CN110138137B - Intelligent positioning pin - Google Patents
Intelligent positioning pin Download PDFInfo
- Publication number
- CN110138137B CN110138137B CN201910439270.5A CN201910439270A CN110138137B CN 110138137 B CN110138137 B CN 110138137B CN 201910439270 A CN201910439270 A CN 201910439270A CN 110138137 B CN110138137 B CN 110138137B
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- screw rod
- pull rod
- hole
- rod
- rotor
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- 230000005540 biological transmission Effects 0.000 claims abstract description 30
- 239000000428 dust Substances 0.000 claims abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B19/00—Bolts without screw-thread; Pins, including deformable elements; Rivets
- F16B19/02—Bolts or sleeves for positioning of machine parts, e.g. notched taper pins, fitting pins, sleeves, eccentric positioning rings
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/22—Power arrangements internal to the switch for operating the driving mechanism
- H01H3/28—Power arrangements internal to the switch for operating the driving mechanism using electromagnet
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
Abstract
The invention relates to an intelligent positioning pin, belongs to the technical field of electronic equipment control, and solves the technical problems of easiness in mechanical failure and low reliability in the existing positioning pin control technology. The technical scheme of the invention is as follows: an intelligent positioning pin comprises a shell, a screw rod transmission device, a brushless direct current motor, a position sensor and a control module; the shell comprises a main shell, a front cover plate, an electric support and a rear cover, wherein the front cover plate is arranged on one side of the main shell, the rear cover is arranged on the other side of the main shell, the electric support is arranged in an inner cavity of the rear cover, and the electric support is fixed between the rear cover and the main shell; the middle part of the front cover plate is provided with a transmission device through hole, and the front cover plate outside the transmission device through hole is provided with a dust cover. The invention has the advantages of simple structure, convenient operation, mechanical failure avoidance, high reliability and the like.
Description
Technical Field
The invention belongs to the technical field of electronic equipment control, and particularly relates to an intelligent positioning pin.
Background
The traditional control mode of pin withdrawing/withdrawing of the positioning pin is controlled by an electromagnet, the electromagnet is arranged on the axis of the positioning pin, when a system receives a pin withdrawing instruction, an electromagnet coil is electrified, and the positioning pin is sucked and recovered; when the system receives a pin outlet instruction, the electromagnet coil is powered off, and the positioning pin is released. The traditional mode has the characteristics of simple structure, but after long-term use, the mode also has certain defects: 1. mechanical suction collision, after reaching a certain number of times, the electromagnetic iron magnetic core and the positioning pin are easy to deform, so that the axis and the motion track of the positioning pin are not on the same straight line, mechanical faults such as 'jamming' are caused, and the service life of the system is influenced; 2. if the attraction time is too long, the pin body of the positioning pin is easy to magnetize, the phenomenon of abnormal attraction occurs, the reliability of the system is reduced, and the maintenance cost is increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an intelligent positioning pin and solves the technical problems that the prior positioning pin control technology is easy to cause mechanical failure and low in reliability.
The invention is realized by the following technical scheme: an intelligent positioning pin comprises a shell, a screw rod transmission device, a brushless direct current motor, a position sensor and a control module;
the shell comprises a main shell, a front cover plate, an electric support and a rear cover, wherein the front cover plate is arranged on one side of the main shell, the rear cover is arranged on the other side of the main shell, the electric support is arranged in an inner cavity of the rear cover, and the electric support is fixed between the rear cover and the main shell; a transmission device through hole is formed in the middle of the front cover plate, and a dust cover is arranged on the front cover plate outside the transmission device through hole;
the brushless direct current motor is arranged in the inner cavity of the main shell and comprises a stator, a rotor, six groups of coils, magnets and magnet fixing rings; the two sides of the rotor are respectively fixed in the main shell through bearings, the magnets are fixed on the outer side wall of the rotor through magnet fixing rings, the stator is arranged between the rotor and the inner wall of the main shell, the stator is fixed on the inner wall of the main shell through screws, and the six groups of wire packages are respectively arranged at the two ends of the stator; a rotor through hole is formed in the middle of the rotor, and internal threads are formed in the inner wall of the rotor through hole;
the screw rod transmission device is horizontally arranged in the inner cavity of the main shell, one end of the screw rod transmission device penetrates through the transmission device through hole and the dust cover to extend outwards, and the other end of the screw rod transmission device extends into the inner cavity of the rear cover and is fixed on the electric bracket; the screw rod transmission device comprises a screw rod, a pull rod, an output shaft, a power spring, a pull rod positioning block and an anti-falling nut; a pull rod through hole is formed in the axial direction of the screw rod, a spring groove is formed in one end of the head of the pull rod through hole, a positioning block mounting groove is formed in one end of the tail of the pull rod through hole, an external thread matched with an internal thread of the rotor through hole is formed in the outer wall of the screw rod, and the screw rod is arranged in the rotor through hole and connected with the rotor through threads; the middle part of the pull rod is arranged in a pull rod through hole on the screw rod, the pull rod positioning block and the anti-falling nut are sequentially arranged at the tail part of the pull rod and positioned in the positioning block mounting groove, the diameter of the head part of the pull rod is larger than that of the middle part of the pull rod, the power spring is sleeved at the position, close to the head part of the pull rod, in the middle part of the pull rod, and one end of the power spring is arranged in the spring groove; the output shaft is connected with the pull rod head through a pin shaft; a wave spring is arranged on the electric bracket at the position of the inner cavity of the rear cover corresponding to the tail part of the pull rod;
the top and the bottom of the side wall of the positioning block mounting groove at the tail part of the pull rod through hole are provided with two screw rod slide rod positioning holes, and the front side and the rear side of the side wall of the positioning block mounting groove are provided with screw rod guide grooves; four pull rod slide bar positioning holes are formed in the circumferential direction of the side wall of the pull rod positioning block;
the position sensor comprises a screw rod position sensor and a slide rod position sensor, the screw rod position sensor is arranged on the electric support above the tail part of the pull rod in the inner cavity of the rear cover, a screw rod slide block capable of moving horizontally is arranged on the screw rod position sensor, and the end part of the screw rod slide block downwards extends into a screw rod slide rod positioning hole; the sliding rod position sensor is arranged on an electric support on the front side of the tail part of the pull rod in the inner cavity of the rear cover, a pull rod sliding block capable of moving horizontally is arranged on the sliding rod position sensor, and the end part of the pull rod sliding block penetrates through the guide groove of the screw rod backwards and then extends into the positioning hole of the pull rod sliding rod;
the control module is arranged on the upper part of the electric bracket; a debugging port is formed in the position, corresponding to the control module, of the rear cover, and a debugging cover plate is installed on the debugging port; the bottom of the rear cover is provided with an aviation socket, and the control module is electrically connected with the screw rod transmission device, the brushless direct current motor, the position sensor and the aviation socket respectively.
The positioning pin is driven by the direct-current brushless motor, the pin outlet/receiving position of the positioning pin is accurately controlled by matching with the high-precision sensor, and an electromagnet attracting/releasing mode is not adopted, so that various mechanical collisions in the moving process of the positioning pin are fundamentally solved, the deformation and the deviation of the motion track of the positioning pin are avoided, the service life of the positioning pin is prolonged, various accidents such as mechanical jamming are avoided, and the maintenance cost is reduced; in the invention, the energy source for moving the positioning pin is converted from electric energy to mechanical energy instead of the traditional electric energy to magnetic energy, so that the possibility of magnetizing the positioning pin and other parts is eliminated, the abnormal suction condition is avoided, and the reliability of the system is improved. Compared with the prior art, the invention has the advantages of simple structure, convenient operation, mechanical failure avoidance, high reliability and the like.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic sectional view taken along line a-a in fig. 1.
Detailed Description
The invention is described in further detail below with reference to the figures and examples.
As shown in fig. 1 and fig. 2, the intelligent positioning pin in the present embodiment includes a housing, a lead screw 14 transmission device, a brushless dc motor, a position sensor, and a control module;
the shell comprises a main shell 1, a front cover plate 2, an electric support 3 and a rear cover 4, wherein the front cover plate 2 is arranged on one side of the main shell 1, the rear cover 4 is arranged on the other side of the main shell 1, the electric support 3 is arranged in an inner cavity of the rear cover 4, and the electric support 3 is fixed between the rear cover 4 and the main shell 1; a transmission device through hole 13 is formed in the middle of the front cover plate 2, and a dust cover 5 is arranged on the front cover plate 2 outside the transmission device through hole 13;
the brushless direct current motor is arranged in the inner cavity of the main shell 1 and comprises a stator 6, a rotor 7, six groups of coils 8, magnets 9 and a magnet fixing ring 10; the two sides of the rotor 7 are respectively fixed in the main shell 1 through bearings 11, the magnets 9 are fixed on the outer side wall of the rotor 7 through magnet fixing rings 10, the stator 6 is arranged between the rotor 7 and the inner wall of the main shell 1, the stator 6 is fixed on the inner wall of the main shell 1 through screws, and the six groups of coils 8 are respectively arranged at two ends of the stator 6; a rotor through hole 12 is formed in the middle of the rotor 7, and internal threads are formed in the inner wall of the rotor through hole 12;
the screw rod transmission device is horizontally arranged in the inner cavity of the main shell 1, one end of the screw rod transmission device penetrates through the transmission device through hole 13 and the dust cover 5 to extend outwards, and the other end of the screw rod transmission device extends into the inner cavity of the rear cover 4 and is fixed on the electric bracket 3; the screw rod transmission device comprises a screw rod 14, a pull rod 15, an output shaft 16, a power spring 17, a pull rod positioning block 18 and an anti-falling nut 19; a pull rod through hole 20 is formed in the axis direction of the screw rod 14, a spring groove 21 is formed in one end of the head of the pull rod through hole 20, a positioning block mounting groove 22 is formed in one end of the tail of the pull rod through hole 20, external threads matched with the internal threads of the rotor through hole 12 are formed in the outer wall of the screw rod 14, and the screw rod 14 is arranged in the rotor through hole 12 and connected with the rotor 7 through threads; the middle part of the pull rod 15 is arranged in a pull rod through hole 20 on the screw rod 14, the pull rod positioning block 18 and the anti-falling nut 19 are sequentially arranged at the tail part of the pull rod 15 and are positioned in a positioning block mounting groove 22, the diameter of the head part of the pull rod 15 is larger than that of the middle part of the pull rod 15, the power spring 17 is sleeved at the position, close to the head part of the pull rod 15, of the middle part of the pull rod 15, and one end of the power spring 17 is arranged in a spring groove 21; the output shaft 16 is connected with the head of the pull rod 15 through a pin shaft; a wave spring 23 is arranged on the electric bracket 3 at the position of the inner cavity of the rear cover 4 corresponding to the tail part of the pull rod 15;
the top and the bottom of the side wall of a positioning block mounting groove 22 at the tail of the pull rod through hole 20 are provided with two screw rod slide rod positioning holes 24, and the front side and the rear side of the side wall of the positioning block mounting groove 22 are provided with screw rod guide grooves 25; four pull rod slide rod positioning holes 26 are formed in the circumferential direction of the side wall of the pull rod positioning block 18;
the position sensor comprises a screw rod position sensor 27 and a slide rod position sensor 28, the screw rod position sensor 27 is arranged on the electric bracket 3 above the tail part of the pull rod 15 in the inner cavity of the rear cover 4, a screw rod sliding block 29 capable of horizontally moving is arranged on the screw rod position sensor 27, and the end part of the screw rod sliding block 29 downwards extends into the screw rod slide rod positioning hole 24; the slide bar position sensor 28 is arranged on the electric bracket 3 at the front side of the tail part of the pull bar 15 in the inner cavity of the rear cover 4, the slide bar position sensor 28 is provided with a horizontally movable pull bar sliding block 30, and the end part of the pull bar sliding block 30 passes through the lead screw guide groove 25 backwards and then extends into the pull bar sliding bar positioning hole 26;
the control module is arranged at the upper part of the electric bracket 3; a debugging port 31 is arranged at the position, corresponding to the control module, on the rear cover 4, and a debugging cover plate 32 is arranged on the debugging port 31; an aviation socket 33 is installed at the bottom of the rear cover 4, and the control module is electrically connected with the screw rod transmission device, the brushless direct current motor, the position sensor and the aviation socket 33 respectively.
The working process of the invention is as follows:
the control module collects an external pin outlet/inlet command from the aviation socket 33 and is used for controlling the starting and stopping of the brushless direct current motor; after the brushless direct current motor is started, current passes through a winding coil of the coil 8, the magnet 9 and the rotor 7 are driven to rotate under the action of torque, the bearing 11 can ensure the stability of the rotation of the rotor 7, the rotor 7 drives the lead screw 14 to do linear motion through internal threads on the inner wall of the rotor 7 in the rotating process, when the lead screw 14 moves backwards, the pull rod 15 and the output shaft 16 are pulled to move backwards, then the external pin body is pulled to be recovered, the external pin body is separated from an external positioning hole, and the pin is recovered by the positioning pin; when the screw rod 14 moves forwards, the power spring 17 is compressed, mechanical energy is converted into elastic potential energy, when the intelligent positioning pin rotates to the position of the external positioning hole, the power spring 17 releases the elastic potential energy, the pull rod 15 is pushed forwards, the pull rod 15 pushes the output shaft 16, then the external pin body is pushed to extend out of the pin and extend into the external positioning hole, and the positioning pin finishes pin extension; the wave spring 23 can play a role in shock absorption during the process of taking the positioning pin in/out.
The lead screw position sensor 27 is used for acquiring the current horizontal position of the lead screw 14, and the pull rod position sensor 28 is used for acquiring the current horizontal position of the pull rod 15. When the screw 14 displaces, the screw sliding block 29 is driven to horizontally displace, and the screw position sensor 27 can acquire the current position information of the screw 14 through the position of the screw sliding block 29 and transmit the acquired position information to the control module. When the pull rod 15 displaces, the pull rod slide block 30 is driven to horizontally displace, and the pull rod position sensor 28 can acquire the current position information of the pull rod 15 through the position of the pull rod slide block 30 and transmit the acquired position information to the control module.
As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.
Claims (1)
1. An intelligence locating pin which characterized in that: comprises a shell, a screw rod (14) transmission device, a brushless direct current motor, a position sensor and a control module;
the shell comprises a main shell (1), a front cover plate (2), an electric support (3) and a rear cover (4), wherein the front cover plate (2) is arranged on one side of the main shell (1), the rear cover (4) is arranged on the other side of the main shell (1), the electric support (3) is arranged in the inner cavity of the rear cover (4), and the electric support (3) is fixed between the rear cover (4) and the main shell (1); a transmission device through hole (13) is formed in the middle of the front cover plate (2), and a dust cover (5) is arranged on the front cover plate (2) outside the transmission device through hole (13);
the brushless direct current motor is arranged in an inner cavity of the main shell (1), and comprises a stator (6), a rotor (7), six groups of coils (8), magnets (9) and a magnet fixing ring (10); the two sides of the rotor (7) are respectively fixed in the main shell (1) through bearings (11), the magnet (9) is fixed on the outer side wall of the rotor (7) through a magnet fixing ring (10), the stator (6) is arranged between the rotor (7) and the inner wall of the main shell (1), the stator (6) is fixed on the inner wall of the main shell (1) through screws, and the six groups of coils (8) are respectively arranged at two ends of the stator (6); a rotor through hole (12) is formed in the middle of the rotor (7), and internal threads are formed in the inner wall of the rotor through hole (12);
the screw rod transmission device is horizontally arranged in the inner cavity of the main shell (1), one end of the screw rod transmission device penetrates through the transmission device through hole (13) and the dust cover (5) to extend outwards, and the other end of the screw rod transmission device extends into the inner cavity of the rear cover (4) and is fixed on the electric bracket (3); the screw rod transmission device comprises a screw rod (14), a pull rod (15), an output shaft (16), a power spring (17), a pull rod positioning block (18) and an anti-falling nut (19); a pull rod through hole (20) is formed in the axis direction of the screw rod (14), a spring groove (21) is formed in one end of the head of the pull rod through hole (20), a positioning block mounting groove (22) is formed in one end of the tail of the pull rod through hole (20), external threads matched with the internal threads of the rotor through hole (12) are formed in the outer wall of the screw rod (14), and the screw rod (14) is arranged in the rotor through hole (12) and connected with the rotor (7) through threads; the middle of the pull rod (15) is arranged in a pull rod through hole (20) on the screw rod (14), the pull rod positioning block (18) and the anti-falling nut (19) are sequentially arranged at the tail of the pull rod (15) and positioned in the positioning block mounting groove (22), the diameter of the head of the pull rod (15) is larger than that of the middle of the pull rod (15), the power spring (17) is sleeved at the position, close to the head of the pull rod (15), of the middle of the pull rod (15), and one end of the power spring (17) is arranged in the spring groove (21); the output shaft (16) is connected with the head of the pull rod (15) through a pin shaft; a wave spring (23) is arranged on the electric bracket (3) at the position of the inner cavity of the rear cover (4) corresponding to the tail part of the pull rod (15);
the top and the bottom of the side wall of a positioning block mounting groove (22) at the tail of the pull rod through hole (20) are provided with two screw rod slide rod positioning holes (24), and the front side and the rear side of the side wall of the positioning block mounting groove (22) are provided with screw rod guide grooves (25); four pull rod slide rod positioning holes (26) are formed in the circumferential direction of the side wall of the pull rod positioning block (18);
the position sensor comprises a screw rod position sensor (27) and a slide rod position sensor (28), the screw rod position sensor (27) is arranged on the electric support (3) above the tail part of the pull rod (15) in the inner cavity of the rear cover (4), a screw rod sliding block (29) capable of moving horizontally is arranged on the screw rod position sensor (27), and the end part of the screw rod sliding block (29) extends downwards into a screw rod sliding rod positioning hole (24); the slide bar position sensor (28) is arranged on the electric support (3) at the front side of the tail part of the pull bar (15) in the inner cavity of the rear cover (4), a pull bar sliding block (30) capable of moving horizontally is arranged on the slide bar position sensor (28), and the end part of the pull bar sliding block (30) penetrates through the lead screw guide groove (25) backwards and then extends into the pull bar sliding bar positioning hole (26);
the control module is arranged at the upper part of the electric bracket (3); a debugging port (31) is formed in the position, corresponding to the control module, of the rear cover (4), and a debugging cover plate (32) is installed on the debugging port (31); aviation socket (33) are equipped with to back lid (4) bottom, respectively through electrical connection between control module and screw rod transmission, brushless DC motor, position sensor, the aviation socket (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910439270.5A CN110138137B (en) | 2019-05-24 | 2019-05-24 | Intelligent positioning pin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910439270.5A CN110138137B (en) | 2019-05-24 | 2019-05-24 | Intelligent positioning pin |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110138137A CN110138137A (en) | 2019-08-16 |
| CN110138137B true CN110138137B (en) | 2022-01-18 |
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ID=67573044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910439270.5A Active CN110138137B (en) | 2019-05-24 | 2019-05-24 | Intelligent positioning pin |
Country Status (1)
| Country | Link |
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| CN (1) | CN110138137B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2796222Y (en) * | 2005-02-06 | 2006-07-12 | 闫仲伟 | Electric executor |
| US8212181B2 (en) * | 2008-08-08 | 2012-07-03 | Honda Motor Co., Ltd. | Welding gun driving device |
| CN202273489U (en) * | 2011-09-21 | 2012-06-13 | 钱宏辉 | Motor locking pin with position signals |
| CN202601973U (en) * | 2012-04-20 | 2012-12-12 | 江苏洋洋电气科技有限公司 | Electronic-control lock pin of electric automobile charging post |
| CN204983981U (en) * | 2015-08-21 | 2016-01-20 | 靖江市华丰电气有限公司 | Electronic bolt lock |
| CN209692512U (en) * | 2019-05-24 | 2019-11-26 | 山西泰润达科技有限公司 | A kind of intelligent positioning pin |
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2019
- 2019-05-24 CN CN201910439270.5A patent/CN110138137B/en active Active
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| Publication number | Publication date |
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| CN110138137A (en) | 2019-08-16 |
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