CN108146963A - A kind of novel intelligent storage robot device - Google Patents
A kind of novel intelligent storage robot device Download PDFInfo
- Publication number
- CN108146963A CN108146963A CN201711493269.8A CN201711493269A CN108146963A CN 108146963 A CN108146963 A CN 108146963A CN 201711493269 A CN201711493269 A CN 201711493269A CN 108146963 A CN108146963 A CN 108146963A
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- fine tuning
- flexible
- electric energy
- energy machine
- balance
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of novel intelligent storage robot devices, height fine-adjustment including reduction device and the setting reduction device upper end, the horizontal holding device being set in the height fine-adjustment, further include the forward gear for being set to the reduction device lower end, the reduction device lower end is provided with bottom plate, flexible column device is provided in the middle part of the bottom plate, the flexible column device includes flexible inner prop and flexible column jacket, the flexible column jacket is fixedly connected with cooperation with the height fine-adjustment lower face, the flexible inner prop lower end is fixedly connected with cooperation with the bottom plate upper surface, guide post device is symmetrically arranged at left and right sides of the telescopic device, the guide post device includes being oriented to inner prop and is oriented to column jacket, the guiding inner prop upper end is fixedly connected with cooperation with the height fine-adjustment lower face.
Description
Technical field
The present invention relates to intelligent storage technical field, specifically a kind of novel intelligent storage robot device.
Background technology
For the cargo storage that many factories will all produce but not be issued again in warehouse, general depot uses layer more
The shelf of posture, and staff is usually required for move down the cargo on shelf by fork truck, but when required cargo
When present position is higher, because of limited view, staff can not see the concrete condition on shelf clearly, thus there are certain peaces
Full hidden danger, and traditional storage system generally is personnel and carries out registration management, can all occur showing for data corruption for a long time
As that can register access goods and cargo place shelf number automatically at this point, design is a kind of and can automatically be deposited by advance setting
The device of picking object is necessary, and not only eliminates the mistake of artificial registration appearance during intermediate storage in this way, while is also disappeared
Except the existing security risk during cargo is accessed.
Invention content
The technical problems to be solved by the invention are to provide a kind of novel intelligent storage robot device, can solve
State the problems in present technology.
The present invention is achieved through the following technical solutions：A kind of novel intelligent storage robot device of the present invention,
Height fine-adjustment including reduction device and the setting reduction device upper end, the water being set in the height fine-adjustment
Flat holding meanss further include the forward gear for being set to the reduction device lower end, and the reduction device lower end is provided with bottom plate,
Flexible column device is provided in the middle part of the bottom plate, the flexible column device includes flexible inner prop and flexible column jacket, described flexible interior
Column moves sliding fit with the flexible column jacket and connect, and the outer column wall that stretches is provided with a tooth, the flexible column jacket and the height
Degree micromatic setting lower face is fixedly connected with cooperation, and the flexible inner prop lower end is fixedly connected with cooperation, institute with the bottom plate upper surface
It states flexible inner prop upper end and is provided with flexible electric energy machine, the flexible electric energy machine is set in the flexible inner prop upper end, the flexible electricity
Energy machine upper end is fixedly connected with reduction shaft, and the telescopic rotating shaft upper end, which is provided with, turn-takes, described to turn-take and the flexible column jacket
Inner wall engagement is connected, and is symmetrically arranged with guide post device at left and right sides of the telescopic device, the guide post device includes
It is oriented to inner prop and is oriented to column jacket, the guiding column jacket lower end is fixedly connected with cooperation with the bottom plate, and the guiding column jacket upper end is consolidated
Surely reduction upper limit position block is provided with, the reduction upper limit position block inner end is moved sliding fit with column outer wall in the guiding and connect, institute
It states guiding inner prop lower end and is fixedly installed reduction lower position block, the reduction lower position block outboard end and column wall in the guiding
Sliding fit connection is moved, the guiding inner prop upper end is fixedly connected with cooperation, the flexible electricity with the height fine-adjustment lower face
Improvement structure can be provided on machine.
Preferably technical solution, the height fine-adjustment include fine tuning support box, and lower end in the middle part of box is held in the palm in the fine tuning
Face is fixedly connected with cooperation with the flexible column jacket upper end, and lower face is oriented to inner prop upper end with described at left and right sides of the fine tuning support box
Fixed to be even connected, the flexible column jacket upper end is provided with fine tuning electric energy machine, and the fine tuning electric energy machine is set in described flexible outer
In column, the sliding chamber of fine tuning is offered inside the fine tuning support box, fine tuning sliding block, the fine tuning sliding block are provided in the sliding chamber of fine tuning
Sliding fit is moved with the sliding chamber of the fine tuning to connect, and is connect and matched using telescopic rod with the fine tuning electric energy machine in the middle part of the fine tuning sliding block
It closes, it is that height small range adjusts that the fine tuning electric energy machine controls the fine tuning sliding block by the telescopic rod, the fine tuning sliding block
Upside is provided with the horizontal holding device, and fine tuning limited block is symmetrically arranged at left and right sides of the fine tuning support box upper end.
Preferably technical solution, the horizontal holding device include being set to the balance electricity on the left of the fine tuning sliding block
Energy machine, the balance electric energy machine are set in the fine tuning sliding block, and the balance electric energy machine upper end is provided with balance shaft, described flat
Weighing apparatus shaft upper end is provided with reel, and mating connection is curled up in the balance shaft lower end with the balance electric energy machine upper end, described
Balance shaft upper end is connect with reel lower end secure fit, and conducting wire is correspondingly arranged at left and right sides of the fine tuning sliding block
Wheel, the fine tuning upper end of slide block are provided with down and curl up piece, on piece end is curled up under described and is provided with and curls up piece, it is described on curl up piece
Upper end is provided with support load bed, and piece is curled up under described and is fixedly connected with cooperation with the fine tuning upper end of slide block face, it is described on curl up piece and
Piece is curled up under described and curls up mating connection, the support load bed lower face with it is described on curl up piece upper end and be fixedly connected with cooperation, it is described
Balance draw ring is provided at left and right sides of support load bed, is to have drawstring on the balance draw ring, the drawstring is sequentially connected described in right side
Draw ring, the right side guide roller, the reel, the left side guide roller, the left side balance draw ring are balanced, by the drawstring
It tenses.
Preferably technical solution, the forward gear includes the bottom plate for being set to the telescopic device lower end, described
Bottom plate lower end or so is corresponding to be provided with advance wheel apparatus, and the advance wheel apparatus includes promoting electric energy machine, the propulsion electric energy
Machine drives wheel hub to curl up, and the wheel hub side is provided with crawler belt, the crawler belt is driven to push ahead by the wheel hub, before described
It is connect into wheel apparatus with the bottom plate using truss.
Preferably technical solution, the improvement structure include being fixed at the flexible electric energy machine left and right sides
Silencing pad and be fixed at the vibration damper plate in the flexible electric energy machine front and rear sides face, the silencing pad and the vibration damper plate phase
Connection.
The beneficial effects of the invention are as follows：The configuration of the present invention is simple, it is easy to operate, in use state, forward gear action,
It promotes under conveying robot human action to the required counter to transport goods, simultaneous retractable electric energy machine starts, and is driven by telescopic rotating shaft
It turn-takes and curls up, and then telescopic device is driven to stretch out with the mating connection relationship that engages for the outer column wall that stretches by turn-taking, lead simultaneously
It is stretched out to column, when load bed is ask to rise to certain altitude, electric energy machine stopping action of stretching, reduction device keeps certain height
Degree, meanwhile, fine tuning electric energy machine starts, and fine tuning telescopic rod is stretched out, while fine tuning sliding block is driven to be moved up, and then band in the sliding chamber of fine tuning
The dynamic support load bed for being set to fine tuning upper end of slide block rises, and required transport goods slowly is held up certain altitude, but ensures to be removed
Cargo transport object upper end will not collide upper shelf, automatically move down the cargo being stored on shelf successively from bottom to top, at this point,
Forward gear drives transfer robot back to the position for needing to unload, oblique when encountering during transfer robot is advanced
During slope, balance electric energy machine action, balance electric energy machine drives reel to rotate by balancing shaft, and then drawstring is driven to shrink, into
And adjust support load bed to horizontality, it prevents since support load bed tilts and cargo occurs and falls.
Description of the drawings
For ease of explanation, the present invention is described in detail by following specific embodiment and attached drawing.
Fig. 1 is overall structure diagram inside a kind of novel intelligent storage robot device of the present invention；
Structure diagram when Fig. 2 is under the reduction working state of device of the present invention；
Fig. 3 is the partial enlarged view of circle in Fig. 1 of the present invention；
Structure diagram when Fig. 4 is under the micromatic setting working condition of the present invention.
Specific embodiment
As shown in Figure 1, Figure 2 and Figure 3, a kind of novel intelligent storage robot device of the invention, including reduction device and
The height fine-adjustment for setting the reduction device upper end, is gone back the horizontal holding device being set in the height fine-adjustment
Forward gear including being set to the reduction device lower end, the reduction device lower end are provided with bottom plate 61, the bottom plate 61
Middle part is provided with flexible column device, and the flexible column device includes flexible inner prop 52 and flexible column jacket 51, the flexible inner prop 52
Sliding fit is moved with the flexible column jacket 51 to connect, flexible 51 inner wall of column jacket is provided with a tooth, the flexible column jacket 51 and institute
It states height fine-adjustment lower face and is fixedly connected with cooperation, flexible 52 lower end of inner prop is fixedly connected with 61 upper surface of bottom plate
Cooperation, flexible 52 upper end of inner prop are provided with flexible electric energy machine 31, and the flexible electric energy machine 31 is set in the flexible inner prop 52
Upper end, flexible 31 upper end of electric energy machine are fixedly connected with reduction shaft 33, and the telescopic rotating shaft upper end, which is provided with, turn-takes 32, institute
It states to turn-take and 32 engages mating connection with flexible 51 inner wall of column jacket, lead is symmetrically arranged at left and right sides of the telescopic device
Device, the guide post device include being oriented to inner prop 42 and are oriented to column jacket 41, guiding 41 lower end of column jacket and the bottom plate 61
It is fixedly connected with cooperation, 41 upper end of the guiding column jacket is fixedly installed reduction upper limit position block 46, in the reduction upper limit position block 46
Side is moved sliding fit with 42 outer wall of the guiding inner prop and is connect, and 42 lower end of the guiding inner prop is fixedly installed reduction lower position block
45,45 outboard end of reduction lower position block moves sliding fit with 41 inner wall of the guiding inner prop and connect, on the guiding inner prop 42
End is fixedly connected with cooperation with the height fine-adjustment lower face, and improvement structure is provided on the flexible electric energy machine 31.
Valuably, the height fine-adjustment include fine tuning support box 11, it is described fine tuning support 11 middle part lower face of box with it is described
Flexible 51 upper end of column jacket is fixedly connected with cooperation, and fine tuning support 11 left and right sides lower face of box is consolidated with 42 upper end of the guiding inner prop
Surely connect mating connection, flexible 51 upper end of column jacket is provided with fine tuning electric energy machine 26, and the fine tuning electric energy machine 26 is set in described stretch
In contracting column jacket 51, the sliding chamber 27 of fine tuning is offered inside the fine tuning support box 11, fine tuning sliding block is provided in the sliding chamber 27 of fine tuning
24, the fine tuning sliding block 24 moves sliding fit with the sliding chamber 27 of the fine tuning and connect, 24 middle part of fine tuning sliding block and the fine tuning electricity
Can machine 26 using telescopic rod 25 connection cooperation, it is described fine tuning electric energy machine 26 by the telescopic rod 25 control it is described fine tuning sliding block 24
It is the adjustment of height small range, 24 upside of fine tuning sliding block is provided with the horizontal holding device, 11 upper end of fine tuning support box
The left and right sides is symmetrically arranged with fine tuning limited block 17.
Valuably, the horizontal holding device includes the balance electric energy machine 21 for being set to 24 left side of fine tuning sliding block, institute
It states balance electric energy machine 21 to be set in the fine tuning sliding block 24,21 upper end of the balance electric energy machine is provided with balance shaft 22, described
22 upper end of balance shaft is provided with reel 23, and cooperation is curled up in balance 22 lower end of shaft with 21 upper end of the balance electric energy machine
Connection, balance 22 upper end of shaft are connect with the 23 lower end secure fit of reel, 24 left and right sides of fine tuning sliding block
Guide roller 19 is correspondingly arranged on, 24 upper end of the fine tuning sliding block, which is provided with down, curls up piece 15, and the setting of 15 upper end of piece is curled up under described
Curl up piece 14 on having, it is described on curl up 14 upper end of piece and be provided with support load bed 12, piece 15 and the fine tuning sliding block 24 are curled up under described
Upper surface is fixedly connected with cooperation, it is described on curl up piece 14 with it is described under curl up piece 15 and curl up matings connection, it is described to hold in the palm under load bed 12
End face with it is described on curl up 14 upper end of piece and be fixedly connected with cooperation, 12 left and right sides of support load bed is provided with balance draw ring 13, institute
It is to have drawstring 18 to state on balance draw ring 13, and the drawstring 18 is sequentially connected the right side balance draw ring 13, the right side guide roller
19th, the reel 23, the left side guide roller 19, the left side balance draw ring 13, the drawstring 18 are tensed, by described
Balance electric energy machine 21 drives the balance shaft 22 drawstring 18 to be pulled to keep described so that the reel 23 turns around
Support load bed 12 remains balance.
Valuably, the forward gear includes the bottom plate 61 for being set to the telescopic device lower end, 61 lower end of bottom plate
Left and right is corresponding to be provided with advance wheel apparatus, and the advance wheel apparatus includes promoting electric energy machine 65, and the propulsion electric energy machine 65 drives
Wheel hub 64 is curled up, 64 side of wheel hub is provided with crawler belt 62, the crawler belt 62 is driven to push ahead by the wheel hub 64,
Can help and enhance the climbing capacity of described device using the forward gear of the left and right settings, the advance wheel apparatus with
The bottom plate 61 is connected using truss 62.
Valuably, the structure that improves includes being fixed at the silencing pad of 31 left and right sides of flexible electric energy machine
311 and the vibration damper plate 312 in the 31 front and rear sides face of flexible electric energy machine is fixed at, the silencing pad 311 and the damping
Plate 312 is connected, and the structure that improves effectively reduces noise and the vibrations that the operating of flexible electric energy machine 31 generates.
During original state, flexible electric energy machine 31 is in halted state, and the perpendicular device that stretches at this time is shunk, while guide post device
Contraction state is also at, outer 41 upper end face of lead offsets, while finely tune electric energy machine 26 with 11 lower face of fine tuning support box at this time
It is closed, fine tuning telescopic rod 25 is in contraction state, and then fine tuning sliding block 24 is driven to move down, until under fine tuning sliding block 24
End face is abutted against with the sliding 27 downside end face of chamber of fine tuning, while is balanced electric energy machine 21 and driven 23 turns of reel by balancing shaft 22
It is dynamic, and then drawstring 18 is driven to shrink, and then support load bed 12 is adjusted to horizontality, when support load bed 12 is adjusted to horizontality
When, the 21 stopping action of balance electric energy machine, forward gear is in halted state at this time.
In use state, forward gear action is promoted under conveying robot human action to the required counter to transport goods, together
When the electric energy machine 31 that stretches start, turn-taked and 32 curled up by the drive of telescopic rotating shaft 33, so by turn-take 32 in flexible column jacket 51
The engagement mating connection relationship of wall drives telescopic device to stretch out, while lead is stretched out, and certain altitude is risen in support load bed 12
When, 31 stopping of electric energy machine action of stretching, reduction device keeps certain height, meanwhile, fine tuning electric energy machine 26 starts, and fine tuning is stretched
Contracting bar 25 is stretched out, while fine tuning sliding block 24 is driven to be moved up in the sliding chamber 27 of fine tuning, and then drive and be set to 24 upper end of fine tuning sliding block
Support load bed 12 rise, required transport goods slowly is held up into certain altitude, but ensures that upper end of transporting goods will not collide
To upper shelf, at this point, forward gear drives transfer robot to advance back to the position for needing to unload in transfer robot
In the process, when encountering slope, balance electric energy machine 21 acts, and balance electric energy machine 21 drives 23 turns of reel by balancing shaft 22
It is dynamic, and then drawstring 18 is driven to shrink, and then support load bed 12 is adjusted to horizontality.
The beneficial effects of the invention are as follows：The configuration of the present invention is simple, it is easy to operate, in use state, forward gear action,
It promotes under conveying robot human action to the required counter to transport goods, simultaneous retractable electric energy machine starts, and is driven by telescopic rotating shaft
It turn-takes and curls up, and then telescopic device is driven to stretch out with the mating connection relationship that engages for the outer column wall that stretches by turn-taking, lead simultaneously
It is stretched out to column, when load bed is ask to rise to certain altitude, electric energy machine stopping action of stretching, reduction device keeps certain height
Degree, meanwhile, fine tuning electric energy machine starts, and fine tuning telescopic rod is stretched out, while fine tuning sliding block is driven to be moved up, and then band in the sliding chamber of fine tuning
The dynamic support load bed for being set to fine tuning upper end of slide block rises, and required transport goods slowly is held up certain altitude, but ensures to be removed
Cargo transport object upper end will not collide upper shelf, automatically move down the cargo being stored on shelf successively from bottom to top, at this point,
Forward gear drives transfer robot back to the position for needing to unload, oblique when encountering during transfer robot is advanced
During slope, balance electric energy machine action, balance electric energy machine drives reel to rotate by balancing shaft, and then drawstring is driven to shrink, into
And adjust support load bed to horizontality, it prevents since support load bed tilts and cargo occurs and falls.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, it is of the invention
Protection domain should be determined by the scope of protection defined in the claims.
Claims (5)
- The robot device 1. a kind of novel intelligent is stored in a warehouse, the high fine-tuning including reduction device and the setting reduction device upper end Device, the horizontal holding device being set in the height fine-adjustment, before further including and being set to the reduction device lower end Into device, the reduction device lower end is provided with bottom plate, and flexible column device, the flexible column device are provided in the middle part of the bottom plate Including flexible inner prop and flexible column jacket, the flexible inner prop moves sliding fit with the flexible column jacket and connect, in the flexible column jacket Wall is provided with a tooth, and the flexible column jacket is fixedly connected with cooperation with the height fine-adjustment lower face, under the flexible inner prop End is fixedly connected with cooperation with the bottom plate upper surface, and the flexible inner prop upper end is provided with flexible electric energy machine, the flexible electric energy Machine is set in the flexible inner prop upper end, and the flexible electric energy machine upper end is fixedly connected with reduction shaft, the telescopic rotating shaft upper end It is provided with and turn-takes, described turn-take engages mating connection with the outer column wall that stretches, and is symmetrically set at left and right sides of the telescopic device Guide post device is equipped with, the guide post device includes being oriented to inner prop and is oriented to column jacket, the guiding column jacket lower end and the bottom Plate is fixedly connected with cooperation, and the guiding column jacket upper end is fixedly installed reduction upper limit position block, the reduction upper limit position block inner end Sliding fit is moved with column outer wall in the guiding to connect, the guiding inner prop lower end is fixedly installed reduction lower position block, the liter Contracting lower position block outboard end moves sliding fit with column wall in the guiding and connect, the guiding inner prop upper end and the high fine-tuning Device lower face is fixedly connected with cooperation, and improvement structure is provided on the flexible electric energy machine.
- 2. a kind of novel intelligent storage robot device according to claim 1, it is characterised in that：The high fine-tuning dress It puts and holds in the palm box including fine tuning, the fine tuning support box middle part lower face is fixedly connected with cooperation, the fine tuning with the flexible column jacket upper end Lower face at left and right sides of box is ask even to be connected with guiding inner prop upper end fixation, the flexible column jacket upper end is provided with fine tuning Electric energy machine, the fine tuning electric energy machine are set in the flexible column jacket, and the sliding chamber of fine tuning is offered inside the fine tuning support box, described micro- It adjusts and fine tuning sliding block is provided in sliding chamber, the fine tuning sliding block moves sliding fit with the sliding chamber of the fine tuning and connect, in the fine tuning sliding block Portion connect cooperation with the fine tuning electric energy machine using telescopic rod, and the fine tuning electric energy machine controls the fine tuning by the telescopic rod Sliding block is the adjustment of height small range, and the horizontal holding device, the fine tuning support box upper end are provided on the upside of the fine tuning sliding block The left and right sides is symmetrically arranged with fine tuning limited block.
- 3. a kind of novel intelligent storage robot device according to claim 1, it is characterised in that：The horizontal holding dress The balance electric energy machine including being set on the left of the fine tuning sliding block is put, the balance electric energy machine is set in the fine tuning sliding block, institute It states balance electric energy machine upper end and is provided with balance shaft, the balance shaft upper end is provided with reel, the balance shaft lower end Mating connection is curled up with the balance electric energy machine upper end, the balance shaft upper end connects with reel lower end secure fit It connects, guide roller is correspondingly arranged at left and right sides of the fine tuning sliding block, the fine tuning upper end of slide block, which is provided with down, curls up piece, under described Curl up piece upper end and be provided with and curl up piece, it is described on curl up piece upper end and be provided with support load bed, piece and the fine tuning are curled up under described Upper end of slide block face is fixedly connected with cooperation, it is described on curl up piece with it is described under curl up piece and curl up matings connection, it is described to hold in the palm load bed lower end Face with it is described on curl up piece upper end and be fixedly connected with cooperation, balance draw ring is provided at left and right sides of the support load bed, the balance is drawn It is to have drawstring on ring, the drawstring is sequentially connected the right side balance draw ring, the right side guide roller, the reel, left side The guide roller, the left side balance draw ring, the drawstring is tensed.
- 4. a kind of novel intelligent storage robot device according to claim 1, it is characterised in that：The forward gear packet Include that the bottom plate for being set to the telescopic device lower end, the bottom plate lower end or so is corresponding to be provided with advance wheel apparatus, before described Include promoting electric energy machine into wheel apparatus, the propulsion electric energy machine drives wheel hub to curl up, and the wheel hub side is provided with crawler belt, passes through The wheel hub drives the crawler belt to push ahead, and the advance wheel apparatus is connect with the bottom plate using truss.
- 5. a kind of novel intelligent storage robot device according to claim 1, it is characterised in that：The improvement structure packet It includes the silencing pad for being fixed at the flexible electric energy machine left and right sides and is fixed at two before and after the flexible electric energy machine The vibration damper plate of side, the silencing pad are connected with the vibration damper plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711493269.8A CN108146963A (en) | 2017-12-30 | 2017-12-30 | A kind of novel intelligent storage robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711493269.8A CN108146963A (en) | 2017-12-30 | 2017-12-30 | A kind of novel intelligent storage robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108146963A true CN108146963A (en) | 2018-06-12 |
Family
ID=62460463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711493269.8A Withdrawn CN108146963A (en) | 2017-12-30 | 2017-12-30 | A kind of novel intelligent storage robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108146963A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111661270A (en) * | 2020-06-14 | 2020-09-15 | 陈盼 | Container testing device-based container testing method for container ship cargo compartment guide rail |
-
2017
- 2017-12-30 CN CN201711493269.8A patent/CN108146963A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111661270A (en) * | 2020-06-14 | 2020-09-15 | 陈盼 | Container testing device-based container testing method for container ship cargo compartment guide rail |
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Application publication date: 20180612 |
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