CN108161920A - A kind of contractile running gear of manipulator - Google Patents
A kind of contractile running gear of manipulator Download PDFInfo
- Publication number
- CN108161920A CN108161920A CN201711250736.4A CN201711250736A CN108161920A CN 108161920 A CN108161920 A CN 108161920A CN 201711250736 A CN201711250736 A CN 201711250736A CN 108161920 A CN108161920 A CN 108161920A
- Authority
- CN
- China
- Prior art keywords
- gear
- manipulator
- swing arm
- running gear
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The present invention discloses a kind of contractile running gear of manipulator, including being provided with straight-line displacement ball bar ruler in guide rail, reading head is provided in sliding sleeve, at least two manipulators, main motor, it is fixedly installed on running equipment bottom plate, main motor output shaft is linked by a reduction box and a screw with sliding sleeve, wherein, each manipulator is made of the mechanical arm that a pair can relatively rotate, each mechanical arm is made of several section turning joints, it is rotatablely connected between each turning joint by rotation axis, manipulator synchronization telescope on running gear, with the effective length of control machinery hand.The present invention, which solves, to be grabbed luggage and puts the technical issues of can not effectively being contacted with different shape target object.
Description
Technical field
The present invention relates to automatic control technology fields, and in particular to a kind of contractile running gear of manipulator.
Background technology
For a long time, it creeps technical field in automatic vertical, few relevant automations can be competent at this task, special
It is not to grab for the target of different shape and climb object, generally grabs and climb equipment and can only adapt to a kind of target of specific shape and grab climb object
Corresponding operating is carried out, such as cylindrical target body, then mechanical arm is designed to indent radian, for rectangular target object
Body, then mechanical arm be designed to linear type, meanwhile, target is grabbed climb object size it is also restricted, size then causes to contact very much greatly
Area is too small and can not effectively hold, and size is too small, can not effectively contact at all, so as to limit grab the popularization for climbing equipment should
With.
Invention content
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
The object of the present invention is to provide a kind of contractile fortune of manipulator easy to use, safe, that working efficiency is high
Luggage is put, and may determine that whether manipulator has held based on pressure sensor, real by the rotation of upper and lower manipulator and screw
Now whole moves up and down, and to realize the protection to staff, on the other hand, is made of on mechanical arm multiple turning joints,
The target climbing object of different structure is adapted to, effective crawl length of cooperative mechanical arm can be adjusted suitably, to be directed to not
The target object of similar shape and the size of target object adjust the form of mechanical arm and length, preferably to hold object
Body solves and grabs luggage and put the technical issues of can not effectively being contacted with different shape target object.
In order to realize these purposes according to the present invention and other advantages, a kind of contractile operation dress of manipulator is provided
It puts, including：
Guide rail is fixedly installed on the bottom plate of the running gear, and the guide rail is vertical with the running gear bottom plate,
The guide upper is cased with sliding sleeve, and the guide rail is hollow-core construction, and straight-line displacement ball bar ruler, the cunning are provided in the guide rail
Reading head is provided in set, the reading head envelope is in the straight-line displacement ball bar ruler periphery, the reading head and the operation
The controller connection of device, the bottom base plate are additionally provided with an infrared distance measurement module, the detection mouth of the infrared distance measurement module
Vertically ground, the output terminal of the infrared distance measurement module are connect with the controller；
At least two manipulators, are installed on the running gear homonymy up and down, and the manipulator is grabbed to go to grab in target and be climbed
Object periphery, wherein, upper manipulator is fixed on the sliding sleeve, and lower manipulator is fixed on the bottom plate, and the manipulator exists
It is made of on shaft core position equipped with rotating mechanism, the rotating mechanism the decelerating motor to link with meshing gear, the engaging tooth
Wheel is connect with the manipulator, and the decelerating motor is connect with the controller；
Main motor is fixedly installed on the running gear bottom plate, the main motor output shaft by a reduction box and
One screw links with the sliding sleeve, slides over described in driving and is relatively moved on the guide rail, the main motor and the controller
Connection；And
Several pressure sensors are disposed on the madial wall of the manipulator, the pressure sensor with it is described
Controller connects；
Wherein, the meshing gear is by three longitudinally spaced first gear disks overlapped, second gear disk and third
Toothed disc is formed, and two surfaces are corresponding respectively up and down offers a positioning groove for each toothed disc, the length of the locating slot with
The diameter of the toothed disc is consistent；The manipulator is made of a pair of of mechanical arm, and the mechanical arm is by three longitudinally spaced overlappings
The first swing arm, the second swing arm and the third swing arm of setting are formed, the equivalent width of the width of the locating slot and the mechanical arm,
First swing arm, which is stretched, to be arranged in the locating slot of the first gear disk upper surface, and second swing arm is arranged on institute simultaneously
It states first gear disk lower surface and in the locating slot of second gear disk upper surface, the third swing arm is arranged on described second simultaneously
In the locating slot of toothed disc lower surface and third toothed disc upper surface, the thickness of each swing arm is not less than the positioning groove depth
Two times of degree, the decelerating motor rotation axis and the third toothed disc bottom centre axis connection, each swing arm synchronization exist
It stretches in the locating slot, each swing arm is made of several section turning joints, by turning between each turning joint
Moving axis is rotatablely connected, and movement is provided with driving motor to the rotation axis in each swing arm, the mechanical arm up and down, institute
Driving motor is stated selectively to be drivingly connected with each rotation axis.
Preferably, further include one be mounted on the sliding sleeve on connecting seat, the connecting seat upper end be provided with it is described fixed
The corresponding fluting of position slot, first swing arm are movably arranged among the locating slot and fluting, are equipped on the connecting seat
First rotating mechanism, what first rotating mechanism included a pair of first meshing gear and was fixed on the connecting seat first subtracts
Speed motor, first meshing gear are clamped and installed in the mounting base, and the first reducing motors are nibbled with described first
The third toothed disc closed in gear is drivingly connected, a pair of first meshing gear engagement connection.
Preferably, a pedestal on the bottom plate is installed, the second rotating mechanism is installed on the pedestal, described second turn
Motivation structure includes a pair of second meshing gear and the second reducing motors being fixed on the pedestal, the second meshing gear quilt
It is clamped and installed on the pedestal, the second reducing motors connect with the third gear dish driving in second meshing gear
It connects, a pair of second meshing gear engagement connection.
Preferably, the main motor output shaft connection one turns to reduction box, and the screw is vertically connected on the steering and subtracts
The output terminal of fast case is provided with a threaded hole on the connecting seat, and the wire rod thread is connected in the threaded hole.
Preferably, on each turning joint madial wall at least provided with a press device, the press device with
The target grab climb object contact angle it is adjustable, interface, the pressure sensing are provided on the press device madial wall
Device is arranged on the interface bottom, and non-slip mat is plugged in the interface, and the manipulator passes through the non-slip mat and mesh
Mark, which is grabbed, climbs object contact.
Preferably, each rotation axis and second turning joint of two neighboring turning joint are fixed, each described
Rotation axis upper end and the first swing arm upper surface flush axially and symmetrically offer at least two grooves, institute in the rotation axis
It states to stretch in groove and is provided with a guide rod, a compression spring is arranged on the guide rod, the compression spring upper end is connect with the guide rod, institute
Compression spring lower end to be stated to connect with the groove madial wall, the guide rod upper end is horizontally arranged with a first end face gear, and described first
The teeth of face gear are upward, and the outer peripheral sidewall of the first end face gear is provided with the first groove, the first end face tooth
The first swing arm upper surface in wheel outside is provided with a locking piece, and the locking piece lateral wall is provided with the second groove, normally
Under state, the first end face gear is locked with locking piece by the first groove engaged and the second groove, on the mechanical arm
End is slided and is provided with one first driving mechanism, and the driving motor is arranged in first driving mechanism.
Preferably, first driving mechanism includes：
Driving motor is arranged on the mechanical arm upper end by a bracket-suspending, and the output shaft of the driving motor hangs down
Straight down-set, the output terminal of the driving motor is provided with a shaft coupling；
Telescoping mechanism, is arranged on the output terminal of the shaft coupling, and being provided with one on the telescopic end of the telescoping mechanism stretches
Contracting connector；
Drive rod is disposed longitudinally on described be telescopically connected on the output terminal of device；And
Second end face gear is arranged on the end of the drive rod, and the teeth of the second end face gear are downward, described
Second end face gear selectively engages linkage with the first end face gear, and the rotation axis is driven to rotate.
Preferably, the frame bottom is arranged at intervals with a pair of of guider, and the guider, which protrudes above, is provided with one
Guide block, correspondence offers a guide groove to the mechanical arm upper and lower ends respectively, and the guide block is slidably arranged in the guide groove；
Wherein, the frame bottom is additionally provided with one second driving mechanism, horizontal on the output shaft of second driving mechanism
To a horizontal gear is provided with, a gear band is correspondingly arranged on the mechanical arm lateral wall, the horizontal gear engagement is connected to institute
It states on gear band, the gear band two ends are provided with overtravel protection switch, the overtravel protection switch and the control
Device connects.
Preferably, the upper manipulator transversal stretching runs through the connecting seat, and the lower manipulator transversal stretching runs through institute
State pedestal, the upper and lower manipulator end setting finite place piece.
Preferably, third driving mechanism is horizontally arranged on the connecting seat, the third driving mechanism exports axis connection
One first drive gear, the first swing arm upper surface of the upper manipulator are provided with one first driver slot, and described first drives
Moving gear is engaged through the connecting seat with first driver slot；The 4th driving mechanism, institute are horizontally arranged on the pedestal
The 4th driving mechanism output one second drive gear of axis connection is stated, the first swing arm upper surface of the lower manipulator is provided with
One second driver slot, second drive gear are engaged through the pedestal with second driver slot.
Compared with prior art, the advantageous effect that the present invention includes is：
1st, the length of mechanical arm can stretch adjustment, and mechanical arm lengths are adjusted to be directed to various sizes of target object,
So that mechanical arm is preferably contacted with target object, running gear is not easy to be detached from from target object in the process of running；
2nd, running gear safety higher realizes automatic climbing process, meanwhile, mechanical arm is by Multi-section active joint group
Into can be grabbed according to target and climb the shape of object to change the shape and structure of mechanical arm, so as to catch mesh of different shapes
Mark, which is grabbed, climbs object, improves the application range of running gear.
Part is illustrated to embody by further advantage, target and the feature of the present invention by following, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is the enlarged structure schematic diagram of part A in Fig. 1；
Fig. 3 is the second driving mechanism structure schematic diagram of the invention；
Fig. 4 is structure diagram when first end face gear is engaged with locking piece；
Fig. 5 is structure diagram when one of first end face gear is detached with locking piece；
Fig. 6 is structure diagram when mechanical arm is not fully extended；
Fig. 7 is structure diagram when mechanical arm is fully extended；
Fig. 8 is the assembling structure schematic diagram of rotation axis and first end face gear.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to enable those skilled in the art with reference to comment
It can implement according to this.
As shown in figures 1-8, the present invention provides a kind of contractile running gear of manipulator, including display module, infrared
Range finder module, manipulator, rotation and flexible module and driving mechanism.
Specifically, LCD display module is arranged at the top of running gear, to realize state and the operation to upper and lower manipulator
The real-time display of device current location, the LCD display module are connect with the controller of the running gear, LCD display module
Side is equipped with several buttons, with button in the control controller, the final movement start and stop for pressing key control running gear, machine
The promptly direction of motion with release, the rotation process in each joint and running gear of tool hand.
The running gear bottom is equipped with infrared distance measurement module, and the infrared distance measurement module is connect with the controller, has
Body, infrared distance measurement module is arranged on the lower surface of bottom plate 1, and the infrared distance measurement module by sending signal and connecing vertically downward
Transmitting-receiving penetrates signal to judge height and position that running gear is presently in, and feed back in the display module.
A pair of guide rails 3 is installed on bottom plate 1, the guide rail 3 is vertical with the running gear bottom plate 1, the guide rail 3
On be cased with sliding sleeve 31, sliding sleeve 31 is slided up and down along guide rail 3.It, will in order to be preferably monitored to range ability in the present invention
The guide rail 3 is set as hollow-core construction, and straight-line displacement ball bar ruler is provided in the guide rail 3, specifically, the inside of guide rail 3 is empty
Intracavitary is tightly packed to have steel ball with high precision, while reading head is provided in the sliding sleeve 31, and the reading head envelope is described
Straight-line displacement ball bar ruler periphery, that is, envelope, in steel ball periphery, when sliding sleeve 31 moves on guides 3, reading head is in steel ball
Outside is moved, and generates displacement signal, and the reading head is connect with the controller of the running gear, and displacement signal is sent to control
In device processed, you can the situation of movement of running gear is known, so as to preferably control the fortune control stroke of running gear.
In the present embodiment, two manipulators are movably installed in running gear homonymy, are climbed the targets such as electric pole to be caught to grab
Object, the manipulator are made of a pair of of mechanical arm, and the mechanical arm is by three longitudinally spaced the first swing arms overlapped,
Two swing arms and third swing arm are formed, and in the present embodiment, target, which is grabbed, climbs object by taking electric pole as an example to illustrate, the manipulator
It is made of on shaft core position equipped with rotating mechanism, the rotating mechanism the decelerating motor to link with meshing gear, the engagement
Gear is connect with the manipulator, and the meshing gear is by three the longitudinally spaced first gear disks overlapped, second gears
Disk and third toothed disc are formed, and correspondence offers a positioning groove, the locating slot to each toothed disc respectively on two surfaces up and down
Length it is consistent with the diameter of the toothed disc.First swing arm, which is stretched, is arranged on the positioning of the first gear disk upper surface
In slot, second swing arm is arranged on simultaneously in the locating slot of the first gear disk lower surface and second gear disk upper surface,
The third swing arm is arranged on simultaneously in the locating slot of the second gear disk lower surface and third toothed disc upper surface.
Specifically, being equipped with a connecting seat 4 on the sliding sleeve 31, the first rotating mechanism, institute are installed on the connecting seat 4
It states the first rotating mechanism and includes the first meshing gear of a pair 42 and the first reducing motors 41 being fixed on the connecting seat 4, the
One meshing gear 42 is by three longitudinally spaced first gear disks 421 overlapped, second gear disk 422 and third toothed disc
423 are formed；The first reducing motors 41 engage drive connection with the third toothed disc 423 in first meshing gear 42,
A pair of engagement of first meshing gear 42 connection.
The first mechanical arm of the upper manipulator 43 is by longitudinally spaced the first swing arm 440 overlapped, the second swing arm 450
And third swing arm 460 is formed, correspondence offers a positioning groove, the locating slot to each toothed disc respectively on two surfaces up and down
Length it is consistent with the diameter of the toothed disc, that is, locating slot along gear disk center through gear panel surface both ends, it is described
The equivalent width of the width of locating slot and the mechanical arm, that is, the equivalent width with each swing arm so that swing arm just blocks
It is located in locating slot, and can be moved along locating slot, simultaneously because being limited by locating slot so that swing arm is same with toothed disc
Step rotation.
4 upper end of connecting seat is provided with fluting corresponding with the 421 upper surface locating slot of first gear disk, and described
One swing arm, 440 telescopic movable is arranged among the 421 upper surface locating slot of first gear disk and fluting, and fluting is rotatably arranged on
On connecting seat 4 so that fluting can be rotated synchronously with swing arm, and second swing arm 450 is arranged on the first gear simultaneously
In the locating slot of 421 lower surface of disk and 422 upper surface of second gear disk, the third swing arm 460 is arranged on described second simultaneously
422 lower surface of toothed disc is folded in the locating slot of 423 upper surface of third toothed disc, always causing each toothed disc and swing arm intersection
It adds and puts, most 42 and first swing arm 440 of the first meshing gear, the second swing arm 450 and third swing arm 460 are clamped at last
In the mounting base 4, while it can be freely rotated in mounting base.
The thickness of each swing arm is not less than two times of the clamping slot depth, so as to ensure that meshing gear is clamped
Afterwards, each toothed disc keeps being arranged at intervals, and is rotated synchronously by three toothed discs of swing arm being caught in the middle.Described first
Decelerating motor rotation axis and 423 bottom centre's axis connection of third toothed disc drive two the by first reducing motors 41
One meshing gear 42 rotates synchronously, while each swing arm is driven to rotate synchronously.
Two mechanical arms of upper manipulator are arranged on the periphery of electric pole, when first reducing motors 41 drive the first engaging tooth
When wheel 42 inwardly rotates, two mechanical arms being connect with the first meshing gear 42 move toward one another, so as to clamp on utility poles, directly
It is fixed to electric pole.When first reducing motors 41 drive the first meshing gear 42 to be turned out, with the first meshing gear 42
Two mechanical arm reverse motions of connection, so as to be unclamped from electric pole.
One pedestal 10 on the bottom plate 1 is installed, the second rotating mechanism, second rotation are installed on the pedestal 10
Mechanism includes the second meshing gear of a pair 11 and the second reducing motors 12 being fixed on the pedestal 10, second engaging tooth
Wheel is clamped and installed on the pedestal, and the second reducing motors are engaged with the third toothed disc in second meshing gear
It is drivingly connected, a pair of engagement of second meshing gear 11 connection so that the second meshing gear 11 is realized on pedestal 10 freely
Rotation, so as to two the second meshing gears 11 be driven to rotate synchronously by second reducing motors 12, lower manipulator and the second engagement
The connection mode of gear is identical with the connection mode of upper manipulator and the first meshing gear, no longer describes herein, under finally causing
Manipulator and the second meshing gear rotate synchronously, while can be elastic on pedestal along locating slot, change mechanical arm
Effective length.
Two mechanical arms of lower manipulator 13 are arranged on the periphery of electric pole, when second engagement of the driving of second reducing motors 12
When gear 11 inwardly rotates, two mechanical arms being connect with the second meshing gear 11 move toward one another, so as to clamp on utility poles,
It is fixed until with electric pole.When second reducing motors 12 drive the second meshing gear 11 to be turned out, with the second meshing gear
Two mechanical arm reverse motions of 11 connections, so as to be unclamped from electric pole.
Wherein, first reducing motors and second reducing motors are all controlled by the controller.
Each swing arm is made of several section turning joints, as shown in the figure, the first swing arm 440 of upper manipulator 43 is from interior
To outside successively by the first turning joint 431, the second turning joint 432,433 and the 4th turning joint 434 of third turning joint
It links into an integrated entity, 42 synchronized links of the first turning joint 431 and the first meshing gear pass through one between two neighboring turning joint
Rotation axis 430 is rotatablely connected, and each rotation axis 430 and second turning joint of two neighboring turning joint are fixed,
Meanwhile the rotation axis runs through each swing arm 440,440,460 up and down so that the same turning joint in each swing arm is same
Step rotation, and each swing arm synchronization is stretched in the locating slot.
Each 430 upper end of rotation axis and the mechanical arm upper surface flush are axially and symmetrically opened in the rotation axis 430
It stretches equipped at least two grooves 53, in the groove 53 and is provided with a guide rod 51, a compression spring 52 is arranged on the guide rod 51,
52 upper end of compression spring is connect with the guide rod 51, and 52 lower end of compression spring is connect with 53 madial wall of groove, the guide rod
51 upper ends are horizontally arranged with a first end face gear 5, and under the action of compression spring, first end face gear 5 is kept and mechanical arm upper table
Face interval certain distance, the teeth of the first end face gear 5 are upward.
And the outer peripheral sidewall of the first end face gear 5 is provided with the first groove, the institute on the outside of the first end face gear
It states the first swing arm upper surface and is provided with a locking piece 44,44 lateral wall of locking piece is provided with the second groove, under normal condition,
The first end face gear is locked with locking piece 44 by the first groove engaged and the second groove, so as to correspond to turning joint
Locking, avoids turning joint from voluntarily rotating, and mechanical arm is caused to be loosened with target object.
Since first end face gear 5 is plugged in by guide rod 51 in groove 53, first end face gear 5 and rotation axis and its same
The turning joint of step connection is fixedly connected, when first end face gear 5 is driven to rotate, the turning joint of rotation axis and its connection
It rotates synchronously, that is to say, that by the way that each rotation axis is driven to rotate, you can each turning joint is driven to rotate, so as to change machine
The form of tool arm, and then effectively catch target object of different shapes.
On the other hand, under normal condition, under the action of compression spring 52, the first end face gear 5 and the locking piece 44
Engagement, that is, is locked in mechanical arm upper surface by first end face gear 5, since first end face gear 5 is plugged by guide rod 51
In groove 53, first end face gear 5 and rotation axis 430 are linked, when first end face gear is locked, rotation axis and therewith
The joint of connection is also locked, avoid turning joint voluntarily rotate grabbed with target climb object release.
The mechanical arm upper end, which is slided, is provided with one first driving mechanism 6,6 lower retractable of the first driving mechanism setting
There is a second end face gear 64, the second end face gear 64 links with 5 selectivity of first end face gear, works as second end face
Gear 64 by the first driving mechanism 6 with after the first end face gear 5 linkage, driving the rotation axis 430 to rotate, so as to drive
Dynamic each turning joint rotation adjusts mechanical arm to the shape of climbing object external outline is grabbed with target, preferably to hold mesh
Mark, which is grabbed, climbs object, and first driving mechanism 6 is connect with the controller.
In above-mentioned technical proposal, first driving mechanism 6 includes：
Driving motor 61 is vacantly arranged on the mechanical arm upper end by a stent 66, the driving motor 61 it is defeated
Shaft is set vertically downward, and the output terminal of the driving motor 61 is provided with a shaft coupling 62；
Telescoping mechanism 68 is arranged on the output terminal of the shaft coupling 62 so that driving motor 61 drives telescoping mechanism 68
It rotates synchronously, telescoping mechanism is controlled by the controller, and being provided with one on the telescopic end of the telescoping mechanism 68 is telescopically connected device 67；
Drive rod 63, be disposed longitudinally on it is described be telescopically connected on the output terminal of device 67 so that drive rod 63 is driven
Dynamic motor 61 drives and rotates, meanwhile, drive rod 63 is driven by telescoping mechanism and is moved up and down, to adjust drive rod end height
Degree；And
Second end face gear 64 is arranged on the end of the drive rod 63, and the teeth of the second end face gear are downward,
The second end face gear 64 moves back and forth, and chase a be moved to respectively with the whole end on the robotic arm of the first driving mechanism 6
A rotation axis upper end is aligned with first end face gear 5, by telescoping mechanism 68 by second end face gear 64 be moved downwardly until with
The engagement linkage of first end face gear 5, then drives second end face gear 64 and first end face gear 5 to synchronize by driving motor 61
Rotation, you can drive the rotation axis of corresponding position and the turning joint rotation of its connection, the shape for climbing object is grabbed according to target
The angle of the turning joint is adjusted, until the angle of the turning joint is adjusted in place.
66 bottom interval of stent is provided with a pair of of guider 65, for the slip of stent 66 to be fixed on mechanical arm
On, the guider 65, which protrudes above, is provided with a guide block, and guide block direction is consistent with the width direction of guider 65, the machine
Correspondence offers a guide groove respectively on tool arm upper and lower ends surface, and the guide block is slidably arranged in the guide groove, so as to
Mobile guide is improved for the first driving mechanism 6, the first driving mechanism 6 is moved along guide groove on mechanical arm lateral wall.
Specifically, the frame bottom is additionally provided with one second driving mechanism 7, second driving mechanism 7 is by rotation electricity
Machine 71 and horizontal gear 72 are formed, and the horizontal gear 72, the mechanical arm outside are horizontally arranged on the output shaft of rotary electric machine 71
A gear band is correspondingly arranged on wall, the engagement of horizontal gear 72 is connected on the gear band, when 71 turns of rotary electric machine of driving
When dynamic, horizontal gear 72 is driven to be moved on gear band, so as to which entire first driving mechanism 6 be driven to be moved up in mechanical arm lateral wall
It is dynamic, it is selectively engaged with each first end face gear 5, and then each turning joint is driven to rotate as required.
The gear band two ends are provided with overtravel protection switch, and the overtravel protection switch connects with the controller
It connects, the first driving mechanism 6 is prevented to be detached from gear band.
Second driving mechanism 7 moves the first driving mechanism 6 along mechanical arm lateral wall, until by second end face gear 64
The surface of a first end face gear 5 is moved to, the height of second end face gear 64 is controlled by telescoping mechanism 68 so that the
Biend gear 64, which drops to, engages linkage with first end face gear 5, while first end face gear 5 is pressed down on, Zhi Dao
End face gear is detached with locking piece 44, and first end face gear and the turning joint of rotation axis and its connection are detached from locking.
At this point, control driving motor 61 rotates, you can drives the rotation axis of corresponding position and the turning joint of its connection
Rotation grabs according to target and climbs the shape of object and adjust the angle of the turning joint, until the angle of the turning joint is adjusted in place,
The target of the turning joint and position, which is grabbed, climbs the outer wall conflict of object and holds, and turning joint is reversely rotated to make for driving
It obtains mechanical arm and the release climbed on object outer wall is grabbed from target.
5 bottom of first end face gear by the guide rod 51 for being arranged with the compression spring 52 it is flexible be arranged on it is described recessed
In slot 53, the first end face gear 5 engages under the action of the compression spring 52 with the locking piece 44, when the second end face
After gear contacts with the first end face gear 5 and presses down on first end face gear 5, the first end face gear 5 and institute
Locking piece 44 is stated to be detached from.
Specifically, the second driving mechanism 7 moves the first driving mechanism 6 along mechanical arm lateral wall, until by second end
Face gear 64 is moved to the underface of a first end face gear 5, and the height of second end face gear 64 is controlled by telescoping mechanism 68
Degree so that second end face gear 64, which rises to, engages linkage with first end face gear 5, while first end face gear 5 is pressed downwards
Straightening is detached to locking piece, and first end face gear and the turning joint of rotation axis and its connection are detached from locking.At this point, control is driven
Dynamic motor 61 rotates, you can drives the rotation axis of corresponding position and the turning joint rotation of its connection, is grabbed according to target and climb object
The shape of body adjusts the angle of the turning joint, and until the angle of the turning joint is adjusted in place, the turning joint and institute are in place
The target at the place of putting, which is grabbed, climbs the outer wall conflict of object and holds, and driving turning joint is reversely rotated to be may be such that mechanical arm is grabbed from target and climb
Release on object outer wall.
Hereafter, the height of second end face gear 64 is controlled by telescoping mechanism 68 so that second end face gear 64 rises, directly
It is detached to first end face gear 5, under the action of compression spring, retraction engages first end face gear 5 until with locking piece upwards, the
The turning joint of end face gear and rotation axis and its connection is relocked so that after turning joint angle is adjusted in place, no
It can voluntarily rotate, so that the turning joint is grabbed with target climbs object holding conflict state.Hereafter, the first driving mechanism moves
Corresponding operating is carried out to next first end face gear upper end.
After the angle of first turning joint is adjusted in place, control telescoping mechanism 68 bounces back, so that second end face tooth
Wheel 64 is detached from first end face gear 5, and hereafter, control driving rotary electric machine 71 rotates so that horizontal gear 72 is moved up in gear band
It is dynamic, so as to which entire first driving mechanism 6 be driven to be moved on mechanical arm lateral wall, until being moved to next first end face gear
5 positive upper end, control telescoping mechanism 68 decline so that first end face gear and the engagement of second end face gear, while by first end
Face gear 5 is detached with locking piece, and hereafter, control driving motor 61 rotates, you can drives the rotation axis and Qi Lian of corresponding position
The turning joint rotation connect grabs according to target and climbs the shape of object and adjust the angle of the turning joint, until the turning joint
Angle is adjusted in place, and later, control second end face gear rising is detached with first end face gear, first end face gear again with lock
Determine part locking, the first driving mechanism is continued to move to above next rotation axis and is operated, and so on, until by each work
Diarthrodial angle is adjusted in place so that mechanical arm cooperation target grabs the shape for climbing object and firmly grabs to climb to grab in the target and climb object
The periphery of body, so that the mechanical arm of the present invention can grab the target object for climbing different shape structure, application range is wider.
In the inside of each turning joint equipped with non-slip mat, the non-slip mat is close to described to increase frictional force
Pressure sensor between non-slip mat and the manipulator is installed, and current state is returned on display module in real time, is used for
Judge whether manipulator clamps with electric pole.
Specifically, the press device of several adjustable angles, the pressing are provided on each turning joint madial wall
Device grabbed with the target climb object contact angle it is adjustable, non-slip mat is provided on the press device, press device is used for
The angle of non-slip mat is adjusted, clamping is bonded with the electric pole lateral wall with different-diameter.The non-slip mat medial surface be set as with
Target grabs the shape for climbing object form fit, further improves the contact area with electric pole side wall, improves frictional force.It is described
Manipulator is contacted by the non-slip mat with the column, so as to effectively increase the frictional force with column, avoids machinery
Hand on utility poles skid by stress, improves the safety of running gear.
Pressure sensor is installed, the pressure sensor connects with the controller between the non-slip mat and press device
It connects, in force information back to chip, will judge whether manipulator clamps with electric pole, the normal operation if being clamped, such as
Fruit pressure value does not reach clamped condition, then sends out alarm signal.Specifically, it is provided with grafting on the press device madial wall
Mouthful, the pressure sensor is mounted on the interface bottom, and the non-slip mat is plugged in the interface.
Main motor 2 is fixedly installed on the running gear bottom plate 1, and the main motor 2, which exports axis connection one and turns to, to slow down
Case 22, the screw 21 are vertically connected on the output terminal for turning to reduction box 22, a threaded hole are provided on the connecting seat,
The screw 21 is threaded in the threaded hole, and main motor 2 drives screw 21 to be moved in connecting seat 4, so as to the company of drive
Joint chair 4 moves up and down, that is, the upper manipulator of driving slides on the guide rail, and the main motor 2 is connect with the controller.
Specifically, when main motor 2 drives screw 21 to rotate forward, push connecting seat 4 and upper manipulator past along guide rail
Upper operation when main motor 2 drives screw 21 to rotate backward, pulls entire pedestal, guide rail and lower manipulator along guide rail direction
Up run.Running gear operation downwards then operational process on the contrary, drive the rotation of screw 21 by main motor 2, cause sliding sleeve with
The fortune up and down of running gear is realized in the relative motion of position between upper manipulator 43 and its integrated connection seat and running gear lower part
Row.
One locking device is installed, the locking device is grabbed with the target by controller control and climbed on the bottom plate
Object selective lock, when running gear is out of service, the locking of control locking device on utility poles, avoids running gear from anticipating
Outer movement.
It is specific to grab that get over journey as follows：
It, can be within a period of motion since grabbing for the present invention climbs grabbing for actually a cycle cycle and get over journey
It is divided into five kinds of states according to motion conditions, the present embodiment illustrates for grabbing climb upwards；
1st kind of state, manipulator clamps under this running gear, while first reducing motors drive the first engaging tooth rotation
Dynamic, upper manipulator 43 unclamps；
2nd kind of state, main motor 2 rotate, and upper manipulator 43 is firmly grasped, and second reducing motors drive the second meshing gear at this time
Rotation, lower manipulator start to unclamp, and guide rail starts to move up along sliding sleeve, walks idle stroke.
Three state, main motor 2 are rotated further, and the upper holding of manipulator 43 is firmly grasped, and lower manipulator unclamps, under robot
Part is thus lifted to limiting condition.
4th kind of state, main motor 2 are rotated further, and lower manipulator clamps, and first reducing motors drive the first engaging tooth at this time
Wheel rotation, upper manipulator 43 start to unclamp, and guide rail is fixed, and sliding sleeve starts follows track and moves up, and walks idle stroke.
5th kind of state, main motor 2 are rotated further, and lower manipulator keeps clamping, and upper manipulator 43 unclamps, robot it is upper
Part, which is promoted, arrives limiting condition, so as to control running gear uplink, so as to complete the ascending motion of running gear a cycle, according to
Secondary repetition, until running gear rises to object height.
In above-mentioned technical proposal, the upper manipulator transversal stretching runs through the connecting seat, corresponding, the lower manipulator
Transversal stretching runs through the pedestal, the upper and lower manipulator end setting finite place piece.
Specifically, being horizontally arranged with third driving mechanism 45 on the connecting seat, third driving mechanism 45 passes through a rotation
Mechanism is arranged on the connecting seat upper end, with mechanical arm synchronous hunting so that 45 and first swing arm of third driving mechanism and first
Meshing gear rotates synchronously, and the third driving mechanism 45 exports one first drive gear of axis connection, the institute of the upper manipulator
It states the first swing arm upper surface and is provided with one first driver slot, first drive gear is through the connecting seat always with described the
One driver slot engages, so as to the first swing arm be driven to move back and forth in locating slot by third driving mechanism 45, due to same
Each swing arm on one mechanical arm is synchronous interaction, therefore the stretching of upper manipulator can be controlled by third driving mechanism 45
Distance can adjust the outreach of upper manipulator according to the gear of target object.The upper manipulator end setting is limited
Position part 435, movement travel of the 435 limit mechanical hand of locating part on running gear.
As shown in fig. 7, when target object size is smaller, upper manipulator is without all stretching out, if target object is larger
When, as shown in figure 8, upper manipulator all stretches out, while coordinate the rotational angle of each turning joint, can adjust manipulator with
The contact posture of target object so as to preferably be contacted with target object, ensures that manipulator is held on target object.
Similarly, it is horizontally arranged with the 4th driving mechanism on the pedestal, the 4th driving mechanism output axis connection 1 the
Two drive gears, the first swing arm upper surface of the lower manipulator are provided with one second driver slot, second sliding tooth
Wheel is engaged through the pedestal with second driver slot.Lower manipulator is driven to move back and forth by the 4th driving mechanism, from
And control the distance of stretch out and draw back of lower manipulator.
In conclusion the elastic adjustable automatic operating device of one kind of the above embodiment of the present invention, having can realize certainly
It is dynamic to grab the function of climbing, ensure its safety while providing convenient to staff；Use simple, easy to maintain, performance
Excellent, failure rate is low, safe so that the cost of entire control system substantially reduces, wide market.Meanwhile machinery
The length of arm can stretch adjustment, mechanical arm lengths be adjusted to be directed to various sizes of target object, so that mechanical arm
It is preferably contacted with target object, running gear is not easy to be detached from from target object in the process of running；Further, operation dress
Safety higher is put, realizes automatic climbing process, meanwhile, mechanical arm is made of Multi-section active joint, can be grabbed according to target
The shape of object is climbed to change the shape and structure of mechanical arm, object is climbed so as to which target of different shapes is caught to grab, improves
The application range of running gear.
Although the embodiments of the present invention have been disclosed as above, but its be not restricted in specification and embodiment it is listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easy
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, it is of the invention and unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of contractile running gear of manipulator, which is characterized in that including：
Guide rail is fixedly installed on the bottom plate of the running gear, and the guide rail is vertical with the running gear bottom plate, described
Guide upper is cased with sliding sleeve, and the guide rail is hollow-core construction, is provided with straight-line displacement ball bar ruler in the guide rail, in the sliding sleeve
Reading head is provided with, the reading head envelope is in the straight-line displacement ball bar ruler periphery, the reading head and the running gear
Controller connection, the bottom base plate is additionally provided with an infrared distance measurement module, and the detection mouth of the infrared distance measurement module is vertical
Towards ground, the output terminal of the infrared distance measurement module is connect with the controller；
At least two manipulators are installed on the running gear homonymy up and down, and the manipulator, which grabs to go to grab in target, climbs object
Periphery, wherein, upper manipulator is fixed on the sliding sleeve, and lower manipulator is fixed on the bottom plate, and the manipulator is in axle center
Equipped with rotating mechanism on position, the rotating mechanism is made of the decelerating motor to link with meshing gear, the meshing gear and
The manipulator connection, the decelerating motor are connect with the controller；
Main motor is fixedly installed on the running gear bottom plate, and the main motor output shaft passes through a reduction box and one
Bar links with the sliding sleeve, slides over described in driving and is relatively moved on the guide rail, the main motor is connect with the controller；
And
Several pressure sensors are disposed on the madial wall of the manipulator, the pressure sensor and the control
Device connects；
Wherein, the meshing gear is by three longitudinally spaced first gear disks overlapped, second gear disk and third gear
Disk is formed, and two surfaces are corresponding respectively up and down offers a positioning groove for each toothed disc, the length of the locating slot with it is described
The diameter of toothed disc is consistent；The manipulator is made of a pair of of mechanical arm, and the mechanical arm longitudinally spaced is overlapped by three
The first swing arm, the second swing arm and third swing arm form, the equivalent width of the width of the locating slot and the mechanical arm is described
First swing arm, which is stretched, to be arranged in the locating slot of the first gear disk upper surface, and second swing arm is arranged on described simultaneously
In the locating slot of one toothed disc lower surface and second gear disk upper surface, the third swing arm is arranged on the second gear simultaneously
In the locating slot of disk lower surface and third toothed disc upper surface, the thickness of each swing arm is not less than the clamping slot depth
Two times, the decelerating motor rotation axis and the third toothed disc bottom centre axis connection, each swing arm synchronization is described
It stretches in locating slot, each swing arm is made of several section turning joints, passes through rotation axis between each turning joint
Rotation connection, movement is provided with driving motor, the drive to the rotation axis in each swing arm, the mechanical arm up and down
Dynamic motor is selectively drivingly connected with each rotation axis.
2. the contractile running gear of manipulator as described in claim 1, which is characterized in that further include one and be mounted on the cunning
Connecting seat on set, the connecting seat upper end are provided with fluting corresponding with the locating slot, the first swing arm activity setting
Among the locating slot and fluting, the first rotating mechanism is installed on the connecting seat, first rotating mechanism includes one
To the first meshing gear and the first reducing motors being fixed on the connecting seat, first meshing gear is clamped and installed in
In the mounting base, the first reducing motors are drivingly connected with the third toothed disc in first meshing gear, Yi Duisuo
State the engagement connection of the first meshing gear.
3. the contractile running gear of manipulator as claimed in claim 2 a, which is characterized in that bottom is equipped on the bottom plate
, the second rotating mechanism is installed, second rotating mechanism includes a pair of second meshing gear and is fixed on the pedestal
Second reducing motors on the pedestal, second meshing gear are clamped and installed on the pedestal, and described second slows down
Motor is drivingly connected with the third toothed disc in second meshing gear, a pair of second meshing gear engagement connection.
4. the contractile running gear of manipulator as claimed in claim 3, which is characterized in that the main motor output shaft connection
One turns to reduction box, and the screw is vertically connected on the output terminal for turning to reduction box, a spiral shell is provided on the connecting seat
Pit, the wire rod thread are connected in the threaded hole.
5. the contractile running gear of manipulator as claimed in claim 4, which is characterized in that on the inside of each turning joint
At least provided with a press device on wall, the press device grabbed with the target climb object contact angle it is adjustable, it is described
It is provided with interface on press device madial wall, the pressure sensor is arranged on the interface bottom, in the interface
It is plugged with non-slip mat, the manipulator is grabbed by the non-slip mat with target climbs object and contact.
6. the contractile running gear of manipulator as claimed in claim 5, which is characterized in that each rotation axis with it is adjacent
Second turning joint of two turning joint is fixed, each rotation axis upper end and the first swing arm upper surface flush,
At least two grooves are axially and symmetrically offered in the rotation axis, stretches in the groove and is provided with a guide rod, on the guide rod
A compression spring is arranged with, the compression spring upper end is connect with the guide rod, and the compression spring lower end is connect with the groove madial wall, described
Guide rod upper end is horizontally arranged with a first end face gear, and the teeth of the first end face gear are upward, and the first end face tooth
The outer peripheral sidewall of wheel is provided with the first groove, and the first swing arm upper surface on the outside of the first end face gear is provided with a lock
Determine part, the locking piece lateral wall is provided with the second groove, and under normal condition, the first end face gear is with locking piece by nibbling
The first groove closed and the locking of the second groove, the mechanical arm upper end, which is slided, is provided with one first driving mechanism, the driving electricity
Machine is arranged in first driving mechanism.
7. the contractile running gear of manipulator as claimed in claim 6, which is characterized in that the first driving mechanism packet
It includes：
Driving motor is arranged on the mechanical arm upper end by a bracket-suspending, the output shaft of the driving motor vertically to
Lower setting, the output terminal of the driving motor are provided with a shaft coupling；
Telescoping mechanism is arranged on the output terminal of the shaft coupling, and a flexible company is provided on the telescopic end of the telescoping mechanism
Connect device；
Drive rod is disposed longitudinally on described be telescopically connected on the output terminal of device；And
Second end face gear is arranged on the end of the drive rod, and the teeth of the second end face gear are downward, and described second
Face gear selectively engages linkage with the first end face gear, and the rotation axis is driven to rotate.
8. the contractile running gear of manipulator as claimed in claim 7, which is characterized in that the frame bottom is arranged at intervals
There is a pair of of guider, the guider, which protrudes above, is provided with a guide block, and correspondence opens up the mechanical arm upper and lower ends respectively
There is a guide groove, the guide block is slidably arranged in the guide groove；
Wherein, the frame bottom is additionally provided with one second driving mechanism, is laterally set on the output shaft of second driving mechanism
A horizontal gear is equipped with, a gear band is correspondingly arranged on the mechanical arm lateral wall, the horizontal gear engagement is connected to the tooth
Wheel takes, and the gear band two ends are provided with overtravel protection switch, and the overtravel protection switch connects with the controller
It connects.
9. the contractile running gear of manipulator as claimed in claim 8, which is characterized in that the upper manipulator transversal stretching
Through the connecting seat, the lower manipulator transversal stretching runs through the pedestal, and the upper and lower manipulator end is provided with limiting
Part.
10. the contractile running gear of manipulator as claimed in claim 9, which is characterized in that laterally set on the connecting seat
Be equipped with third driving mechanism, the third driving mechanism exports one first drive gear of axis connection, the upper manipulator it is described
First swing arm upper surface is provided with one first driver slot, and first drive gear is through the connecting seat and the described first driving
Slot engages；The 4th driving mechanism is horizontally arranged on the pedestal, the 4th driving mechanism output axis connection one second drives
Gear, the first swing arm upper surface of the lower manipulator are provided with one second driver slot, and second drive gear runs through
The pedestal is engaged with second driver slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711250736.4A CN108161920A (en) | 2017-12-01 | 2017-12-01 | A kind of contractile running gear of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711250736.4A CN108161920A (en) | 2017-12-01 | 2017-12-01 | A kind of contractile running gear of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108161920A true CN108161920A (en) | 2018-06-15 |
Family
ID=62525101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711250736.4A Pending CN108161920A (en) | 2017-12-01 | 2017-12-01 | A kind of contractile running gear of manipulator |
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| Country | Link |
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| CN (1) | CN108161920A (en) |
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| CN108927813A (en) * | 2018-07-25 | 2018-12-04 | 沈阳航空航天大学 | A kind of multi-functional climbing platform |
| CN109262634A (en) * | 2018-09-14 | 2019-01-25 | 湖北时瑞达重型工程机械有限公司 | A kind of H profile steel column mechanical gripper for railroad track construction |
| CN109591906A (en) * | 2019-01-28 | 2019-04-09 | 山东建筑大学 | A kind of transmission tower climbing robot control system and control method |
| US20190219035A1 (en) * | 2016-09-23 | 2019-07-18 | Leunamme Engineering S.L.U. | Method and equipment for replacing wind turbine components |
| CN110239641A (en) * | 2019-06-27 | 2019-09-17 | 安徽理工大学 | A kind of step-by-step movement climbing level robot |
| CN111572666A (en) * | 2020-06-16 | 2020-08-25 | 北京科海恒生科技有限公司 | A manipulator and wall climbing robot for setting up material |
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| WO2021253650A1 (en) * | 2020-06-19 | 2021-12-23 | 广东智源机器人科技有限公司 | Grasping mechanism and food preparation apparatus |
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| US20190219035A1 (en) * | 2016-09-23 | 2019-07-18 | Leunamme Engineering S.L.U. | Method and equipment for replacing wind turbine components |
| US11808250B2 (en) * | 2016-09-23 | 2023-11-07 | Leunamme Engineering S.L.U. | Method and equipment for replacing wind turbine components |
| CN108927813B (en) * | 2018-07-25 | 2023-08-29 | 沈阳航空航天大学 | Multifunctional climbing platform |
| CN108927813A (en) * | 2018-07-25 | 2018-12-04 | 沈阳航空航天大学 | A kind of multi-functional climbing platform |
| CN109262634A (en) * | 2018-09-14 | 2019-01-25 | 湖北时瑞达重型工程机械有限公司 | A kind of H profile steel column mechanical gripper for railroad track construction |
| CN109262634B (en) * | 2018-09-14 | 2024-03-22 | 湖北时瑞达重型工程机械有限公司 | H-shaped steel column mechanical gripper for railway track construction |
| CN109591906A (en) * | 2019-01-28 | 2019-04-09 | 山东建筑大学 | A kind of transmission tower climbing robot control system and control method |
| CN110239641A (en) * | 2019-06-27 | 2019-09-17 | 安徽理工大学 | A kind of step-by-step movement climbing level robot |
| CN110239641B (en) * | 2019-06-27 | 2024-04-02 | 安徽理工大学 | Stepping pole-climbing robot |
| CN112238080A (en) * | 2019-07-19 | 2021-01-19 | 杉野机械股份有限公司 | Cleaning machine |
| CN111572666A (en) * | 2020-06-16 | 2020-08-25 | 北京科海恒生科技有限公司 | A manipulator and wall climbing robot for setting up material |
| WO2021253650A1 (en) * | 2020-06-19 | 2021-12-23 | 广东智源机器人科技有限公司 | Grasping mechanism and food preparation apparatus |
| CN112263813A (en) * | 2020-09-29 | 2021-01-26 | 国网山东省电力公司梁山县供电公司 | Climbing device and method for pole maintenance |
| CN112192198A (en) * | 2020-10-10 | 2021-01-08 | 西南科技大学 | Auxiliary mounting method for out-of-pile detector |
| CN112157644A (en) * | 2020-10-10 | 2021-01-01 | 西南科技大学 | Auxiliary installation robot system for out-of-pile nuclear detector |
| CN112157619A (en) * | 2020-10-10 | 2021-01-01 | 西南科技大学 | Detector fixing device and fixing method |
| CN116858682A (en) * | 2023-07-05 | 2023-10-10 | 河北途腾路桥工程有限公司 | Bridge performance detection device |
| CN116858682B (en) * | 2023-07-05 | 2024-01-16 | 河北途腾路桥工程有限公司 | Bridge performance detection device |
| CN116913651A (en) * | 2023-09-12 | 2023-10-20 | 任丘市召明电力设备有限公司 | Transformer rack |
| CN116913651B (en) * | 2023-09-12 | 2023-12-01 | 任丘市召明电力设备有限公司 | Transformer rack |
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Application publication date: 20180615 |
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