CN109650274A - A kind of multipurpose rotary suspension arm machine - Google Patents
A kind of multipurpose rotary suspension arm machine Download PDFInfo
- Publication number
- CN109650274A CN109650274A CN201811586726.2A CN201811586726A CN109650274A CN 109650274 A CN109650274 A CN 109650274A CN 201811586726 A CN201811586726 A CN 201811586726A CN 109650274 A CN109650274 A CN 109650274A
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- China
- Prior art keywords
- ball screw
- ball
- screw mechanism
- support arm
- horizontal
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C25/00—Cranes not provided for in groups B66C17/00 - B66C23/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
Abstract
The invention discloses a kind of multipurpose rotary suspension arm mechanisms, including servo drive and Telescopic rotating device, servo drive includes rotating circular disc and servo motor, Telescopic rotating device includes horizontal extension arm, the first hydraulic stem, the second hydraulic stem, support arm, first ball screw mechanism and fixture mounting base, and rotating circular disc includes inner disk outer disc；Servo motor is connect by retarder with outer disc；Horizontal extension arm includes horizontal outer tube and inner tube；One end of first hydraulic stem is mounted in said inner tube and the other end is mounted on horizontal outer tube；Support arm is hinged on the one end of inner tube far from horizontal outer tube by the first hinged shaft, and first ball screw mechanism is installed on support arm, is equipped with first motor on support arm；By the second hinged shaft, hingedly the other end is hinged on support arm by third hinged shaft on inner pipe for one end of second hydraulic stem；The fixture mounting base is mounted on the ball nut of the first ball screw mechanism.
Description
Technical field
The invention belongs to modern logistics cargo handling technical fields, more particularly, to a kind of multipurpose rotary suspension arm machine.
Background technique
Currently, modern logistics handling art, handling facilities are in the form of a single, as dock container due to volume and weight compared with
Greatly, it needs using the machine that can bear very big gravity, therefore its handling relies primarily on gantry；And bulk goods ship cargo
Such as ore in sand form, then steady quickly transmission is carried out due to needing to put together them, mainly use chain conveyer and V belt translation
Transport；These above-mentioned handling instrument narrow application ranges, mainly for specific operating environment.And for road transport and logistics storehouse
Freight is stored up, handling generally use crane and fork truck, although this handling mode flexibility is stronger, handling effect
Rate and automatization level are lower.
As modern logistics improve the automatization level of handling link to the very big demand of efficiency, and then improve handling effect
Rate is the major issue that modern logistics handling technique field needs to solve.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of multipurpose rotary suspension arm machine,
The efficiency of loading and unloading and automatization level are high, strong flexibility and applied widely.
To achieve the above object, according to one aspect of the present invention, a kind of multipurpose rotary suspension arm mechanism is provided, it is special
Sign is, including servo drive and Telescopic rotating device, wherein the servo drive includes rotating circular disc and servo
Motor, the Telescopic rotating device include horizontal extension arm, the first hydraulic stem, the second hydraulic stem, support arm, first ball screw
Mechanism and fixture mounting base, wherein
The rotating circular disc includes inner disk and coaxial socket on interior disk and can be around the outer circle of the inner circle disc spins
The center line of disk, the inner disk and outer disc is vertically arranged；
The servo motor is connect by retarder with the outer disc, to drive the outer circle disc spins；
The horizontal extension arm includes the inner tube that horizontal outer tube is protruded into horizontal outer tube and one end, and the horizontal outer tube is solid
Surely it is connected on the outer disc, the horizontal outer tube is protruded into one end of said inner tube；
First hydraulic stem is horizontally disposed, and one end is mounted in said inner tube and the other end is mounted on the water
On flat outer tube, for driving said inner tube along the longitudinal movement of the horizontal outer tube；
The support arm is hinged on the one end of said inner tube far from horizontal outer tube, and first hinge by the first hinged shaft
The longitudinal direction of axis is longitudinally perpendicular with the horizontal outer tube, installs the first ball screw mechanism on the support arm, and described
The vertical consistency of the longitudinal direction of the guide rail of one ball screw framework and the support arm, and the first electricity is installed on the support arm
Machine, for driving the lead screw of the first ball screw mechanism to rotate；
One end of second hydraulic stem is hinged on the other end in said inner tube by the second hinged shaft and passes through third hinged shaft
It is hinged on the support arm, for driving the support arm to rotate；
First hinged shaft, the second hinged shaft and third hinged shaft are horizontally disposed, and are parallel to each other；
The fixture mounting base is mounted on the ball nut of the first ball screw mechanism.
Preferably, the Telescopic rotating device further includes the second ball screw framework and the second motor, wherein the fixture
Mounting base is mounted on the ball nut of the first ball screw mechanism by second ball screw framework, and described
The ball nut of second ball screw framework is fixedly connected with the fixture mounting base, the guide rail of second ball screw framework
It is fixedly connected with the ball nut of the first ball screw mechanism, is equipped on the guide rail of second ball screw framework
Two motors, for driving the lead screw of second ball screw framework to rotate.
Preferably, said inner tube is bent into tilting section towards oblique upper or obliquely downward far from one end of horizontal outer tube, this inclines
The angle of the horizontal segment of oblique section and inner tube is obtuse angle, so that the guide rail of the first ball screw mechanism can be turned to horizontality
And vertical state.
Preferably, the fixture mounting base includes support base and the conduit that is mounted on support base, and the support base
It is mounted on the ball nut of the first ball screw mechanism, the guide rail of the conduit and the first ball screw mechanism is flat
Row.
Preferably, the servo drive is provided with multiple, and correspondingly, the Telescopic rotating device is also equipped with more
A, the rotating circular disc and servo motor of these servo drives are staggered and are superimposed, and each servo is driven
The outer disc of dynamic device is separately connected the horizontal outer tube of a Telescopic rotating device.
Preferably, each Telescopic rotating device further includes the second ball screw framework and the second motor, wherein institute
Fixture mounting base is stated to be mounted on by second ball screw framework on the ball nut of the first ball screw mechanism, and
And the ball nut of second ball screw framework is fixedly connected with the fixture mounting base, second ball screw framework
Guide rail be fixedly connected with the ball nut of the first ball screw mechanism, pacify on the guide rail of second ball screw framework
Equipped with the second motor, for driving the lead screw of second ball screw framework to rotate.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
1) present invention considers from the efficiency of loading and unloading, automatization level, flexibility and scope of application etc., passes through servo motor
It drives outer disc rotation and horizontal extension arm around the rotation of rotation disk axis, and drives level to stretch by the first hydraulic stem
The inner tube of contracting arm is flexible, and the second hydraulic stem drives support arm to rotate, and first ball screw can drive fixture mobile, can cover
Cover the range of wider picking；
2) present invention can install suitable end clamp, flexibly according to the type of handling goods in fixture mounting base
Property is strong；And by the movement of the first ball screw on support arm, the first ball nut can be made to drive the goods on fixture
Object is along the longitudinal movement of support arm, and cargo can be with
3) present invention can cooperate with other equipment, and lifting telescopic arm or pillar can be such as mounted on according to operating environment
On, the automatization level of handling goods is substantially increased, in the handling that can operate with station, harbour, airport, warehouse, is applicable in model
It encloses extensively, is applicable to the variation of a wide range of distance with height.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is rotating circular disc schematic diagram in the present invention；
Fig. 3 is support arm structural schematic diagram in the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
As shown in FIG. 1 to 3, a kind of multipurpose rotary suspension arm mechanism, including servo drive and Telescopic rotating device,
Wherein, the servo drive includes rotating circular disc and servo motor, the Telescopic rotating device include horizontal extension arm 3,
First hydraulic stem 4, the second hydraulic stem 5, support arm 6, first ball screw mechanism and fixture mounting base, wherein
The rotating circular disc includes inner disk and coaxial socket on interior disk and can be around the outer circle of the inner circle disc spins
The center line of disk, the inner disk and outer disc is vertically arranged；The servo motor is connected by retarder and the outer disc
It connects, to drive the outer circle disc spins；Retarder can directly be connect with outer disc by flange, can also pass through transmission mechanism
Drive outer circle disc spins, and inner disk can be fixed on an arbitrary fixture and carry outer disc；In addition, as one kind
Preferred embodiment, rotating circular disc can use bearing part, larger using the bearing capacity of bearing part, and outer disc is the outer ring of bearing part,
And inner disk is the inner ring of bearing part, retarder drives the outer ring rotation of bearing part；
The horizontal extension arm 3 includes the inner tube that horizontal outer tube is protruded into horizontal outer tube and one end, the horizontal outer tube
It is fixedly connected on the outer disc, the horizontal outer tube is protruded into one end of said inner tube；
First hydraulic stem 4 is horizontally disposed, and one end be mounted in said inner tube and the other end be mounted on it is described
On horizontal outer tube, for driving said inner tube along the longitudinal movement of the horizontal outer tube；
The support arm 6 is hinged on the one end of said inner tube far from horizontal outer tube, and described first by the first hinged shaft
The longitudinal direction of hinged shaft is longitudinally perpendicular with the horizontal outer tube, and the first ball screw mechanism is installed on the support arm 6, described
First ball screw mechanism has the first guide rail 8, the first lead screw 9, the first sliding block 13, the first slide unit 18 and the first ball nut,
The vertical consistency of the longitudinal direction of first guide rail 8 and the support arm 6, and first motor 7 is installed on the support arm 6,
For driving first lead screw 9 to rotate；
One end of second hydraulic stem 5 is hinged on the other end in said inner tube by the second hinged shaft and passes through third hinged shaft
It is hinged on the support arm 6, for driving the support arm 6 to rotate；
First hinged shaft, the second hinged shaft and third hinged shaft are horizontally disposed, and are parallel to each other；
The fixture mounting base is mounted on the ball nut of the first ball screw mechanism, can be in fixture mounting base
Suitable fixture is installed according to type of merchandize, fixture is connect with control system signal, can automatic clamping and placing cargo.The fixture peace
The conduit 15 that dress seat preferably includes support base and is mounted on support base, and the support base is mounted on first ball wire
On the ball nut of thick stick mechanism, the conduit 15 is parallel with first guide rail 8.
Further, the Telescopic rotating device further includes the second ball screw framework and the second motor 10, wherein described
Two ball screw frameworks have the second guide rail 14, the second lead screw 11, the second sliding block 12, the second slide unit 19 and the second ball nut,
The fixture mounting base is mounted on first ball nut by second ball screw framework, and described second leads
Rail 14 is parallel with the first guide rail 8, and second ball nut is fixedly connected with the fixture mounting base, second guide rail 14 with
The ball nut of the first ball screw mechanism is fixedly connected, and the second motor 10 is equipped on second guide rail 14, with
It is rotated in driving second lead screw 11.
Referring to Fig. 1, Fig. 3, two-stage ball screw framework is shown, the two-stage roller screw mechanism is divided into the first roller silk
Thick stick mechanism and the second ball wire rod mechanism, under the driving of first motor 7, the first lead screw 9 rotation, to drive the first ball spiral shell
Mother is mobile, the first sliding block 13 is installed on the first ball nut, and then drive 18 edge of the first slide unit being mounted on the first sliding block 13
The longitudinal direction of support arm 6 move in a straight line, the second ball screw framework is mounted on the first slide unit 18, in the drive of the second motor 10
Under dynamic, the rotation of the second lead screw 11 installs the second sliding block 12 on second ball nut to drive the second ball nut mobile, from
And the second slide unit 19 being mounted on the second sliding block 12 is driven to move in a straight line along the longitudinal direction of support arm 6, since conduit 15 is pacified
On second slide unit 19, conduit 15 is moved in a straight line along the longitudinal direction of the second guide rail 14.Two-stage ball screw framework can be same
Shi Yunzhuan, to increase the speed of longitudinal movement of the cargo along support arm 6.
Further, said inner tube is bent into tilting section towards oblique upper or obliquely downward far from one end of horizontal outer tube, this inclines
The angle of the horizontal segment of oblique section and inner tube is obtuse angle, so that first guide rail 8 can be turned to horizontality and vertical state, this
Sample can conveniently have the pick-and-place of the cargo of horizontal or vertical requirement depending on actual demand.
Further, each Telescopic rotating device further includes the second ball screw framework and the second motor 10, wherein
The fixture mounting base is mounted on the ball nut of the first ball screw mechanism by second ball screw framework,
And the ball nut of second ball screw framework is fixedly connected with the fixture mounting base, second guide rail 14 and institute
The ball nut for stating first ball screw mechanism is fixedly connected, and the second motor 10 is equipped on second guide rail 14, to be used for
Second lead screw 11 is driven to rotate.
Further, the servo drive is provided with multiple, and correspondingly, the Telescopic rotating device is also equipped with more
A, the rotating circular disc and servo motor of these servo drives are staggered and are superimposed, and each servo is driven
The outer disc of dynamic device is separately connected the horizontal outer tube of a Telescopic rotating device, multiple fixtures can be driven to join together in this way
With work.Referring to Fig. 1, Fig. 2, two rotating circular discs and two servo motors, respectively upper layer rotating circular disc 1 and lower layer are shown
Rotating circular disc 2 forms, and the two has same central axis, and the outer disc of each rotating circular disc is connected with horizontal extension arm 3, and two
Servo motor is respectively first servo motor 16 and the second servo motor 17, and upper layer rotating circular disc 1 and lower layer's rotating circular disc 2 are distinguished
Pass through first servo motor 16 and the driving rotation of the second servo motor 17.When operating, inner disk is fixed with fixture, outer circle
Disk is under the driving of servo motor around own axis；Inner disk is that can be used for wiring and piping at hollow hole, to simplify dress
Install meter.Fig. 1, Fig. 2 shows two horizontal extension arms 3, be respectively arranged in upper layer rotating circular disc 1 and lower layer's rotating circular disc 2；
Upper layer rotating circular disc 1 and lower layer's rotating circular disc 2 rotate respectively drives horizontal extension arm 3 to rotate；Meanwhile it can be according to handling goods
Distance, by the collapsing length of 4 controlled level telescopic arm 3 of the first hydraulic stem.
The horizontal job area of rotary suspension arm mechanism of the invention can be adjusted according to horizontal extension arm 3；Horizontal extension arm 3
Rotational trajectory form a circle, it is exactly that the present invention is revolved that maximal dilation position and minimum telescopic location, which are formed by annulus section,
Turn the horizontal job area of suspension arm mechanism.
Dynamical system of the present invention is divided into hydraulic system and servo electrical machinery system, controls two horizontal rotating arms by control system
Be rotatably assorted.
The present invention can be installed on lifting telescopic arm or column according to different operating environments, and horizontal extension arm 3 can root
According to handling distance horizontal extension, and first ball screw mechanism and/or the second ball screw framework can be according to the height of docking cargo
Degree drives fixture to move, so that present invention can be suitably applied to the variation of a wide range of distance with height, versatility and practical.
The present invention improves the automatization level of handling goods, improves cargo handling by the cooperation of other handling facilities
Efficiency, and the multipurpose rotary suspension arm mechanism adaptability and flexibility are stronger, are applicable to the change of a wide range of distance with height
Change.
The present invention drives rotating arm rotation by rotating circular disc, realizes the automated handling of cargo, not only increases dress
The automatization level of cargo is unloaded, and can be cooperated with other handling facilities, the efficiency and speed of cargo handling are substantially increased
Degree is conducive to the promotion and popularization for loading and unloading industry.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (6)
1. a kind of multipurpose rotary suspension arm mechanism, which is characterized in that including servo drive and Telescopic rotating device, wherein
The servo drive includes rotating circular disc and servo motor, and the Telescopic rotating device includes horizontal extension arm, the first liquid
Compression bar, the second hydraulic stem, support arm, first ball screw mechanism and fixture mounting base, wherein
The rotating circular disc includes inner disk and coaxial socket on interior disk and can be around the outer disc of the inner circle disc spins, institute
The center line for stating inner disk and outer disc is vertically arranged；
The servo motor is connect by retarder with the outer disc, to drive the outer circle disc spins；
The horizontal extension arm includes the inner tube that horizontal outer tube is protruded into horizontal outer tube and one end, and the horizontal outer tube is fixed to be connected
It connects on the outer disc, the horizontal outer tube is protruded into one end of said inner tube；
First hydraulic stem is horizontally disposed, and one end be mounted in said inner tube and the other end be mounted on it is described horizontal outer
Guan Shang, for driving said inner tube along the longitudinal movement of the horizontal outer tube；
The support arm is hinged on the one end of said inner tube far from horizontal outer tube by the first hinged shaft, and first hinged shaft
It is longitudinal longitudinally perpendicular with the horizontal outer tube, the first ball screw mechanism, first rolling are installed on the support arm
The vertical consistency of the longitudinal direction of the guide rail of screw mechanism and the support arm, and first motor is installed on the support arm,
For driving the lead screw of the first ball screw mechanism to rotate；
It is hinged by third hinged shaft that one end of second hydraulic stem by the second hinged shaft is hinged in said inner tube the other end
On the support arm, for driving the support arm to rotate；
First hinged shaft, the second hinged shaft and third hinged shaft are horizontally disposed, and are parallel to each other；
The fixture mounting base is mounted on the ball nut of the first ball screw mechanism.
2. a kind of multipurpose rotary suspension arm machine according to claim 1, which is characterized in that the Telescopic rotating device also wraps
Include the second ball screw framework and the second motor, wherein the fixture mounting base is installed by second ball screw framework
On the ball nut of the first ball screw mechanism, and the ball nut of second ball screw framework and the folder
Tool mounting base is fixedly connected, and the ball nut of the guide rail of second ball screw framework and the first ball screw mechanism is solid
It is fixed to connect, the second motor is installed on the guide rail of second ball screw framework, for driving second ball-screw
The lead screw of mechanism rotates.
3. a kind of multipurpose rotary suspension arm machine according to claim 1, which is characterized in that said inner tube is far from horizontal outer tube
One end be bent into tilting section towards oblique upper or obliquely downward, the angle of the horizontal segment of the tilting section and inner tube is obtuse angle so that
The guide rail of the first ball screw mechanism can be turned to horizontality and vertical state.
4. a kind of multipurpose rotary suspension arm machine according to claim 1, which is characterized in that the fixture mounting base includes branch
Support seat and the conduit being mounted on support base, and the support base is mounted on the ball nut of the first ball screw mechanism
On, the conduit is parallel with the guide rail of the first ball screw mechanism.
5. a kind of multipurpose rotary suspension arm machine according to claim 1, which is characterized in that the servo drive setting
Have multiple, correspondingly, the Telescopic rotating device is also equipped with multiple, the rotating circular disc and servo of these servo drives electricity
Machine is staggered and is superimposed, and the outer disc of each servo drive is separately connected a Telescopic rotating dress
The horizontal outer tube set.
6. a kind of multipurpose rotary suspension arm machine according to claim 5, which is characterized in that each Telescopic rotating device
It further include the second ball screw framework and the second motor, wherein the fixture mounting base passes through the second ball-screw machine
Structure is mounted on the ball nut of the first ball screw mechanism, and the ball nut of second ball screw framework with
The fixture mounting base is fixedly connected, the ball of the guide rail of second ball screw framework and the first ball screw mechanism
Nut is fixedly connected, and is equipped with the second motor on the guide rail of second ball screw framework, for driving second rolling
The lead screw of screw mechanism rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586726.2A CN109650274B (en) | 2018-12-25 | 2018-12-25 | Multipurpose rotary boom machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586726.2A CN109650274B (en) | 2018-12-25 | 2018-12-25 | Multipurpose rotary boom machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109650274A true CN109650274A (en) | 2019-04-19 |
| CN109650274B CN109650274B (en) | 2020-04-24 |
Family
ID=66115027
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811586726.2A Active CN109650274B (en) | 2018-12-25 | 2018-12-25 | Multipurpose rotary boom machine |
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| Country | Link |
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| CN (1) | CN109650274B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4130097A1 (en) * | 1991-09-11 | 1993-03-18 | Johann Rettinger Praezisions A | Automatic pallet and workpiece changing device for machine tools - has slewing jib carrying indexable rotating arms at the end fitted with workholders or clamps |
| CN200978142Y (en) * | 2006-12-08 | 2007-11-21 | 上海名康机械设备有限公司 | Boom with centripetal rotating device and electromagnetic induction positioning device |
| CN101786489A (en) * | 2009-12-21 | 2010-07-28 | 镇江维斯特船用设备有限公司(外商独资) | Telescopic boat davit |
| CN201914722U (en) * | 2011-01-18 | 2011-08-03 | 西安银马实业发展有限公司 | Full circle swinging intelligent palletizer |
| CN103318772A (en) * | 2013-06-25 | 2013-09-25 | 山东力控矿山设备有限公司 | Loading and unloading machine for mining |
| CN106185370A (en) * | 2016-08-18 | 2016-12-07 | 武汉地和智能有限公司 | A kind of harbour automatic loading/unloading conveying device |
-
2018
- 2018-12-25 CN CN201811586726.2A patent/CN109650274B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4130097A1 (en) * | 1991-09-11 | 1993-03-18 | Johann Rettinger Praezisions A | Automatic pallet and workpiece changing device for machine tools - has slewing jib carrying indexable rotating arms at the end fitted with workholders or clamps |
| CN200978142Y (en) * | 2006-12-08 | 2007-11-21 | 上海名康机械设备有限公司 | Boom with centripetal rotating device and electromagnetic induction positioning device |
| CN101786489A (en) * | 2009-12-21 | 2010-07-28 | 镇江维斯特船用设备有限公司(外商独资) | Telescopic boat davit |
| CN201914722U (en) * | 2011-01-18 | 2011-08-03 | 西安银马实业发展有限公司 | Full circle swinging intelligent palletizer |
| CN103318772A (en) * | 2013-06-25 | 2013-09-25 | 山东力控矿山设备有限公司 | Loading and unloading machine for mining |
| CN106185370A (en) * | 2016-08-18 | 2016-12-07 | 武汉地和智能有限公司 | A kind of harbour automatic loading/unloading conveying device |
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| Publication number | Publication date |
|---|---|
| CN109650274B (en) | 2020-04-24 |
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