CN109019049A - A kind of turbine disk accessory feeding device - Google Patents
A kind of turbine disk accessory feeding device Download PDFInfo
- Publication number
- CN109019049A CN109019049A CN201810862869.5A CN201810862869A CN109019049A CN 109019049 A CN109019049 A CN 109019049A CN 201810862869 A CN201810862869 A CN 201810862869A CN 109019049 A CN109019049 A CN 109019049A
- Authority
- CN
- China
- Prior art keywords
- robot
- feeding
- workbench
- turbine disk
- heap
- 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
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- 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
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/30—Details; Auxiliary devices
- B65G17/38—Chains or like traction elements; Connections between traction elements and load-carriers
- B65G17/40—Chains acting as load-carriers
-
- 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
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/30—Details; Auxiliary devices
- B65G17/46—Means for holding or retaining the loads in fixed position on the load-carriers, e.g. magnetic
-
- 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
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/02—Belt- or chain-engaging elements
- B65G23/04—Drums, rollers, or wheels
- B65G23/06—Drums, rollers, or wheels with projections engaging abutments on belts or chains, e.g. sprocket wheels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of turbine disk accessory feeding device, including workbench, robot feeding station is provided on workbench；Material storage mechanism, including multiple heap barrels, each heap barrel upper layer, which stacks, puts workpiece；Material moving device, including drive sprocket are equipped with driving chain on drive sprocket, and heap barrel is fixedly connected with driving chain, and circulate through robot feeding station by driving chain driving；Positioning mechanism is set to the side of robot feeding station, including communication connection close to switch and press cylinder, be provided with sensor block on each heap barrel, when sensor block is triggered close to switch, press cylinder for the heap barrel at robot feeding station and hold out against locking.Above-mentioned apparatus is constantly fed to robot, in addition the compensation way of vertical feeding, can reduce to robot motion requirement, effectively increase production efficiency, provide integrated thinking for turbine disk automatic assembling production line by way of horizontal cyclic feeding.
Description
Technical field
The present invention relates to vehicle turbine disk production equipment technology more particularly to a kind of turbine disk accessory feeding device,
Especially for the Automatic-feeding of turbine shroud and retainer plate.
Background technique
Vehicle turbine disk is a kind of assembly, including shell, blade and retainer plate.When assembly, several blades are orderly arranged
Blade is fixed on shell on shell, then through retainer plate by cloth, to form one integral piece.Domestic automobile turbine disk factory at present
Family is generally using the artificial production method for picking and placing material, man-made assembly, and according to shell dimension in actual production, a turbine disk needs
About 30 blades are installed, labor intensity is larger, causes to produce inefficiency in batches, cost of labor rises.In view of turbine
The assembling process of disk is repetitive in fact, completely can be by robot mechanical arm completion in other words, however, wanting by robot
Entire sub-material, feeding, assembling, blanking process are completed, excessively high to robot requirement, research and development difficulty is big, manufacturing cost is expensive, control
It is required that it is high, it is desirable to design a kind of automation feeding device, cooperate robot manipulation, simplifies robot motion, so that the intelligence
Metaplasia produces more economical, feasible.
Summary of the invention
The purpose of the present invention is to provide a kind of turbine disk accessory feeding devices, in view of the above-mentioned problems, realize Automatic-feeding,
Cooperate subsequent assembly operation.
In order to achieve the above object, the invention adopts the following technical scheme:
A kind of turbine disk accessory feeding device comprising:
Workbench is provided with robot feeding station on workbench；
Material storage mechanism, including multiple heap barrels, each heap barrel upper layer, which stacks, puts workpiece；
Material moving device, including drive sprocket, driving chain is equipped on drive sprocket, and heap barrel and driving chain are solid
Fixed connection, and robot feeding station is circulated through by driving chain driving；
Positioning mechanism is set to the side of robot feeding station, including communication connection close to switch and press cylinder,
It is provided with sensor block on each heap barrel, when sensor block is triggered close to when switching, press cylinder will be at robot feeding station
Heap barrel holds out against locking.
It wherein, further include material jacking mechanism, material jacking mechanism is set to the lower section of robot feeding station, and material jacking mechanism includes top
Electric cylinders and lifting pin are risen, lifting pin is connected to the output end of jacking electric cylinders, and lifting pin passes through workbench and robot feeding work
Workpiece contact on heap barrel at position, so that workpiece be jacked up.
Wherein, the two sides of robot feeding station are erected respectively bracket, is correspondingly arranged on two brackets to penetrating optical fiber sense
Device is answered, to penetrating fiber sensor and jacking electric cylinders communication connection, when being removed one on heap barrel to penetrating fiber sensor and detect
When a workpiece, jacking electric cylinders driving lifting pin rises the height of a workpiece.
Wherein, there are two drive sprocket settings, it is divided into driving wheel and driven wheel, driving wheel is driven by decelerating motor, is slowed down
Motor is fixed on the lower surface of workbench, and output shaft passes through workbench and connect with driving wheel and form support, driven wheel
It is fixed on workbench, and is generally aligned in the same plane with driving wheel, the driven distance for taking turns to driving wheel is adjustable.
Wherein, Material moving device further includes slide assemblies, and slide assemblies are set to work according to the motion track of heap barrel and put down
On platform, including several Fluency strips and multi-directional ball, the corresponding straight trip track setting of Fluency strip, multi-directional ball correspond to arching trajectory setting, heap
Barrel sliding is erected at Fluency strip, in multi-directional ball.
Wherein, it presses on the output end of cylinder and is provided with positioning pin, correspond to positioning pin on each heap barrel and offer locking
Hole.Improve accuracy and stability of the heap barrel at robot feeding station.
Wherein, it is symmetrically arranged with two groups of feeding devices on workbench, places turbine shroud on the heap barrel of side, it is another
Retainer plate is placed on the heap barrel of side, feeding robot successively from feeding in Liang Ge robot feeding station, completes a feeding
Movement.It is compact-sized, reasonable, improve robot feeding efficiency.
Wherein, it is provided with shield on workbench, robot feeding station is corresponded on shield and offers material taking mouth, on shield
It is also provided with drain hole and viewing window, is provided with safe grating on drain hole.Improve production security.
Wherein, workbench is set in rack, and control electric cabinet is provided in rack.
Wherein, feeding is docked by six-joint robot in robot feeding station.
To sum up, beneficial effects of the present invention are that compared with prior art, the turbine disk accessory feeding device passes through level
The mode of circulation material conveying is constantly fed to robot, since reserves are big, control precision is high, the device can very well and robot into
Row docking, in addition the compensation way of vertical feeding, can reduce to robot motion requirement, reduce research and development difficulty and manufacture at
This, compact overall structure, occupied area is small, and it is safe and reliable to operation, production efficiency is effectively increased, is turbine disk automatic assembling
Production line provides integrated thinking.
Detailed description of the invention
Fig. 1 is the overall structure figure of turbine disk accessory feeding device provided in an embodiment of the present invention；
Fig. 2 is the top view of the workbench of turbine disk accessory feeding device provided in an embodiment of the present invention；
Fig. 3 is the enlarged drawing in Fig. 2 at A；
Fig. 4 is the structural representation of the retainer plate side workbench of turbine disk accessory feeding device provided in an embodiment of the present invention
Figure；
Fig. 5 is the structural schematic diagram at the lifting pin of turbine disk accessory feeding device provided in an embodiment of the present invention；
Fig. 6 is the enlarged drawing in Fig. 4 at B.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
It please refers to shown in Fig. 1 to 6, the present embodiment provides a kind of turbine disk accessory feeding devices, mainly include workbench
1, material storage mechanism 2, Material moving device 3, positioning mechanism 4 and material jacking mechanism 5, the device are used to provide whirlpool for the turbine disk people that puts together machines
Take turns shell 8 and retainer plate 9.
Workbench 1 is set in rack 6, and rack 6 is welded steel part, and the control electric cabinet of device is fixed in rack 6
61, the bottom of rack 6 is provided with multiple eccentric fixed shape lower margins 62, guarantees the stability of equipment.
Each mechanism is fixed on workbench 1, according to needing 9 two kinds of workpiece (leaves of turbine shroud 8 and retainer plate in the operating condition
The feed of piece can be by vibrating disk-form, be not considered herein), the present embodiment will integrate two groups of feed on workbench 1
Device, side provide turbine shroud 8, and the other side provides retainer plate 9, and two groups of feeding devices are symmetrical arranged, and structure is identical, reclaimer
Device people realizes the feeding of two workpiece in a feeding action.
Since two groups of apparatus structures are identical, by taking the side feeding device that retainer plate 9 is provided as an example, it is described in detail, in detail
See Fig. 4.
Wherein, material storage mechanism 2 includes multiple heap barrels 21, ranked and stacked pile workpiece on each heap barrel 21, specifically, windrow
Cylinder 21 includes pedestal 211 and central tube 212, and 9 sets of retainer plate, on central tube 212 and by 211 access of pedestal, are accumulated one by one.
Material moving device 3 includes drive sprocket 31 and slide assemblies, and there are two the settings of drive sprocket 31, two drive sprockets 31
It is intervally arranged, driving chain 32 is equipped on drive sprocket 31, multiple heap barrels 21 pass through link block 23 and driving chain
32 is fixed, to form annular circulation conveying.Slide assemblies are set on workbench 1 according to the motion track of heap barrel 21,
Including several Fluency strips 33 and multi-directional ball 34, the corresponding straight trip track setting of Fluency strip 33, the corresponding arching trajectory setting of multi-directional ball 34,
Each heap barrel 21 can slide movement in Fluency strip 33, multi-directional ball 34.
Two drive sprockets 31 divide for driving wheel 311 and driven wheel 312, and driving wheel 311 is driven by decelerating motor 35, slow down
Motor 35 is fixed on the lower surface of workbench 1, and output shaft passes through workbench 1 and support is connect and formed with driving wheel 311,
Driven wheel 312 is fixed on workbench 1, and is generally aligned in the same plane with driving wheel 311.Further, driving wheel 311 arrives driven
The distance of wheel 312 is adjustable, and specifically, driven wheel 312 is fixed on workbench 1 by mounting blocks 36, opens up on mounting blocks 36
There is strip-shaped hole, and backstand 37 is set in the side of mounting blocks 36 for strip-shaped hole, conveniently mounting blocks 36 is adjusted and solid
It is fixed.According to the practical spacing of two drive sprockets 31 in the present embodiment, example is carried out with eight heap barrels 21.
Robot feeding station 11 is provided on workbench 1, in actual use, by six axis in robot feeding station 11
Robot docks feeding.The robot feeding station 11 is located on the motion track of heap barrel 21, it is preferable that close to workbench
1 end.
Positioning mechanism 4 is set to the side of robot feeding station 11, including communication connection close to switch 41 and press
Cylinder 42 is provided with sensor block 22 on each heap barrel 21, when a certain heap barrel 21 is moved to robot feeding station 11,
On sensor block 22 trigger close to switch 41, the decelerating motor 35 of driven wheel 312, which brakes, to be stopped, meanwhile, press stretching for cylinder 42
Out, it presses on the output end of cylinder 42 and is provided with positioning pin 43, locking hole 214, positioning pin 43 are offered on each heap barrel 21
It is inserted into locking hole 214, so that the heap barrel 21 at robot feeding station 11 is held out against locking, to be material jacking mechanism below
5 act and are accurately positioned, and when the fixed disk on this heap barrel 21 is taken, press cylinder 42 discharges this heap barrel 21, etc.
Wait lock next heap barrel 21.
Material jacking mechanism 5 is set to the lower section of robot feeding station 11, is fixed on the lower surface of workbench 1, liftout machine
Structure 5 includes jacking electric cylinders 51 and lifting pin 52, and lifting pin 52 is connected to the output end of jacking electric cylinders 51, and lifting pin 52 passes through work
Platform 1 is contacted with the workpiece on the heap barrel 21 at robot feeding station 11, so that workpiece be jacked up.Supplementary explanation, jacking
Bar 52 also needs the pedestal 211 across heap barrel 21, corresponds to lifting pin 52 on each pedestal 211 and offers relief hole 213.
For material jacking mechanism 5, the two sides of robot feeding station 11 are erected respectively bracket 53, and correspondence is set on two brackets 53
It is equipped with to penetrating fiber sensor 54, to penetrating fiber sensor 54 and jacking electric cylinders 51 communicate to connect, when to penetrating fiber sensor 54
Detect that jacking electric cylinders 51 drive the height of one workpiece of rising of lifting pin 52 when being removed a workpiece on heap barrel 21.
In addition, being provided with shield 7 on workbench 1, robot feeding station 11 is corresponded on shield 7 and offers material taking mouth
71, drain hole 72 and viewing window 73 are also provided on shield 7, safe grating 74 is provided on drain hole 72, improve feeding safety
Property.Supplementary explanation, device feeding movement can be completed by other machinery, or by artificial blowing, can remove robot
Storing is carried out on heap barrel 21 at feeding station 11, a storing movement can be fed about two hours, and feeding frequency is low, and work is strong
It spends small, does not influence to produce, and safe grating 74 can guarantee the safety of blowing action, when safe grating 74 detects drain hole 72
There is object, decelerating motor 35 stops working, no security risk.
Device feeder process:
1) from drain hole 72 to each 21 blowing of heap barrel；
2) drive sprocket 31 rotates, and a pile barrel 21 for having material is stopped to robot feeding station 11, and by press gas
Cylinder 42 locks the heap barrel 21；
3) robot takes the workpiece at 21 top of heap barrel away；
4) jacking electric cylinders 51 control the height that lifting pin 52 rises a workpiece, and workpiece is made to add to same level height；
5) when the 21 material sky of heap barrel, next heap barrel 21 for having material is moved at robot feeding station 11, equally
Mode feeding；
6) without land-air 21 feeding of heap barrel of influence.
Supplementary explanation, by the enlightenment of the present embodiment, which is not limited to the feed of turbine disk workpiece, similar disk
The applicable device of shape, sheet-like workpiece.
The turbine disk accessory feeding device at least has a characteristic that
1) compact-sized, reasonable, easy to operate, high degree of automation；
2) occupied area is small, and integrated level is high, annular conveying mode, and storing amount is big；
3) vertical feeding manner accelerates the robot feeding time, reduces to robot motion requirement；
4) safe operation process, reliable, effectively improves production efficiency；
5) integrated thinking is provided for turbine disk automatic assembling production line.
To sum up, above-mentioned turbine disk accessory feeding device is constantly fed to robot by way of horizontal cyclic feeding,
Since reserves are big, control precision is high, which can be docked with robot very well, in addition the compensation way of vertical feeding, can
To reduce to robot motion requirement, research and development difficulty and manufacturing cost are reduced, compact overall structure, occupied area is small, operation
Securely and reliably, production efficiency is effectively increased, provides integrated thinking for turbine disk automatic assembling production line.
The above embodiments only describe the basic principles and characteristics of the invention, and the invention is not restricted by the above cases,
Without departing from the spirit and scope, the invention also has various changes and changes, and these changes and changes are both fallen within
In scope of the claimed invention.The scope of the present invention is defined by the appended claims and its equivalents.
Claims (10)
1. a kind of turbine disk accessory feeding device, which is characterized in that including
Workbench (1) is provided with robot feeding station (11) on the workbench (1)；
Material storage mechanism (2), including multiple heap barrels (21), ranked and stacked pile workpiece on each heap barrel (21)；
Material moving device (3), including drive sprocket (31) are equipped with driving chain (32), institute on the drive sprocket (31)
It states heap barrel (21) to be fixedly connected with the driving chain (32), and the machine is circulated through by the driving chain (32) driving
Device people feeding station (11)；And
Positioning mechanism (4) is set to the side of the robot feeding station (11), including communication connection close to switch (41)
With press cylinder (42), sensor block (22) are provided on each heap barrel (21), described in the sensor block (22) triggering
Close to when switching (41), the heap barrel (21) at the robot feeding station (11) is held out against lock by press cylinder (42)
It is fixed.
2. turbine disk accessory feeding device according to claim 1, it is characterised in that: it further include material jacking mechanism (5), it is described
Material jacking mechanism (5) is set to the lower section of the robot feeding station (11), and the material jacking mechanism (5) includes jacking electric cylinders (51)
With lifting pin (52), the lifting pin (52) is connected to the output end of jacking electric cylinders (51), and the lifting pin (52) passes through
The workbench (1) contacts with the workpiece on the heap barrel (21) at robot feeding station (11), so that workpiece be jacked up.
3. turbine disk accessory feeding device according to claim 2, it is characterised in that: the robot feeding station (11)
Two sides erect have bracket (53) respectively, be correspondingly arranged on two brackets (53) to penetrating fiber sensor (54), it is described right
Fiber sensor (54) and the jacking electric cylinders (51) communication connection are penetrated, when detecting heap barrel to penetrating fiber sensor (54)
(21) when being removed a workpiece on, jacking electric cylinders (51) driving lifting pin (52) rises the height of a workpiece.
4. turbine disk accessory feeding device according to claim 1, it is characterised in that: the drive sprocket (31) is provided with
Two, it is divided into driving wheel (311) and driven wheel (312), the driving wheel (311) is driven by decelerating motor (35), the deceleration
Motor (35) is fixed on the lower surface of the workbench (1), and output shaft passes through the workbench (1) and the driving wheel
(311) connect and form support, the driven wheel (312) is fixed on the workbench (1), and with the driving wheel
(311) it is generally aligned in the same plane, the distance of the driven wheel (312) to the driving wheel (311) is adjustable.
5. turbine disk accessory feeding device according to claim 1, it is characterised in that: the Material moving device (3) further includes
Slide assemblies, the slide assemblies are set on the workbench (1) according to the motion track of the heap barrel (21), including
Several Fluency strips (33) and multi-directional ball (34), the corresponding straight trip track setting of the Fluency strip (33), the multi-directional ball (34) are corresponding
Arching trajectory setting, the heap barrel (21) sliding are erected at the Fluency strip (33), in multi-directional ball (34).
6. turbine disk accessory feeding device according to claim 1, it is characterised in that: the output of press cylinder (42)
It is provided on end positioning pin (43), corresponds to the positioning pin (43) on each heap barrel (21) and offer locking hole (214).
7. turbine disk accessory feeding device according to claim 1, it is characterised in that: symmetrical on the workbench (1)
Two groups of feeding devices are provided with, turbine shroud (8) is placed on the heap barrel (21) of side, is placed on the heap barrel (21) of the other side
Retainer plate (9), feeding robot successively from feeding in Liang Ge robot feeding station (11), complete a feeding action.
8. turbine disk accessory feeding device according to claim 1, it is characterised in that: be arranged on the workbench (1)
Have shield (7), the robot feeding station (11) is corresponded on the shield (7) and is offered material taking mouth (71), the shield (7)
On be also provided with drain hole (72) and viewing window (73), be provided with safe grating (74) on the drain hole (72).
9. turbine disk accessory feeding device according to claim 1, it is characterised in that: the workbench (1) is set to
In rack (6), control electric cabinet (61) is provided on the rack (6).
10. turbine disk accessory feeding device according to claim 1, it is characterised in that: the robot feeding station
(11) feeding is docked by six-joint robot on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810862869.5A CN109019049A (en) | 2018-08-01 | 2018-08-01 | A kind of turbine disk accessory feeding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810862869.5A CN109019049A (en) | 2018-08-01 | 2018-08-01 | A kind of turbine disk accessory feeding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109019049A true CN109019049A (en) | 2018-12-18 |
Family
ID=64648387
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810862869.5A Pending CN109019049A (en) | 2018-08-01 | 2018-08-01 | A kind of turbine disk accessory feeding device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109019049A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112693822A (en) * | 2020-12-14 | 2021-04-23 | 广东智源机器人科技有限公司 | Circulation material loading module, automatic feeding machine and automatic cooking equipment |
| CN114889919A (en) * | 2022-03-30 | 2022-08-12 | 焦国清 | Biological bacterial preservation device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103224113A (en) * | 2013-04-27 | 2013-07-31 | 昆山艾博机器人系统工程有限公司 | Multi-carrier cyclic loading and unloading device |
| CN206520987U (en) * | 2017-01-10 | 2017-09-26 | 杭州博拉网络科技有限公司 | Automatic feeding platform |
| CN206886089U (en) * | 2017-06-21 | 2018-01-16 | 宁波宫铁智能科技有限公司 | A kind of bin system |
| CN207551145U (en) * | 2017-11-24 | 2018-06-29 | 中井兴机器人（常州）有限公司 | A kind of multistation storing feed bin |
-
2018
- 2018-08-01 CN CN201810862869.5A patent/CN109019049A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103224113A (en) * | 2013-04-27 | 2013-07-31 | 昆山艾博机器人系统工程有限公司 | Multi-carrier cyclic loading and unloading device |
| CN206520987U (en) * | 2017-01-10 | 2017-09-26 | 杭州博拉网络科技有限公司 | Automatic feeding platform |
| CN206886089U (en) * | 2017-06-21 | 2018-01-16 | 宁波宫铁智能科技有限公司 | A kind of bin system |
| CN207551145U (en) * | 2017-11-24 | 2018-06-29 | 中井兴机器人（常州）有限公司 | A kind of multistation storing feed bin |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112693822A (en) * | 2020-12-14 | 2021-04-23 | 广东智源机器人科技有限公司 | Circulation material loading module, automatic feeding machine and automatic cooking equipment |
| CN114889919A (en) * | 2022-03-30 | 2022-08-12 | 焦国清 | Biological bacterial preservation device |
| CN114889919B (en) * | 2022-03-30 | 2024-05-03 | 固原市产业技术创新研究院 | Biological bacterial save set |
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Application publication date: 20181218 |
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