CN107991202B - Nine-axis linkage fatigue strength tester and test method thereof - Google Patents
Nine-axis linkage fatigue strength tester and test method thereof Download PDFInfo
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- CN107991202B CN107991202B CN201810055385.XA CN201810055385A CN107991202B CN 107991202 B CN107991202 B CN 107991202B CN 201810055385 A CN201810055385 A CN 201810055385A CN 107991202 B CN107991202 B CN 107991202B
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- 238000010998 test method Methods 0.000 title claims abstract description 6
- 239000005060 rubber Substances 0.000 claims abstract description 52
- 238000001514 detection method Methods 0.000 claims description 12
- 238000012360 testing method Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 9
- 239000004744 fabric Substances 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 239000010935 stainless steel Substances 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000004753 textile Substances 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 10
- 239000000463 material Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 229920002334 Spandex Polymers 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
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- 238000001125 extrusion Methods 0.000 description 1
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- 238000011056 performance test Methods 0.000 description 1
- 239000004759 spandex Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/32—Investigating strength properties of solid materials by application of mechanical stress by applying repeated or pulsating forces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0001—Type of application of the stress
- G01N2203/0005—Repeated or cyclic
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0014—Type of force applied
- G01N2203/0026—Combination of several types of applied forces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0058—Kind of property studied
- G01N2203/0069—Fatigue, creep, strain-stress relations or elastic constants
- G01N2203/0073—Fatigue
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Abstract
The invention provides a fatigue strength tester, in particular to a nine-axis linkage fatigue strength tester and a test method thereof. The linear modules are respectively a left linear module, a middle linear module and a right linear module, and the left clamp holder, the right clamp holder and the friction rubber roller can do unidirectional movement, universal movement and inching along the X, Y, Z direction under the drive of the three linear modules. The fatigue strength tester provided by the invention can adopt a nine-axis linkage mode, and the left, middle and right groups of linear modules can control the left, right clamps and friction rubber rollers to move randomly in a three-dimensional space respectively, so that random friction in the use process of the simulated textile is truly realized, and the random movement mode of clothes worn on a body and external friction objects can be simulated.
Description
Technical Field
The invention relates to a fatigue strength tester, in particular to a nine-axis linkage fatigue strength tester and a test method thereof.
Technical Field
The textile is used as an indispensable part in daily life of people, and can be continuously rubbed and stretched with skin or the outside in the use process, and is twisted and bent, and the phenomena of fuzzing and pilling, spandex yarn exposure, fiber breakage, wrapping and arching and the like can occur gradually under the interaction of long-time friction, stretching and the like of the textile, and the change seriously affects the comfort and the aesthetic property of the fabric or clothing. For example, in the process of repeatedly wearing and washing the elastic clothing made of the elastic fabric, the condition that the elastic fabric is out of elasticity in the weft direction can occur after washing after continuous extrusion, movement and stretching, the ready-made clothing is directly caused to be enlarged and cannot recover, the wearing attractiveness of consumers is seriously affected, meanwhile, the elastic fabric is out of elasticity, and the fabric is foamed and arched when serious, so that the ready-made clothing is seriously deformed and cannot be worn for use. In summary, it is necessary that the textile be subjected to a rigorous performance test before being put into use, and the test method should be capable of simulating the state of the textile in practical use to the maximum extent.
Disclosure of Invention
In order to solve the technical problems, the invention provides a nine-axis linkage fatigue strength tester which can be used for closest simulating the stretching and bending processes generated in the wearing process of textiles or the friction process between the textiles and the human body and the outside.
A nine-axis linkage fatigue strength tester comprises a linear module, a servo motor, a computer data processing module, a control panel, a force sensor, left and right clamps and a friction rubber roller.
The three groups of linear modules are respectively a left linear module, a middle linear module and a right linear module, and the three groups of linear modules are respectively composed of X, Y, Z sliding shafts in three directions, namely left three axes X1, Y1 and Z1, middle three axes X2, Y2 and Z2 and right three axes X3, Y3 and Z3. The X direction is a horizontal left-right direction, the Y direction is a horizontal front-back direction, and the Z direction is a vertical up-down direction.
The left side clamp holder is connected with the sliding block on the Z1 axis and can move up and down along the Z1 axis through the sliding block; the Z1 axis is connected with the sliding block on the Y1 axis and can move back and forth along the Y1 axis through the sliding block; the Y1 axis is connected with the sliding block on the X1 axis and can move left and right along the X1 axis through the sliding block.
The friction rubber roller is detachably connected with a sliding block on the Y2 axis and can move back and forth along the Y2 axis through the sliding block; the Y2 axis is connected with the sliding block on the X2 axis and can move left and right along the X2 axis through the sliding block; the X2 axis is connected with the sliding block on the Z2 axis and can move up and down along the Z2 axis through the sliding block.
The right side clamp holder is connected with the sliding block on the Z3 axis and can move up and down along the Z3 axis through the sliding block; the Z3 axis is connected with the sliding block on the Y3 axis and can move back and forth along the Y3 axis through the sliding block; the Y3 axis is connected with the sliding block on the X3 axis and can move left and right along the X3 axis through the sliding block.
The left, middle and right groups of linear modules are driven to enable the left and right holders and the friction rubber roller to do unidirectional movement, universal movement or inching along the X, Y, Z direction, for example, the left and right movement can be performed along the X direction, the horizontal plane movement can be performed along the X direction and the Y direction at the same time, the three-dimensional space movement can be performed along the X direction, the Y direction and the Z direction at the same time, and one or a plurality of shafts can be independently and slowly adjusted, so that the holders or the friction rubber roller are fixed on a certain proper position.
And a screw rod is arranged in each sliding shaft, each screw rod is connected with a servo motor, and the servo motor drives the screw rods to do circular motion in a positive and negative rotation manner, so that a guide rail sliding block on the sliding shaft is driven to do linear reciprocating motion.
The force sensor is connected with the left side or the right side holder and is used for measuring the tension between the two holders and is connected with the computer data processing module, the computer data processing module comprises an elongation detection module, namely, the elongation of an object to be measured is measured, and the force sensor and the elongation detection module are used for monitoring, so that the tester can perform fixed force or fixed elongation movement, control variables and a detection mode are more strict.
The friction rubber roller can be replaced by different objects to be tested, such as rubber, stainless steel, fabrics and the like; the friction rubber roller can be arranged according to the article with which the textile is actually rubbed in the wearing process, such as the shape and the material of the bicycle saddle; the friction coefficient of the rubber roller can be improved or reduced by arranging different rubber roller surface forms. The diameter, length and other specifications of the friction rubber roller can also be adjusted according to the object to be tested or the required test effect.
The clamping mode of the left clamp holder and the right clamp holder is manual bolt tightening or pneumatic clamping.
When fatigue strength test is carried out, two sides of an object to be tested are respectively clamped on the left clamp holder and the right clamp holder, the distance between the left clamp holder and the right clamp holder is adjusted by inching the control panel so as to apply certain pulling force to the object to be tested, the movement modes of the left, middle and right linear modules and the repeated times of the movement are set, and therefore the object to be tested and the friction rubber roller move simultaneously according to the set movement, namely, various stretching and friction modes of the object to be tested are simulated.
Through the technical scheme, the invention has the beneficial effects that:
1. the fatigue strength tester provided by the invention adopts a nine-axis linkage mode, and the left, middle and right groups of linear modules can control the left, right clamps and friction rubber rollers to move randomly in a three-dimensional space respectively, so that random friction and stretching in the use process of the simulated textile are truly realized, and the random movement mode of clothes and external friction objects worn on a body can be simulated simultaneously.
2. The friction rubber roller can be replaced according to different objects to be tested, and can also be arranged according to the object which is actually rubbed with the textile in the wearing process, for example, the friction rubber roller is made into a bicycle saddle shape and a bicycle saddle material, and the friction rubber roller can be lifted or lowered by arranging different rubber roller surface forms so as to enable the simulation to be closer to the reality.
3. The left clamp holder, the right clamp holder and the friction rubber roller can do unidirectional reciprocating motion, universal motion or inching motion along the X, Y, Z direction under the drive of the left, middle and right linear modules, one or more of 9 shafts can be arranged at will to move, other shafts are static or do not participate in the motion, the equipment has strong adjustability, and the simulation of most motion modes can be satisfied.
4. The equipment is provided with the force sensor and the elongation detection module, so that parameters can be set through the control panel to realize the motion of constant force or constant elongation, namely, the control variable can be realized, the detection mode is strict, and the equipment can be further used for researching the influence of a certain variable on the fatigue resistance of textiles.
Drawings
FIG. 1 is a schematic perspective view of the present invention
FIG. 2 is a front view of the present invention
In the figure, 1, a left side straight line module; 101. an X1 axis; 102. a Y1 axis; 103. a Z1 axis; 2. a middle straight line module; 21. an X2 axis; 22. a Y2 axis; 23. a Z2 axis; 3. a right side straight line module; 31. an X3 axis; 32. a Y3 axis; 33. a Z3 axis; 41. an X1 axis servo motor; 42. y1 axis servo motor; 43. a Z1 axis servo motor; 51. an X2 axis servo motor; 52. y2 axis servo motor; 53. a Z2 axis servo motor; 61. an X3 axis servo motor; 62. y3 axis servo motor; 63. a Z3-axis servo motor; 7. a control panel; 81. a left gripper; 82. a right gripper; 9, a force sensor; 10. rubbing the rubber roller.
Detailed Description
The apparatus of the present invention will be further described with reference to the accompanying drawings.
The invention provides a nine-axis linkage fatigue strength tester which comprises a left side linear module 1, a middle linear module 2 and a right side linear module 3. The left, middle and right linear modules are respectively composed of X, Y, Z sliding shafts in three directions. The three sliding axes of the left side linear module are respectively an X1 axis 101, a Y1 axis 102 and a Z1 axis 103, the three sliding axes of the middle linear module are respectively an X2 axis 21, a Y2 axis 22 and a Z2 axis 23, and the three sliding axes of the right side linear module are respectively an X3 axis 31, a Y3 axis 32 and a Z3 axis 33. A screw rod is arranged in each sliding shaft, each screw rod is correspondingly connected with one servo motor, and the screw rods of the servo motors are driven to do circular motion in a positive-negative rotation manner by the servo motors, so that a guide rail sliding block on the sliding shaft is driven to do linear reciprocating motion. The nine-axis linkage fatigue strength tester also comprises a computer data processing module, a control panel 7, a left clamp 81, a right clamp 82, a force sensor 9 and a friction rubber roller 10.
The left clamp 81 is connected with a slide block on the Z1 axis 103 and can move up and down along the Z1 axis through the slide block; the Z1 axis is connected with the sliding block on the Y1 axis 102 and can move back and forth along the Y1 axis through the sliding block; the Y1 axis is connected to the slider on the X1 axis 101 and can move left and right along the X1 axis by the slider.
The rubbing rubber roller 10 is detachably connected with a sliding block on the Y2 shaft 22 and can move back and forth along the Y2 shaft through the sliding block; the Y2 axis is connected with a sliding block on the X2 axis 21 and can move left and right along the X2 axis through the sliding block; the X2 axis is connected with the slide block on the Z2 axis 23 and can move up and down along the Z2 axis through the slide block.
The right gripper 82 is connected with the slide block on the Z3 axis 33 and can move up and down along the Z3 axis through the slide block; the Z3 axis is connected with the slide block on the Y3 axis 32 and can move back and forth along the Y3 axis through the slide block; the Y3 axis is connected to the slider on the X3 axis 31 and can move left and right along the X3 axis by the slider.
The force sensor 9 is connected with the left or right clamp holder and is used for measuring the tension between the two clamp holders and is connected with the computer data processing module, the computer data processing module further comprises an elongation detection module, namely, the elongation of an object to be measured is measured, and the force sensor and the elongation detection module are used for monitoring, so that the tester can perform fixed force or fixed elongation movement, control variables and a detection mode, and is more strict.
The material of the friction rubber roller 10 can be changed according to different objects to be tested, such as rubber, stainless steel, fabrics and the like; the friction rubber roller can be arranged according to the article with which the textile is actually rubbed in the wearing process, such as the shape and the material of the bicycle saddle; the friction coefficient of the rubber roller can be improved or reduced by arranging different rubber roller surface forms. The diameter, length and other specifications of the friction rubber roller can also be adjusted according to the object to be tested or the required test effect. The clamping mode of the left clamp holder and the right clamp holder is manual bolt tightening or pneumatic clamping.
When fatigue strength test is carried out, two sides of an object to be tested are respectively clamped on the left clamp holder and the right clamp holder, the distance between the left clamp holder and the right clamp holder is adjusted by setting point movement through the control panel 7 so as to apply certain tensile force to the object to be tested, the movement modes of the left linear module, the middle linear module and the right linear module and the repeated times of actions are set, and therefore the object to be tested and the friction rubber roller move simultaneously according to the set actions, namely, various stretching and friction modes of the object to be tested are simulated.
The test movement mode of the nine-axis linkage fatigue strength tester provided by the invention comprises unidirectional movement, universal movement and inching.
1. Unidirectional movement
The unidirectional movement is that two sliding blocks of corresponding axes in the left linear module and the right linear module participate in the movement, namely X1 and X3 sliding blocks participate in the movement, Y1 and Y3 sliding blocks participate in the movement, or Z1 and Z3 sliding blocks participate in the movement, and three-way sliding blocks of the middle linear module can participate in the movement selectively.
Taking the X axis as an example, unidirectional movement refers to movement of two X axis sliding blocks of the left side and right side linear modules, namely X1 axis and X3 axis, and three-way sliding blocks of the middle linear module can selectively participate in movement.
Taking a rectangular object to be tested with a certain specification, and respectively clamping two short sides of the rectangular object to be tested on a left clamp holder and a right clamp holder of the instrument; the control panel is used for adjusting the distance between the left clamp holder and the right clamp holder in a inching way, selecting a detection condition of pre-tension or pre-extension, setting the tension or extension, and setting the movement modes, the repeated times of the movement and the movement speed of the left linear module, the middle linear module and the right linear module according to the movement and the strength to be simulated; starting an instrument to enable the object to be detected and the friction rubber roller to move simultaneously according to a set action; after the instrument is stopped, the test object is taken down, and the test grade is rated according to the appearance change condition.
Further, under the driving of the left, middle and right linear modules, the horizontal movement modes of the holders at the left and right sides can be as follows: the two side holders do opposite reciprocating stretching movement, (2) one side holder is static, the other side holder does reciprocating stretching movement, (3) the middle rubber roller moves up and down, the two side holders do opposite reciprocating movement, (4) the middle rubber roller is propped up to a fixed position after contacting an object to be detected, and the two side holders do opposite reciprocating movement.
2. Universal movement
The universal movement is that the sliding blocks on the left sliding shaft, the middle sliding shaft and the right sliding shaft move independently or simultaneously along the X, Y, Z shaft, the left linear module and the right linear module drive the clamp holder to stretch and/or twist the object to be tested, and the middle linear module drives the friction rubber roller to rub the object to be tested.
Taking a rectangular object to be tested with a certain specification, and respectively clamping two short sides of the rectangular object to be tested on a left clamp holder and a right clamp holder of the instrument; the control panel is used for adjusting the distance between the left clamp holder and the right clamp holder in a inching way, selecting a detection condition of pre-tension or pre-extension, setting the tension or extension, and setting the movement modes, the repeated times of the movement and the movement speed of the left linear module, the middle linear module and the right linear module according to the movement and the strength to be simulated; starting an instrument to enable the object to be detected and the friction rubber roller to move simultaneously according to a set action; after the instrument is stopped, the test object is taken down, and the test grade is rated according to the appearance change condition.
Further, under the driving of the left, middle and right linear modules, the universal movement modes of the left and right side holders and the middle friction rubber roller can be as follows:
(1) The left and right holders move forwards and backwards along the Y axis in opposite directions, and the middle friction rubber roller does not participate in the movement.
(2) The left and right holders move up and down in opposite directions along the Z axis, and the middle friction rubber roller does not participate in the movement.
(3) The left side gripper moves along Y1 and Z1 simultaneously, the right side gripper moves along Y3 and Z3 simultaneously, Y1 and Y2 stretch in the reverse direction, Z1 and Z2 stretch in the reverse direction, and the middle friction rubber roller does not participate in the movement.
(4) The left side holder moves along X1, Y1 and Z1 simultaneously, the right side holder moves along X3, Y3 and Z3 simultaneously, and X1 and X3 stretch in reverse direction, Y1 and Y3 stretch in reverse direction, Z1 and Z3 stretch in reverse direction, and the middle friction rubber roller does not participate in the movement.
(5) When the left clamp holder and the right clamp holder move in the four modes respectively, the middle linear module moves back and forth along the Y2 axis, and the function of rubbing an object to be measured is achieved in the middle.
(6) When the left clamp holder and the right clamp holder move in the four modes respectively, the middle linear module moves along the X2 and the Y2 simultaneously, and the function of rubbing an object to be detected is achieved in the middle.
3. Inching
The inching is used for fine adjustment of the positions of the sliding blocks on the nine sliding shafts, and is mostly used for fine adjustment of the distances between the upper top and the lower side of the friction rubber roller or the left and the right clamp holders after the samples are clamped, and the inching function is low-speed movement.
Further, under the driving of the left, middle and right linear modules, the click motion modes of the left and right side holders and the middle friction rubber roller can be as follows:
(1) The left and right holders move simultaneously along the X direction and slowly move in opposite directions or opposite directions so as to increase or decrease the transverse distance between the two holders.
(2) The left and right holders move simultaneously along the Y direction and slowly move in opposite directions or opposite directions so as to increase or decrease the longitudinal distance between the two holders.
(3) The middle friction rubber roller moves upwards or downwards slowly along the Y axis to jack up a certain height, and can rub with an object to be detected clamped on the left clamp holder and the right clamp holder.
The above embodiments are provided for the sake of more clear description of the present invention, but are only some embodiments of the present invention and are not intended to limit the scope of the present invention, and any addition or modification of the present invention based on the present invention by those skilled in the art is not intended to fall within the scope of the present invention.
Claims (8)
1. A nine-axis linkage fatigue strength testing machine is characterized in that: the device comprises a linear module, a servo motor, a computer data processing module, a control panel, a force sensor, a left clamp holder, a right clamp holder and a friction rubber roller, wherein the linear module comprises a left linear module, a middle linear module and a right linear module, and the left linear module, the middle linear module and the right linear module are respectively composed of X, Y, Z sliding shafts in three directions; the three sliding shafts of the left side linear module are respectively an X1 shaft, a Y1 shaft and a Z1 shaft, the three sliding shafts of the middle linear module are respectively an X2 shaft, a Y2 shaft and a Z2 shaft, and the three sliding shafts of the right side linear module are respectively an X3 shaft, a Y3 shaft and a Z3 shaft; a screw rod is arranged in each sliding shaft, each screw rod is correspondingly connected with one servo motor, and the servo motors drive the screw rods to do circular motion in a positive and negative rotation mode;
the left gripper and the right gripper are a left gripper and a right gripper,
the left side clamp holder is connected with the sliding block on the Z1 axis and can move up and down along the Z1 axis through the sliding block; the Z1 axis is connected with the sliding block on the Y1 axis and can move back and forth along the Y1 axis through the sliding block; the Y1 axis is connected with the sliding block on the X1 axis and can move left and right along the X1 axis through the sliding block;
the right side clamp holder is connected with the sliding block on the Z3 axis and can move up and down along the Z3 axis through the sliding block; the Z3 shaft is connected with the sliding block on the Y3 shaft and can move back and forth along the Y3 shaft through the sliding block; the Y3 axis is connected with the sliding block on the X3 axis and can move left and right along the X3 axis through the sliding block;
the friction rubber roller is detachably connected with the sliding block on the Y2 shaft and can move back and forth along the Y2 shaft through the sliding block; the Y2 axis is connected with the sliding block on the X2 axis and can move left and right along the X2 axis through the sliding block; the X2 axis is connected with the sliding block on the Z2 axis and can move up and down along the Z2 axis through the sliding block;
the force sensor is connected with the left clamp or the right clamp and is also connected with the computer data processing module, and the computer data processing module further comprises an elongation detection module;
the clamping mode of the left clamp holder and the right clamp holder is manual bolt tightening or pneumatic clamping.
2. The nine-axis linkage fatigue strength tester according to claim 1, wherein: the left side holder and the right side holder and the friction rubber roller do unidirectional movement, universal movement or inching.
3. The nine-axis linkage fatigue strength tester according to claim 2, wherein: the unidirectional movement is that two sliding blocks of corresponding shafts in the left side linear module and the right side linear module participate in movement, namely the X1 shaft and the X3 shaft sliding blocks participate in movement, or the Y1 shaft and the Y3 shaft sliding blocks participate in movement, or the Z1 shaft and the Z3 shaft sliding blocks participate in movement, and the three-way sliding blocks of the middle linear module can participate in movement selectively.
4. The nine-axis linkage fatigue strength tester according to claim 2, wherein: the universal motion is that the sliding blocks on the left sliding shaft, the middle sliding shaft and the right sliding shaft move independently or simultaneously along the X, Y, Z shaft, the left linear module and the right linear module drive the left clamp holder and the right clamp holder to stretch and/or twist an object to be tested, and the middle linear module drives the friction rubber roller to rub the object to be tested.
5. The nine-axis linkage fatigue strength tester according to claim 2, wherein: the inching is fine adjustment of the positions of the sliding blocks on the nine sliding shafts, and the inching is performed on the upper top and the lower side of the friction rubber roller or the distance between the left clamp holder and the right clamp holder.
6. The nine-axis linkage fatigue strength tester according to any one of claims 1-5, wherein: the friction rubber roller is detachable, and the friction rubber roller is made of rubber, stainless steel or fabric.
7. The nine-axis linkage fatigue strength tester according to any one of claims 1-5, wherein: the friction rubber roller is made of a bicycle seat.
8. A method of testing using the nine-axis linkage fatigue strength tester of any one of claims 1-5, comprising the steps of:
step S1: taking a rectangular object to be tested with a certain specification, and respectively clamping two short sides of the rectangular object to be tested on a left clamp holder and a right clamp holder of the instrument;
step S2: the control panel is used for adjusting the distance between the left clamp holder and the right clamp holder in a inching way, selecting a detection condition of pre-tension or pre-extension, setting the tension or extension, and setting the movement modes, the repeated times of the movement and the movement speed of the left linear module, the middle linear module and the right linear module according to the movement and the strength to be simulated;
step S3: starting an instrument to enable the object to be detected and the friction rubber roller to move simultaneously according to a set action;
step S4: after the instrument is stopped, the test object is taken down, and the test grade is rated according to the appearance change condition.
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| CN109142088B (en) * | 2018-08-21 | 2020-10-02 | 湖南华中电力铁道设施制造有限公司 | Intelligent mechanical property detection equipment and detection method for galvanized steel sheet |
| CN115629000B (en) * | 2022-12-06 | 2023-07-28 | 宁波纺织仪器厂 | Fabric five-axis linkage fatigue test equipment |
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