor 2 is driven by bevel gear Pair 3 drives worm gear pole 4 to rotate, and then drives worm gear 5, turbine wheel shaft 6, shaft coupling 7 and power transmission shaft 8 to rotate, another due to power transmission shaft 8 One end is connected also by shaft coupling 7 with leading screw 10, therefore leading screw 10 can be rotated, because manipulator shell 12 is in positioning screw It can not be rotated in the presence of 25 relative to outer barrel 9, therefore eventually driving manipulator shell 12 is done relative to outer barrel 9 for above-mentioned action The action of stretching;
When the mechanical paw 13 of the end of manipulator shell 12 is moved at the fruit for needing to pluck, operator's handle holds handle 22 And paw control swing rod 23 is pulled, the paw control swing rod 23 being hinged on handle 22 is swung, and will be pulled by pull rope 24 Towing point transverse movement, and then pull the steel wire rope 16 being connected with two horizontal components 14 to move downward, in two steel wire ropes 16 In the presence of, horizontal component 14 two move toward one anothers of mechanical paw 13, fruit is clamped to lower swing;Now operating personnel can Fruit picking is got off with moving integrally the present apparatus, can also be overall relative to outer barrel 9 by 2 control machinery hand shell of motor 12 Move downward, fruit is picked from fruit tree;
When needing to allow the mechanical paw 13 decontrol fruit, operator unclamps paw control swing rod 23, and back-moving spring 18 can pass through reset Plate 17 pushes up two horizontal components 14, and two horizontal components 14 are swung up, and then drives two mechanical paws 13 to decontrol, Fruit is fallen in Fruit basket;And steel wire rope 16 also can above carry again in the presence of horizontal component 14, tensioned state is returned to;
If it find that using paw control swing rod 23 can not driving manipulator pawl 13 act, it may be possible to repeatedly action after steel wire rope 16 There is relaxation, now by handle 20 roll 19 and reel 20 can be driven to rotate, allow steel wire rope 16 to be in tensioned state .

Claims (2)

  1. A kind of 1. portable telescopic fruits picking mechanical hand, it is characterised in that:Described manipulator includes control cabinet shell(1), Control cabinet shell(1)Inside it is provided with motor(2), motor(2)Working shaft pass through bevel gear transmission(3)With being rotatably supported in control Case shell processed(1)In worm gear pole(4)It is connected, with worm gear pole(4)Mutually it is furnished with worm gear(5), and worm gear(5)With being rotatably supported in control Case shell processed(1)Interior worm-wheel shaft(6)It is connected, turbine wheel shaft(6)Pass through shaft coupling(7)With power transmission shaft(8)It is connected, the power transmission shaft (8)Positioned at being fixedly connected on control cabinet shell(1)On outer barrel(9)It is interior, power transmission shaft(8)The other end pass through shaft coupling(7)With Leading screw(10)It is connected, with described leading screw(10)Mutually it is furnished with screw(11), described screw is arranged on manipulator shell(12)'s Bottom, and manipulator shell(12)Then by positioned at outer barrel(9)The slip ring on top(27)With outer barrel(9)Pivot bush unit, the machine Tool hand shell(12)Top be then hinged with two symmetrically arranged mechanical paws(13), mechanical paw(13)By be connected with each other and Horizontal component at an angle to each other(14)And vertical portion(15)Composition, horizontal component(14)End be connected with steel wire rope(16), In two horizontal components(14)Restoring board is additionally provided with below end head(17), restoring board(17)Lower section be provided with reset bullet Spring(18),
    In control cabinet shell(1)Interior also rotational support has roll(19), roll(19)By positioned at control cabinet shell(1)Outside The handle in portion(20)It is driven, in roll(19)Upper also key connection has reel(21), reel(21)With the steel wire Rope(16)Bottom is connected, and steel wire rope(16)By being arranged on outer barrel(9)With manipulator shell(12)Interior multiple transition wheels enter Row support, in control cabinet shell(1)Outside be additionally provided with handle(22), handle(22)On be hinged with paw control swing rod (23), the paw control swing rod(23)Also pass through connecting rope(24)With steel wire rope(16)On towing point connection.
  2. 2. the slip ring(27)Inside it is provided with positioning screw(25), in manipulator shell(12)Outer wall on offer vertically with The positioning screw(25)The stopper slot of matching(26).
CN201711294477.5A 2017-12-08 2017-12-08 Portable telescopic fruits picking mechanical hand Pending CN107787679A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711294477.5A CN107787679A (en) 2017-12-08 2017-12-08 Portable telescopic fruits picking mechanical hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711294477.5A CN107787679A (en) 2017-12-08 2017-12-08 Portable telescopic fruits picking mechanical hand

Publications (1)

Publication Number Publication Date
CN107787679A true CN107787679A (en) 2018-03-13

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711294477.5A Pending CN107787679A (en) 2017-12-08 2017-12-08 Portable telescopic fruits picking mechanical hand

Country Status (1)

Country Link
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Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107379010A (en) * 2017-06-20 2017-11-24 芜湖蓝天工程塑胶有限公司 New mechanical arm
CN108370719A (en) * 2018-04-17 2018-08-07 青岛理工大学 A kind of picking fruit device
CN108401673A (en) * 2018-05-14 2018-08-17 西安交通大学 A kind of wearable fruit picking scissors
CN108406757A (en) * 2018-05-18 2018-08-17 河南理工大学 A kind of manipulator and robot movement method
CN108522004A (en) * 2018-03-16 2018-09-14 湖北工业大学 A kind of rotary conformal picking hands
CN108582157A (en) * 2018-05-04 2018-09-28 旌德县瀚海星云智能化技术研发有限公司 A kind of mechanical arm of adjustable length
CN108633468A (en) * 2018-04-26 2018-10-12 西安交通大学 Detachably stretch torsion formula fruit picking transport device and its picking method
CN108767716A (en) * 2018-05-28 2018-11-06 国网山东省电力公司济南市章丘区供电公司 A kind of deformable up-flow wick gripper
CN108811753A (en) * 2018-07-10 2018-11-16 陕西智多搭智能科技有限公司 A kind of apple-picking is with holding scalable apple picking device
CN108811744A (en) * 2018-06-25 2018-11-16 吉林工程技术师范学院 A kind of bionical picking mechanical arm device of indirect labor's fruit
CN109304699A (en) * 2018-11-20 2019-02-05 段淑芬 A kind of sundries salvaging binder of house joints cement slurry
CN109644617A (en) * 2019-01-09 2019-04-19 贵州省旱粮研究所 A kind of layering culture dish and its transfer tool handgrip
CN109769475A (en) * 2019-04-01 2019-05-21 农业部农业生态与资源保护总站 A kind of portable picking fruit device
CN110169262A (en) * 2019-03-14 2019-08-27 天津职业技术师范大学(中国职业培训指导教师进修中心) A kind of self-replaced type fruit picker with sorting function
CN110810009A (en) * 2019-11-25 2020-02-21 郑州轻工业大学 Automatic telescopic apical branch apple picking device based on worm transmission
CN111941394A (en) * 2020-08-07 2020-11-17 北京交通大学 Flexible dexterous manipulator based on parallel connection continuum mechanism
CN111972130A (en) * 2020-08-26 2020-11-24 上海大学 Hollow telescopic mechanical arm
CN112743522A (en) * 2021-01-15 2021-05-04 许昌学院 Artificial intelligence robot arm extends and snatchs mechanism
CN113070897A (en) * 2021-04-09 2021-07-06 燕山大学 Mechanical claw capable of rapidly moving transversely
CN114097427A (en) * 2021-11-23 2022-03-01 河南科技大学 Polymerization type sphere-like single fruit picking manipulator and control method
CN117516340A (en) * 2024-01-08 2024-02-06 济南汇通热力有限公司 Long-conveying large-pipe-diameter heat distribution pipe network 'bump-up opening' heat preservation pipe measuring device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB368804A (en) * 1930-12-02 1932-03-02 Albert Edward Instone Improved apparatus for picking or harvesting fruit from trees
CN202077399U (en) * 2011-03-24 2011-12-21 哈尔滨理工大学 Fruit picking mechanical device adjusted with fruit sizes
CN103026864A (en) * 2012-12-31 2013-04-10 集美大学 Fruit-plucking machine
CN203279525U (en) * 2013-06-02 2013-11-13 程米红 Telescopic fruit picker
CN204031841U (en) * 2014-08-20 2014-12-24 青岛理工大学 A kind of fruits picking mechanical hand
CN207626131U (en) * 2017-12-08 2018-07-20 大连海洋大学 Portable telescopic fruits picking mechanical hand

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB368804A (en) * 1930-12-02 1932-03-02 Albert Edward Instone Improved apparatus for picking or harvesting fruit from trees
CN202077399U (en) * 2011-03-24 2011-12-21 哈尔滨理工大学 Fruit picking mechanical device adjusted with fruit sizes
CN103026864A (en) * 2012-12-31 2013-04-10 集美大学 Fruit-plucking machine
CN203279525U (en) * 2013-06-02 2013-11-13 程米红 Telescopic fruit picker
CN204031841U (en) * 2014-08-20 2014-12-24 青岛理工大学 A kind of fruits picking mechanical hand
CN207626131U (en) * 2017-12-08 2018-07-20 大连海洋大学 Portable telescopic fruits picking mechanical hand

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107379010A (en) * 2017-06-20 2017-11-24 芜湖蓝天工程塑胶有限公司 New mechanical arm
CN108522004A (en) * 2018-03-16 2018-09-14 湖北工业大学 A kind of rotary conformal picking hands
CN108522004B (en) * 2018-03-16 2021-02-02 湖北工业大学 Rotary conformal picking hand
CN108370719A (en) * 2018-04-17 2018-08-07 青岛理工大学 A kind of picking fruit device
CN108633468A (en) * 2018-04-26 2018-10-12 西安交通大学 Detachably stretch torsion formula fruit picking transport device and its picking method
CN108582157A (en) * 2018-05-04 2018-09-28 旌德县瀚海星云智能化技术研发有限公司 A kind of mechanical arm of adjustable length
CN108401673A (en) * 2018-05-14 2018-08-17 西安交通大学 A kind of wearable fruit picking scissors
CN108401673B (en) * 2018-05-14 2020-05-22 西安交通大学 Scissors is picked to wearable fruit
CN108406757A (en) * 2018-05-18 2018-08-17 河南理工大学 A kind of manipulator and robot movement method
CN108767716A (en) * 2018-05-28 2018-11-06 国网山东省电力公司济南市章丘区供电公司 A kind of deformable up-flow wick gripper
CN108811744A (en) * 2018-06-25 2018-11-16 吉林工程技术师范学院 A kind of bionical picking mechanical arm device of indirect labor's fruit
CN108811753A (en) * 2018-07-10 2018-11-16 陕西智多搭智能科技有限公司 A kind of apple-picking is with holding scalable apple picking device
CN109304699A (en) * 2018-11-20 2019-02-05 段淑芬 A kind of sundries salvaging binder of house joints cement slurry
CN109644617A (en) * 2019-01-09 2019-04-19 贵州省旱粮研究所 A kind of layering culture dish and its transfer tool handgrip
CN109644617B (en) * 2019-01-09 2022-02-01 贵州省旱粮研究所 Layered culture dish and transfer tool tongs thereof
CN110169262A (en) * 2019-03-14 2019-08-27 天津职业技术师范大学(中国职业培训指导教师进修中心) A kind of self-replaced type fruit picker with sorting function
CN109769475A (en) * 2019-04-01 2019-05-21 农业部农业生态与资源保护总站 A kind of portable picking fruit device
CN110810009A (en) * 2019-11-25 2020-02-21 郑州轻工业大学 Automatic telescopic apical branch apple picking device based on worm transmission
CN110810009B (en) * 2019-11-25 2021-10-22 郑州轻工业大学 Automatic telescopic apical branch apple picking device based on worm transmission
CN111941394A (en) * 2020-08-07 2020-11-17 北京交通大学 Flexible dexterous manipulator based on parallel connection continuum mechanism
CN111972130A (en) * 2020-08-26 2020-11-24 上海大学 Hollow telescopic mechanical arm
CN111972130B (en) * 2020-08-26 2022-07-01 上海大学 Hollow telescopic mechanical arm
CN112743522A (en) * 2021-01-15 2021-05-04 许昌学院 Artificial intelligence robot arm extends and snatchs mechanism
CN113070897A (en) * 2021-04-09 2021-07-06 燕山大学 Mechanical claw capable of rapidly moving transversely
CN114097427A (en) * 2021-11-23 2022-03-01 河南科技大学 Polymerization type sphere-like single fruit picking manipulator and control method
CN114097427B (en) * 2021-11-23 2023-01-03 河南科技大学 Polymerization type sphere-like single fruit picking manipulator and control method
CN117516340A (en) * 2024-01-08 2024-02-06 济南汇通热力有限公司 Long-conveying large-pipe-diameter heat distribution pipe network 'bump-up opening' heat preservation pipe measuring device
CN117516340B (en) * 2024-01-08 2024-04-30 济南汇通热力有限公司 Long-conveying large-pipe-diameter heat distribution pipe network 'bump-up opening' heat preservation pipe measuring device

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Application publication date: 20180313