CN110303487A - A kind of robot device carried for tubing - Google Patents
A kind of robot device carried for tubing Download PDFInfo
- Publication number
- CN110303487A CN110303487A CN201810485987.9A CN201810485987A CN110303487A CN 110303487 A CN110303487 A CN 110303487A CN 201810485987 A CN201810485987 A CN 201810485987A CN 110303487 A CN110303487 A CN 110303487A
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- China
- Prior art keywords
- gear
- sliding
- welded
- sliding block
- bolted
- 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.)
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Classifications
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot devices carried for tubing, including sliding equipment, balance mechanism, hanging ring, first sliding groove, first sliding block, manipulator, second rack gear, second sliding slot, buffer gear, second limited block, first servo motor, first rotating shaft, first rack gear, first gear, first limited block and pillar, the pillar has two, and the top of two pillars has been bolted crossbeam, the second rack gear has been bolted at the top center of the crossbeam, the two sides correspondence of second rack gear is welded with the second limited block, by being welded with buffer gear at the side center of second limited block, the side of the crossbeam offers second sliding slot, and two crossbeam non-conterminous side correspondence sliding equipment is installed, the bottom center of the sliding equipment passes through electric telescopic rod and the first support It is connected at the top center of plate, the robot device, is convenient for adjusting position, it is easy to operate.
Description
Technical field
The present invention relates to robot device technical field, specially a kind of robot device carried for tubing.
Background technique
Manipulator refers to the certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object or behaviour
Make the automatic pilot of tool.Mainly it is made of executing agency, driving mechanism and control system three parts.It can replace people
Heavy labor to realize the mechanization and automation of production, can be operated under hostile environment to protect personal safety, thus wide
It is general to be applied to the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
It is in life now, under the progress of Science and Technology Day crescent benefit, robot and the arm maximum area for having the mankind
It is not that flexibility ratio and resistance to dynamics.The sharpest edges of namely manipulator are recursive to do same movement in mechanical positive reason
It will not always feel tired under condition, the application of mechanical arm also will be more and more extensive, and manipulator is that recent decades grow up
A kind of high-tech automatic producing device, the ability to fulfil assignment in the accuracy and environment of operation.Industry mechanical arm robot
An important branch.But existing robot device, it is not easy to adjust, operate more troublesome, therefore design one kind
The robot device carried for tubing is necessary.
Summary of the invention
The purpose of the present invention is to provide a kind of robot devices carried for tubing, to solve in above-mentioned background technique
The problem of proposition.
In order to solve the above technical problem, the present invention provides following technical solutions: a kind of manipulator carried for tubing
Device, including sliding equipment, balance mechanism, hanging ring, first sliding groove, the first sliding block, manipulator, the first support plate, electric expansion
Bar, crossbeam, the second rack gear, second sliding slot, buffer gear, the second limited block, first servo motor, first rotating shaft, the first rack gear,
First gear, the first limited block and pillar, the pillar has two, and the top of two pillars has been bolted cross
Beam, the second rack gear has been bolted at the top center of the crossbeam, and the two sides correspondence of second rack gear is welded and fixed
There is the second limited block, by being welded with buffer gear, the side of the crossbeam at the side center of second limited block
Second sliding slot is offered, and the non-conterminous side correspondence of two crossbeams is equipped with sliding equipment, the bottom center of the sliding equipment
By connecting at electric telescopic rod and the top center of the first support plate, and electric telescopic rod and the first support plate are connected by bolt
It connects, the hanging ring that the side of the sliding equipment is welded and fixed by both ends at the top of the balance mechanism of corresponding installation and the first support plate
Connection, and hanging ring and the first support plate, by being welded and fixed, the two sides of first support plate, which correspond to, offers first sliding groove, institute
The bottom center for stating the first support plate has been bolted the first rack gear, and the two sides correspondence of first rack gear is welded and fixed
There is the first limited block, the first sliding groove is used cooperatively with the first sliding block, and the side of first sliding block has been bolted
The side of first servo motor, the first servo motor is connect by connecting key with first rotating shaft, and the first rotating shaft passes through
It the inner wall side of first sliding block and first gear and is connect with the inner wall other side of the first sliding block by bearing, the first gear
With first rotating shaft by connection key connection, and at position and first rotating shaft outside hub, the first gear is engaged with the first rack gear
Connection, the bottom center of first sliding block are equipped with manipulator.
According to the above technical scheme, the buffer gear is made of telescopic rod, cushion, spring and bumper post, described slow
The side for rushing column passes through with the second limited block to be welded and fixed, and the inside of the bumper post is described by being welded with telescopic rod
Spring has been bolted in the outside of telescopic rod, and the other side of the bumper post is by being welded with cushion.
According to the above technical scheme, the sliding equipment is sliding by the second servo motor, second gear, the second shaft and second
Block composition, the side of second sliding block have been bolted the second servo motor, and the side of second servo motor is logical
It crosses connecting key to connect with the second shaft, second shaft passes through the second tooth of the second sliding block inner wall side and two corresponding installations
It takes turns and is connect with the inner wall other side of the second sliding block by bearing, and two second gears engage connection with the second rack gear.
According to the above technical scheme, the balance mechanism is made of fixed pulley, clump weight and wirerope, the wirerope
On hanging ring, the other end of the wirerope is bolted around two fixed pulleys and with clump weight one ends wound.
According to the above technical scheme, the manipulator is by fixture, three hole connecting rods, the first short connecting rod, the second short connecting rod, gas
Lever, bracket, big screw and Screw composition, the side of the air-leg are bolted with the first sliding block, described pneumatic
The other side of bar passes through bracket and is welded and fixed with the second short connecting rod at center, the side of the bracket and the short company in both ends second
Extension bar is welded and fixed, and is connected between two second short connecting rods by big screw, and the side and three of the short connecting rod in both ends second
Hole connecting rod passes through big screw and connects, and the second short connecting rod is connect by two first short connecting rods with two fixtures at center, described
The side of three hole connecting rods is connect by Screw with two fixtures.
According to the above technical scheme, second sliding block is used cooperatively with second sliding slot.
According to the above technical scheme, second sliding block is bolted with electric telescopic rod.
According to the above technical scheme, the second gear and the second shaft pass through connection key connection.
Compared with prior art, the beneficial effects obtained by the present invention are as follows being: the robot device, first servo motor work
To make, drives first rotating shaft rotation, first rotating shaft drives first gear rotation, and first gear engages connection with the first rack gear, thus
It drives the first sliding block to slide on the supporting plate, is moved left and right convenient for manipulator, adjusting position, the corresponding installation in the two sides of the first rack gear
There is the first limited block, the first limited block has position-limiting action, prevents the first sliding block from falling off, cause safety accident；Cylinder band is taken offence
When lever is allowed to move up, three hole connecting rods, the first short connecting rod and the second short connecting rod associated movement, fixture is to be in hold at this time
The process of clamping of workpieces, conversely, fixture is in the process opened, in this way, using cylinder when cylinder drives air-leg to move down
It drives connecting rod to do reciprocating translatory, so that other rod pieces be made to move, drives fixture opening and closing, the motion profile at any point on fixture
For arc swing；It is used cooperatively by fixed pulley, clump weight and wirerope, so that the balance to guarantee support plate, is easy to use,
The adjustable manipulator height of electric telescopic rod, it is easy to remove；The work of second servo motor drives the rotation of the second shaft, thus
Second gear rotation is driven, second gear engages connection with the second rack gear, so that the second sliding block be driven to slide on crossbeam, is convenient for
Manipulator is moved forward and backward；Under telescopic rod, cushion, spring and bumper post collective effect, there is good buffer function, avoid
Second sliding block collides with the second limited block, has damaged equipment, causes safety accident.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is whole positive structure diagram of the invention；
Fig. 2 is whole overlooking structure diagram of the invention；
Fig. 3 is whole side structure schematic view of the invention；
Fig. 4 is robot manipulator structure schematic diagram of the invention；
Fig. 5 is sliding equipment structural schematic diagram of the invention；
Fig. 6 is support plate side structure schematic view of the invention；
Fig. 7 is support plate present invention looks up structural representation of the invention；
In figure: 1- sliding equipment；2- balance mechanism；3- fixed pulley；4- clump weight；5- wirerope；6- hanging ring；7- first is sliding
Slot；The first sliding block of 8-；9- manipulator；10- support plate；11- electric telescopic rod；12- crossbeam；The second rack gear of 13-；14- second is sliding
Slot；15- buffer gear；The second limited block of 16-；17- telescopic rod；18- cushion；19- spring；20- bumper post；21- fixture；
Tri- hole connecting rod of 22-；The first short connecting rod of 23-；The short connecting rod of 24- second；25- air-leg；26- bracket；The big screw of 27-；The small spiral shell of 28-
Nail；The second servo motor of 29-；30- second gear；The second shaft of 31-；The second sliding block of 32-；33- first servo motor；34-
One shaft；The first rack gear of 35-；36- first gear；The first limited block of 37-；38- pillar.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-7 is please referred to, the present invention provides a kind of technical solution: a kind of robot device carried for tubing, including
Sliding equipment 1, balance mechanism 2, hanging ring 6, first sliding groove 7, the first sliding block 8, manipulator 9, support plate 10, electric telescopic rod 11,
Crossbeam 12, the second rack gear 13, second sliding slot 14, buffer gear 15, the second limited block 16, first servo motor 33, first rotating shaft
34, the first rack gear 35, first gear 36, the first limited block 37 and pillar 38, pillar 38 have two, and the top of two pillars 38
It has been bolted crossbeam 12, the second rack gear 13, the second rack gear 13 have been bolted at the top center of crossbeam 12
Two sides it is corresponding be welded with the second limited block 16, by being welded with buffer at the side center of the second limited block 16
Structure 15, the side of crossbeam 12 offers second sliding slot 14, and the non-conterminous side correspondence of two crossbeam 12 is equipped with sliding equipment 1, sliding
The bottom center of motivation structure 1 at electric telescopic rod 11 and the top center of support plate 10 by connecting, and electric telescopic rod 11
It is bolted with support plate 10,10 top two of balance mechanism 2 and support plate that the side of sliding equipment 1 passes through corresponding installation
The hanging ring 6 that is welded and fixed is held to connect, and hanging ring 6 and support plate 10, by being welded and fixed, the two sides of support plate 10, which correspond to, to be offered
First sliding groove 7, the bottom center of support plate 10 have been bolted the first rack gear 35, the corresponding weldering in the two sides of the first rack gear 35
It connects and is fixed with the first limited block 37, first sliding groove 7 is used cooperatively with the first sliding block 8, and the side of the first sliding block 8 is bolted
There is first servo motor 33, the side of first servo motor 33 is connect by connecting key with first rotating shaft 34, and first rotating shaft 34 is worn
It crosses the inner wall side of the first sliding block 8 and first gear 36 and is connect with the inner wall other side of the first sliding block 8 by bearing, the first tooth
Wheel 36 is keyed with first rotating shaft 34 by connection, and at position and 34 outside hub of first rotating shaft, first gear 36 and the first tooth
The engagement connection of item 35, the bottom center of the first sliding block 8 are equipped with manipulator 9.
According to the above technical scheme, buffer gear 15 is made of telescopic rod 17, cushion 18, spring 19 and bumper post 20,
The side of bumper post 20 is with the second limited block 16 by being welded and fixed, and the inside of bumper post 20 is by being welded with telescopic rod
17, spring 19 has been bolted in the outside of telescopic rod 17, the other side of bumper post 20 by being welded with cushion 18,
With protective effect, prevent from having damaged equipment.
According to the above technical scheme, sliding equipment 1 is by the second servo motor 29, second gear 30, the second shaft 31 and
Two sliding blocks 32 composition, the side of the second sliding block 32 have been bolted the second servo motor 29, and the one of the second servo motor 29
Side is connect by connecting key with the second shaft 31, and the second shaft 31 passes through 32 inner wall side of the second sliding block and two correspond to installation
Second gear 30 and connect with the inner wall other side of the second sliding block 32 by bearing, and two second gears 30 with the second rack gear
13 engagement connections, convenient for adjusting the position of manipulator 9.
According to the above technical scheme, balance mechanism 2 is made of fixed pulley 3, clump weight 4 and wirerope 5, and the one of wirerope 5
End is wrapped on hanging ring 6, and the other end of wirerope 5 is bolted around two fixed pulleys 3 and with clump weight 4, convenient for flat
Weigh support plate 10.
According to the above technical scheme, manipulator 9 is by fixture 21, three hole connecting rods 22, the first short connecting rod 23, the second short connecting rod
24, air-leg 25, bracket 26, big screw 27 and Screw 28 form, and the side of air-leg 25 and the first sliding block 8 are connected by bolt
Connect, the other side of air-leg 25 passes through bracket 26 and is welded and fixed with the second short connecting rod 24 at center, the side of bracket 26 and
The short connecting rod 24 in both ends second is welded and fixed, and is connected between two second short connecting rods 24 by big screw 27, and both ends second
The side of short connecting rod 24 and three hole connecting rods 22 connects by big screw 27, and the second short connecting rod 24 passes through two the at center
One short connecting rod 23 is connect with two fixtures 21, and the side of three hole connecting rods 22 is connect by Screw 28 with two fixtures 21, convenient for catching
Tubing.
According to the above technical scheme, the second sliding block 32 is used cooperatively with second sliding slot 14, is slided convenient for the second sliding block 32.
According to the above technical scheme, the second sliding block 32 is bolted with electric telescopic rod 11, convenient for guaranteeing connection
Stability.
According to the above technical scheme, second gear 30 and the second shaft 31 are by connection key connection, convenient for guaranteeing connection
Stability.
Working principle: first servo motor 33 works, and first rotating shaft 34 is driven to rotate, and first rotating shaft 34 drives first gear
36 rotations, first gear 36 engage connection with the first rack gear 35, so that the first sliding block 8 be driven to slide in support plate 10, are convenient for
Manipulator 9 moves left and right, adjusting position, and the two sides correspondence of the first rack gear 35 is equipped with the first limited block 37, the first limited block 37
With position-limiting action, prevents the first sliding block 8 from falling off, cause safety accident；When cylinder drives air-leg 25 to be allowed to move up, three
Hole connecting rod 22, the first short connecting rod 23 and the second short 24 associated movement of connecting rod, fixture 21 is the process in workpiece of holding with a firm grip at this time,
Conversely, fixture 21 is in the process opened, in this way, driving connecting rod with cylinder when cylinder drives air-leg 25 to move down
25 do reciprocating translatory, so that other rod pieces be made to move, drive 21 opening and closing of fixture, the motion profile at any point on fixture 21 is
One arc is swung；It is used cooperatively by fixed pulley 3, clump weight 4 and wirerope 5, thus the balance to guarantee support plate 10, convenient for making
With adjustable 9 height of manipulator of electric telescopic rod 11 is easy to remove；The work of second servo motor 29, drives the second shaft 31
Rotation, so that second gear 30 be driven to rotate, second gear 30 engages connection with the second rack gear 13, to drive the second sliding block 32
It slides on crossbeam 12, is moved forward and backward convenient for manipulator 9；Make jointly in telescopic rod 17, cushion 18, spring 19 and bumper post 20
Under, there is good buffer function, avoid the second sliding block 32 from colliding with the second limited block 16, damaged equipment, caused
Safety accident.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments.Or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (8)
1. a kind of robot device carried for tubing, including sliding equipment (1), balance mechanism (2), hanging ring (6), the first cunning
Slot (7), the first sliding block (8), manipulator (9), support plate (10), electric telescopic rod (11), crossbeam (12), the second rack gear (13),
Second sliding slot (14), buffer gear (15), the second limited block (16), first servo motor (33), first rotating shaft (34), the first tooth
Item (35), first gear (36), the first limited block (37) and pillar (38), it is characterised in that: the pillar (38) has two, and
The top of two pillars (38) has been bolted crossbeam (12), solid by bolt at the top center of the crossbeam (12)
Surely having the second rack gear (13), the two sides correspondence of second rack gear (13) is welded with the second limited block (16), and described second
By being welded with buffer gear (15) at the side center of limited block (16), the side of the crossbeam (12) offers second
Sliding slot (14), and the non-conterminous side correspondence of two crossbeams (12) is equipped with sliding equipment (1), in the bottom of the sliding equipment (1)
By being connect at electric telescopic rod (11) and the top center of support plate (10) at the heart, and electric telescopic rod (11) and support plate
(10) it is bolted, the side of the sliding equipment (1) is pushed up by the balance mechanism (2) and support plate (10) of corresponding installation
The connection of hanging ring (6) that portion both ends are welded and fixed, and hanging ring (6) and support plate (10) pass through and are welded and fixed, the support plate (10)
Two sides correspondence offer first sliding groove (7), the bottom center of the support plate (10) has been bolted the first rack gear
(35), the two sides correspondence of first rack gear (35) is welded with the first limited block (37), the first sliding groove (7) and first
Sliding block (8) is used cooperatively, and the side of first sliding block (8) has been bolted first servo motor (33), and described first
The side of servo motor (33) is connect by connecting key with first rotating shaft (34), and the first rotating shaft (34) passes through the first sliding block
(8) it inner wall side and first gear (36) and is connect with the inner wall other side of the first sliding block (8) by bearing, first tooth
(36) and first rotating shaft (34) are taken turns by connection key connection, and at position and first rotating shaft (34) outside hub, the first gear
(36) connection is engaged with the first rack gear (35), the bottom center of first sliding block (8) is equipped with manipulator (9).
2. a kind of robot device carried for tubing according to claim 1, it is characterised in that: the buffer gear
(15) it is made of telescopic rod (17), cushion (18), spring (19) and bumper post (20), the side of the bumper post (20) and the
For two limited blocks (16) by being welded and fixed, the inside of the bumper post (20) is described to stretch by being welded with telescopic rod (17)
The outside of contracting bar (17) has been bolted spring (19), and the other side of the bumper post (20) is by being welded with buffering
It pads (18).
3. a kind of robot device carried for tubing according to claim 1, it is characterised in that: the sliding equipment
(1) it is made of the second servo motor (29), second gear (30), the second shaft (31) and the second sliding block (32), described second is sliding
The side of block (32) has been bolted the second servo motor (29), and the side of second servo motor (29) passes through connection
Key is connect with the second shaft (31), and second shaft (31) passes through the second sliding block (32) inner wall side and two correspond to installation
It second gear (30) and is connect with the inner wall other side of the second sliding block (32) by bearing, and two second gears (30) are with
Two rack gears (13) engagement connection.
4. a kind of robot device carried for tubing according to claim 1, it is characterised in that: the balance mechanism
(2) it is made of fixed pulley (3), clump weight (4) and wirerope (5), the one ends wound of the wirerope (5) is on hanging ring (6), institute
The other end of wirerope (5) is stated around two fixed pulleys (3) and is bolted with clump weight (4).
5. a kind of robot device carried for tubing according to claim 1, it is characterised in that: the manipulator
(9) by fixture (21), three hole connecting rods (22), the first short connecting rod (23), the second short connecting rod (24), air-leg (25), bracket
(26), big screw (27) and Screw (28) composition, the side and the first sliding block (8) of the air-leg (25) are connected by bolt
It connects, the other side of the air-leg (25) passes through bracket (26) and is welded and fixed with the second short connecting rod (24) at center, described
The side of bracket (26) is welded and fixed with the second short connecting rod of both ends (24), and passes through big spiral shell between two second short connecting rods (24)
(27) connection is followed closely, and the side of the second short connecting rod of both ends (24) is connect by big screw (27) with three hole connecting rods (22), and
The second short connecting rod (24) is connect by two first short connecting rods (23) with two fixtures (21) at center, three hole connecting rod (22)
Side is connect by Screw (28) with two fixtures (21).
6. a kind of robot device carried for tubing according to claim 2, it is characterised in that: second sliding block
(32) it is used cooperatively with second sliding slot (14).
7. a kind of robot device carried for tubing according to claim 2, it is characterised in that: second sliding block
(32) it is bolted with electric telescopic rod (11).
8. a kind of robot device carried for tubing according to claim 2, it is characterised in that: the second gear
(30) pass through connection key connection with the second shaft (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810485987.9A CN110303487B (en) | 2018-05-17 | 2018-05-17 | Manipulator device for carrying pipes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810485987.9A CN110303487B (en) | 2018-05-17 | 2018-05-17 | Manipulator device for carrying pipes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110303487A true CN110303487A (en) | 2019-10-08 |
| CN110303487B CN110303487B (en) | 2023-06-20 |
Family
ID=68074006
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810485987.9A Active CN110303487B (en) | 2018-05-17 | 2018-05-17 | Manipulator device for carrying pipes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110303487B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117601164A (en) * | 2024-01-23 | 2024-02-27 | 南通方鑫化工有限公司 | Safety production chemical dangerous goods clamping equipment |
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| CN117601164B (en) * | 2024-01-23 | 2024-04-12 | 南通方鑫化工有限公司 | Safety production chemical dangerous goods clamping equipment |
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| CN110303487B (en) | 2023-06-20 |
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