CN108116528B - Automatic guided vehicle - Google Patents
Automatic guided vehicle Download PDFInfo
- Publication number
- CN108116528B CN108116528B CN201711261793.2A CN201711261793A CN108116528B CN 108116528 B CN108116528 B CN 108116528B CN 201711261793 A CN201711261793 A CN 201711261793A CN 108116528 B CN108116528 B CN 108116528B
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- supporting
- guided vehicle
- support
- frame
- piece
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
Abstract
The invention discloses an automatic guided vehicle, which comprises: the device comprises a frame, a first wheel, a support piece and a first power device; the first wheel is connected with the frame; the support piece is connected with the first power device and is positioned at the bottom of the frame; the first power device is connected with the frame and used for pushing the supporting piece to be abutted against a supporting surface supporting the automatic guided vehicle so as to position the automatic guided vehicle. The automatic guided vehicle has the advantages of strong load capacity and stable positioning.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an automatic guided vehicle.
Background
Since the birth of robots, the development of robots has spread over the fields of machinery, electronics, metallurgy, traffic, aerospace, national defense, and the like. In recent years, the level of intelligence of robots has been increasing, and the lifestyle of people has been rapidly changing. In the process of continuously discussing, reforming and recognizing the nature, people always feel a dream of human beings in manufacturing machines capable of replacing human labor. However, when the existing robot is positioned, the brake is abutted to the wheel by controlling the brake block, so that the positioning is not only unstable, but also when the supporting surface is a rugged surface, the robot is easy to shake and has poor stability.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an automatic guided vehicle with strong loading capacity and stable positioning.
The invention provides an automatic guided vehicle, which comprises a vehicle frame, a first wheel, a supporting piece and a first power device, wherein the first wheel is arranged on the vehicle frame; the first wheel is connected with the frame; the support piece is connected with the first power device and is positioned at the bottom of the frame; the first power device is connected with the frame and used for pushing the supporting piece to be abutted against a supporting surface supporting the automatic guided vehicle so as to position the automatic guided vehicle.
Preferably, the automatic guided vehicle further comprises a limiting component, wherein the limiting component is connected with the vehicle frame and movably connected with the supporting piece, and is used for preventing the supporting piece from shaking.
Preferably, the support member is provided with a first guide member, and the limiting member is provided with a second guide member; the first guide part is matched with the second guide part and used for blocking the support part from rotating.
Preferably, the support comprises a support post; the support column is detachably connected with the first guide piece.
Preferably, the supporting member further comprises an elastic supporting seat, and the elastic supporting seat is connected with the bottom of the supporting column in a sleeved mode.
Preferably, the support column comprises a first column body, a connecting ring and a second column body, and the cross-sectional area of the second column body is larger than that of the first column body; the first end of the first column body is connected with the first power device, the second end of the first column body is connected with the inner circumferential surface of the connecting ring, the first end of the second column body is connected with the outer circumferential surface of the connecting ring, and the first end of the elastic supporting seat is inserted into the second column body and is abutted to the connecting ring; the second end of the elastic supporting seat is positioned outside the second column body.
Preferably, the limiting part is connected with the supporting part in a sleeved mode.
Preferably, the first power unit comprises a hydraulic cylinder fixed on the frame and connected with the support member.
Preferably, the automated guided vehicle further comprises a hydraulic source device, and the hydraulic source device is arranged on the frame and is in conduction connection with the hydraulic cylinder.
Preferably, the automatic guided vehicle further comprises at least 2 second power devices, the number of the first wheels is at least 2, and the second power devices are fixed on the frame and connected with the first wheels in a one-to-one correspondence manner.
In summary, the automated guided vehicle of the present invention includes a frame, a first wheel, a supporting member and a first power device; the first wheel drives the automatic guided vehicle to move to a designated working area, the first power device pushes the support piece to abut against a supporting surface supporting the automatic guided vehicle, and after the support piece abuts against the supporting surface, the first power device continues to push the support piece so that the support piece is in close contact with the supporting surface; when the automatic guided vehicle needs to move, the first power device drives the support piece to slowly retract. Because the supporting piece provides extra supporting force for the automatic guided vehicle, the automatic guided vehicle has the advantages of strong working load capacity and stable positioning.
Drawings
Fig. 1 is a schematic structural view of a part of the structure of the preferred embodiment of the automated guided vehicle of the present invention.
Fig. 2 is an exploded view of the first power unit, the position limiting member and the supporting member of the automated guided vehicle according to the present invention.
Fig. 3 is a cross-sectional view of a preferred embodiment of a support column of the automated guided vehicle of the present invention.
Fig. 4 is a schematic structural diagram of the automated guided vehicle according to the preferred embodiment of the present invention when applied to a robot.
Fig. 5 is a schematic structural view of the robot body of fig. 4 separated from the housing.
Fig. 6 is a schematic structural view of the robot body of fig. 4.
Fig. 7 is a schematic structural view of the robot body of fig. 6 from another perspective.
Fig. 8 is an enlarged schematic view of region a in fig. 7.
Fig. 9 is a schematic structural diagram of a preferred embodiment of the material taking and placing device of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples. It should be noted that, if not conflicting, the embodiments of the present invention and the features of the embodiments may be combined with each other within the scope of protection of the present invention.
Referring to fig. 1 to 3, the present invention provides an automatic guided vehicle 100, which includes: a frame 110, a first wheel 120, a support 130, a first power unit 140, and a second power unit 121; the first wheel 120 is coupled to the frame 110. In this embodiment, the number of the first wheels 120 is 2, and 2 first wheels 120 are located on two opposite sides of the middle of the frame 110. The number of the second power devices 121 is also 2, and 2 second power devices 121 are all fixed on the frame 110 and are connected to the first wheels 120 in a one-to-one correspondence manner. The linear walking of the automated guided vehicle 100 can be realized through the speed synchronous motion of 2 first wheels 120, and the turning and the pivot rotation of the automated guided vehicle 100 can be realized through the differential speed.
It is understood that the number of the second power devices 121 and the first wheels 120 is not limited in particular. In order to facilitate the control and the movement to be more stable and reliable, in practical applications, the number of the second power device 121 and the first wheel 120 is at least 2.
Preferably, the automated guided vehicle 100 further comprises a plurality of second wheels 122, and the second wheels 122 are universal driven wheels. In this embodiment, the number of the second wheels 122 is 4, and the second wheels are distributed at four corners of the frame 110. By arranging the second wheel 122, the automatic guided vehicle 100 can run more stably and flexibly.
Preferably, the automated guided vehicle 100 further comprises a limiting component 150, and the limiting component 150 is connected with the vehicle frame 110. The supporting member 130 is connected to the first power unit 140 and is located at the bottom of the frame 110; in the present embodiment, the supporting member 130 is connected to the first power unit 140 by a supporting member fixing bolt 130a, and it is understood that the connection manner of the supporting member 130 and the first power unit 140 is not particularly limited herein; the first power device 140 is connected to the frame 110, and is configured to push the supporting member 130 to abut against a supporting surface along which the automated guided vehicle 100 is supported, so as to support and position the automated guided vehicle 100. After the automated guided vehicle 100 moves to the proper position, the first power device 140 pushes the supporting member 130 to abut against the supporting surface, so as to support and position the automated guided vehicle 100.
Preferably, the support 130 is provided with a first guide 131, and the position limiting part 150 is provided with a second guide 151; the first guide 131 is engaged with the second guide 151 to block the rotation of the support 130. In this embodiment, the first guide 131 is a flat key, and the second guide 151 is a key slot matched with the flat key; in other embodiments, the first guide 131 may be a spline, and the second guide 151 is a key groove engaged with the spline.
On one hand, the cooperation between the first guide 131 and the second guide 151 can prevent the rotation of the support 130 when the support 130 is pushed out, which results in the loosening and falling of the support fixing bolt 130 a.
On the other hand, the cooperation between the first guide 131 and the second guide 151 can also prevent the rotation of the support 130, which may cause the offset of the support 130 when the support 130 contacts the supporting surface, and affect the positioning effect of the support 130.
Preferably, the support 130 includes a support post 132; the supporting column 132 is detachably connected to the first guide 131. In this embodiment, the first guide 131 is fixed to the support column 132 by bolts. Since the supporting column 132 is detachably connected to the first guiding member 131, the supporting column 132 and the first guiding member 131 are convenient to manufacture, repair and replace.
Preferably, the supporting member 130 further includes an elastic supporting seat 133, and the elastic supporting seat 133 is sleeved and connected with the bottom of the supporting pillar 132. The elastic support seat 133 can buffer the impact of the support 130 with the support surface when being pushed out. The elastic support 133 may be a rubber column, a silica gel column, or a polyurethane column, and is not limited herein.
Preferably, the support column 132 comprises a first cylinder 134, a connecting ring 135 and a second cylinder 136, and the cross-sectional area of the second cylinder 136 is larger than that of the first cylinder 134, thereby increasing the support area of the support column 132; a first end of the first cylinder 134 is connected to the first power device 140, a second end of the first cylinder 134 is connected to the inner circumferential surface of the connecting ring 135, a first end of the second cylinder 136 is connected to the outer circumferential surface of the connecting ring 135, and a first end of the elastic support 133 is inserted into the second cylinder 136 and abuts against the connecting ring 135; the second end of the elastic support 133 is located outside the second post 136.
Preferably, the first cylinder 134 is a hollow cylinder with a middle inner diameter smaller than inner diameters of two ends, and a fastening ring 137 is arranged in the first cylinder 134; the push-out rod 138 of the first power device 140 is inserted into the first cylinder 134; the support fixing bolt 130a is inserted into the first cylinder 134 and connected to the push-out rod 138 and the first cylinder 134, and specifically, the support fixing bolt 130a is fastened to the fastening ring 137.
The position limiting part 150 is movably connected to the supporting member 130, and is used for preventing the supporting member 130 from shaking, so as to provide an environment for the robot 300 to work stably. Preferably, the position limiting component 150 is connected to the supporting component 130 in a sleeved manner. In this embodiment, the position limiting component 150 may be a sleeve sleeved on the outer circumferential surface of the supporting member 130, or may be two position limiting plates disposed on the outer circumferential surface of the supporting member 130, and the positions of the two position limiting plates are opposite to each other, which is not specifically limited herein.
Preferably, the first power unit 140 includes a hydraulic cylinder 139, and the hydraulic cylinder 139 is fixed to the frame 110 and connected to the support member 130. The use of hydraulic cylinder 139 eliminates the need for a reduction gear and provides a smooth motion without drive play. The first power device 140 may also be an electric cylinder or an air cylinder, and is not particularly limited herein.
Preferably, the automated guided vehicle 100 further comprises a hydraulic source device 160, wherein the hydraulic source device 160 is disposed on the frame 110 and is in conductive connection with the hydraulic cylinder 139 to provide pressure energy for the hydraulic cylinder 139. In this embodiment, the hydraulic source device 160 can provide hydraulic source with controllable flow direction, pressure and flow rate to drive the supporting member 130 to be pushed out or retracted. The number of the supporting pieces 130 and the number of the hydraulic cylinders 139 are 4, and the supporting pieces 130 are connected with the hydraulic cylinders 139 in a one-to-one correspondence manner; the hydraulic cylinders 139 and the supporting members 130 are distributed at four corners of the frame 110.
The supporting members 130 disposed at the four corners of the frame 110 can obtain the largest supporting surface. In this embodiment, the hydraulic source device 160 provides pressure energy of a preset pressure value for 4 hydraulic cylinders 139; when positioning is needed, the hydraulic source device 160 provides pushing pressure energy for the hydraulic cylinder 139, and the hydraulic cylinder 139 pushes the pushing rod 138 out; from the time when the elastic support seat 133 abuts against the support surface, the pressure in the hydraulic cylinder 139 gradually rises until a preset pressure value is reached, and the hydraulic cylinder 139 stops pushing out the push-out rod 138. The push-out lever 138 stops pushing out when it reaches a predetermined pressure value only after contacting the support surface, so that the automated guided vehicle 100 can automatically adjust its posture to maintain the horizontal posture of the automated guided vehicle 100 regardless of whether the automated guided vehicle 100 is positioned on a flat support surface or an uneven support surface.
Referring to fig. 4 and 5, the present invention further provides a robot, which includes a manipulator 300 and an automatic guided vehicle 100 for driving the manipulator 300 to move, wherein the automatic guided vehicle 100 is the automatic guided vehicle 100. The robot 300 is moved along a support surface supporting the automated guided vehicle 100 by the automated guided vehicle 100. In this embodiment, the automated guided vehicle 100, the lifting mechanism 200, and the robot hand 300 constitute a robot body.
Preferably, the robot further comprises a lifting mechanism 200 and a housing 400; the lifting mechanism 200 is connected with the automatic guided vehicle 100, and the manipulator 300 is connected with the lifting mechanism 200; the automated guided vehicle 100 is configured to drive the manipulator 300 to move along a supporting surface supporting the automated guided vehicle 100, and the lifting mechanism 200 is configured to drive the manipulator 300 to move up and down. The robot 300 is driven by the automatic guided vehicle 100 and the lifting mechanism 200 to move, so that the working range of the robot 300 can be expanded, the robot can be used for routing inspection and maintenance of a server, can also be used for sorting and carrying of a logistics system, and the purpose of the robot is not particularly limited; the housing 400 covers the automated guided vehicle 100 and the lifting mechanism 200 to prevent the automated guided vehicle 100 and the lifting mechanism 200 from being contaminated by dust.
Referring to fig. 6, the lifting mechanism 200 includes a fixed frame 210, a first guide rail 220, a second guide rail 230, a movable frame 240 and a driving device 250; the fixed frame 210 is connected to the automated guided vehicle 100, the first guide rail 220 and the second guide rail 230 are disposed on the fixed frame 210 in parallel, in this embodiment, the first guide rail 220 and the second guide rail 230 are disposed on the fixed frame 210 vertically in parallel; the movable frame 240 is movably connected to the first guide rail 220 and the second guide rail 230, the manipulator 300 is connected to the movable frame 240, and the driving device 250 is connected to the movable frame 240 and configured to drive the movable frame 240 to move along the first guide rail 220 and the second guide rail 230, so as to achieve the up-and-down movement of the manipulator 300.
In this embodiment, the fixing frame 210 is fixed with a control device 211 and a wireless communication module 212; the control device 211 and the wireless communication module 212 are disposed on the fixing frame 210, and the control device 211 is electrically connected to the automated guided vehicle 100, the lifting mechanism 200, and the manipulator 300; for controlling the movements of the automated guided vehicle 100, the lifting mechanism 200, and the manipulator 300; the wireless communication module 212 is electrically connected to the control device 211, and is configured to communicate with a control center that controls the operation of the robot, and transmit a control signal.
Preferably, the movable frame 240 includes a vertical plate 241, a bearing plate 242, a rib plate 243 and a plurality of sliding tables 244, one end of each sliding table 244 is movably connected to the first guide rail 220 or the second guide rail 230, the other end of each sliding table 244 is connected to the vertical plate 241, and the vertical plate is parallel to the first guide rail 220 and the second guide rail 230; the bearing plate 242 is vertically arranged at the lower edge of the vertical plate 241, and the manipulator 300 is arranged on the bearing plate 242; the rib plate 243 is connected to the vertical plate and the bearing plate 242, and is used to reinforce the structural strength of the movable frame 240.
Preferably, the sliding table 244 includes a first sliding table 245 and a second sliding table 246, the first sliding table 245 and the second sliding table 246 are disposed at an interval, the first sliding table 245 is disposed at the upper end of the vertical plate 241, and the second sliding table 246 is disposed at the lower end of the vertical plate, so as to enhance the bearing capacity of the bearing plate 242.
Referring to fig. 7 and 8, the driving device 250 includes a driving motor 251, a lead screw 252, a connecting block 253, and a dust-proof baffle 254; the driving motor 251 is connected with the lead screw 252; a first end of the connecting block 253 is movably connected with the lead screw 252, and a second end of the connecting block 253 is connected with the movable frame 240; the connecting block 253 is provided with a receiving groove 255, and the dustproof baffle 254 passes through the receiving groove 255 and is arranged between the lead screw 252 and the movable frame 240, so as to prevent the lead screw 252 from being polluted and affecting the lifting precision of the lifting mechanism 200. In this embodiment, the driving motor 251 is in transmission connection with a screw of the lead screw 252, and a first end of the connecting block 253 is connected with a nut of the lead screw 252, so that the rotation motion of the driving motor 251 is converted into the linear lifting motion of the movable frame 240.
Referring to fig. 6 and 9, the manipulator 300 includes a robot arm 310 and a material taking and placing device 320, a first end of the robot arm 310 is connected to the movable frame 240, and a second end of the robot arm 310 is connected to the material taking and placing device 320; the material taking and placing device 320 comprises a first connecting arm 321, a second connecting arm 322, a third connecting arm 323, an identification component 324, a pressing component 325 and a material taking and placing component 326; a first end of the first connecting arm 321 is connected to a first end of the second connecting arm 322 and a first end of the third connecting arm 323; a second end of the first connecting arm 321 is connected to the identification component 324, a second end of the second connecting arm 322 is connected to the pressing component 325, and a second end of the third connecting arm 323 is connected to the material taking and placing component 326; the identification component 324 is used for identifying the position and the state of the material, the pressing component 325 is used for releasing or establishing the constraint on the material, and the material taking and placing component 326 is used for taking the material when the constraint on the material is released or established.
In summary, the automated guided vehicle 100 of the present invention includes a frame 110, a first wheel 120, a supporting member 130, and a first power device 140; the first wheel 120 drives the automated guided vehicle 100 to move to a designated working area, the first power device 140 pushes the support member 130 to abut against a supporting surface supporting the automated guided vehicle 100, and after the support member 130 abuts against the supporting surface, the first power device 140 continues to push the support member 130, so that the support member 130 is in close contact with the supporting surface; when the automated guided vehicle 100 needs to move, the first power device 140 drives the support 130 to retract slowly. Because the supporting member 130 provides an additional supporting force for the automated guided vehicle 100, the automated guided vehicle 100 has the advantages of strong work load capacity and stable positioning.
The above detailed description of the automated guided vehicle provided by the present invention has been presented, and the principle and the implementation of the present invention are explained in the present document by applying specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be a change in the specific implementation and application scope, and in summary, the content of the present specification is only an implementation of the present invention, and not a limitation to the scope of the present invention, and all equivalent structures or equivalent flow transformations made by the content of the present specification and the attached drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention. And should not be construed as limiting the invention.
Claims (3)
1. An automated guided vehicle, comprising: comprises a frame, a first wheel, a supporting piece, a first power device, a limiting part and a hydraulic source device; the first wheel is connected with the frame; the support piece is connected with the first power device and is positioned at the bottom of the frame; the first power device is connected with the frame and used for pushing the support piece to abut against a supporting surface supporting the automatic guided vehicle so as to position the automatic guided vehicle;
the limiting component is connected with the frame and movably connected with the supporting piece and used for preventing the supporting piece from shaking; the supporting piece is provided with a first guide piece, and the limiting part is provided with a second guide piece; the first guide piece is matched with the second guide piece and used for blocking the support piece from rotating, the first guide piece is a flat key, and the second guide piece is a key groove matched with the flat key;
the first power device comprises hydraulic cylinders, the hydraulic cylinders are fixed on the frame and connected with the support pieces, the number of the support pieces and the number of the hydraulic cylinders are 4, and the support pieces are connected with the hydraulic cylinders in a one-to-one correspondence manner; the hydraulic cylinders and the supporting pieces are distributed at four corners of the frame; the hydraulic source device is arranged on the frame and is in conduction connection with the hydraulic cylinders, and the hydraulic source device provides pressure energy with a preset pressure value for the hydraulic cylinders;
the support comprises a support column; the supporting column is detachably connected with the first guide piece, the supporting piece further comprises an elastic supporting seat, and the elastic supporting seat is sleeved and connected with the bottom of the supporting column; the support column comprises a first column body, a connecting ring and a second column body, and the cross section area of the second column body is larger than that of the first column body; the first end of the first column body is connected with the first power device, the second end of the first column body is connected with the inner circumferential surface of the connecting ring, the first end of the second column body is connected with the outer circumferential surface of the connecting ring, and the first end of the elastic supporting seat is inserted into the second column body and is abutted to the connecting ring; the second end of the elastic supporting seat is positioned outside the second column body;
the push-out rod of the first power device is inserted into the first column body, the support piece is connected with the first power device through a support piece fixing bolt, and the support piece fixing bolt is inserted into the first column body and connected with the push-out rod and the first column body.
2. The automated guided vehicle of claim 1, wherein: the limiting part is connected with the supporting piece in a sleeved mode.
3. The automated guided vehicle of claim 1, wherein: the automatic guided vehicle further comprises at least 2 second power devices, the number of the first wheels is at least 2, and the second power devices are fixed on the vehicle frame and are connected with the first wheels in a one-to-one correspondence mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711261793.2A CN108116528B (en) | 2017-12-04 | 2017-12-04 | Automatic guided vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711261793.2A CN108116528B (en) | 2017-12-04 | 2017-12-04 | Automatic guided vehicle |
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| CN108116528A CN108116528A (en) | 2018-06-05 |
| CN108116528B true CN108116528B (en) | 2020-09-22 |
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| CN201711261793.2A Active CN108116528B (en) | 2017-12-04 | 2017-12-04 | Automatic guided vehicle |
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| US4176824A (en) * | 1977-02-07 | 1979-12-04 | Richard Lewis | Lifting apparatus |
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| CN107053552A (en) * | 2017-04-21 | 2017-08-18 | 烟台拓伟智能科技股份有限公司 | Vulcanizer mold automatic cleaning system |
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| CN102174794B (en) * | 2011-03-07 | 2012-08-15 | 江苏科技大学 | Automatic leveling system and method for six-point support bridging platform |
| CN103511942A (en) * | 2012-06-26 | 2014-01-15 | 海洋王照明科技股份有限公司 | Vehicle-mounted lamp |
| CN103950434B (en) * | 2014-03-25 | 2017-09-08 | 北京航天发射技术研究所 | A kind of supporting leg, which contacts to earth, supports decision maker and method |
| CN104477145A (en) * | 2014-12-01 | 2015-04-01 | 北京机械设备研究所 | Vehicle body leveling method based on PLC control |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4176824A (en) * | 1977-02-07 | 1979-12-04 | Richard Lewis | Lifting apparatus |
| CN106064717A (en) * | 2016-07-20 | 2016-11-02 | 苏州小喇叭信息科技有限公司 | A kind of sorting transport AGV car |
| CN106515682A (en) * | 2017-01-04 | 2017-03-22 | 成都四威高科技产业园有限公司 | Electric ground brake for AGV |
| CN107053552A (en) * | 2017-04-21 | 2017-08-18 | 烟台拓伟智能科技股份有限公司 | Vulcanizer mold automatic cleaning system |
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| CN108116528A (en) | 2018-06-05 |
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