CN110696008A - Rubber tapping robot - Google Patents
Rubber tapping robot Download PDFInfo
- Publication number
- CN110696008A CN110696008A CN201910970991.9A CN201910970991A CN110696008A CN 110696008 A CN110696008 A CN 110696008A CN 201910970991 A CN201910970991 A CN 201910970991A CN 110696008 A CN110696008 A CN 110696008A
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- screw pair
- arc
- rubber
- shaped
- control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/10—Tapping of tree-juices, e.g. caoutchouc, gum
Abstract
The invention relates to a tapping robot, which comprises a clamping mechanism, a cutting mechanism, a movement mechanism, a measurement limiting module and an existing control system, wherein the clamping mechanism is arranged on the cutting mechanism; the rubber tapping robot is fixed on a rubber tree through a clamping mechanism, a moving mechanism and a measuring limiting module are arranged on the clamping mechanism and are connected with an existing control system, the measuring limiting module transmits a received signal to the existing control system, and the existing control system controls the moving mechanism to act according to the received measuring signal; the cutting mechanism is arranged on the moving mechanism, and the moving mechanism drives the cutting mechanism to perform spiral motion on the clamping mechanism; and the cutting mechanism is also connected with the existing control system, and the work of the cutting mechanism is controlled by the existing control system. The rubber cutting device can improve the accuracy of rubber cutting, avoid the waste of rubber juice and the damage to rubber breast tube tissues caused by manual operation errors, and effectively increase the re-cutting rate.
Description
Technical Field
The invention relates to a robot, in particular to a tapping robot for tapping natural rubber.
Background
The rubber industry is one of the important basic industries of national economy and has wide functions in daily life of people. After one rubber tree is put into production, the labor investment for rubber tapping accounts for more than 70% of the total labor investment for the whole rubber production. Particularly, with the increasing demand of natural rubber, the research on rubber tapping apparatuses has advanced to a certain extent, and a plurality of rubber tapping apparatuses aiming at the problems of low rubber acquisition efficiency, high acquisition technology difficulty and the like are developed at home and abroad one after another. Particularly, with the continuous development of computer technology and sensor technology, the tapping machine is developed towards the direction of intellectualization and practicability. Therefore, the research and development of a novel tapping robot becomes a technical problem which needs to be solved urgently at present.
Disclosure of Invention
In view of the above problems, the present invention is to provide a tapping robot, which improves the accuracy of rubber cutting, avoids the waste of rubber juice and the damage to rubber breast tube tissue caused by manual operation errors, makes the cutting line smooth and uniform in depth, and can effectively increase the re-cutting rate.
In order to achieve the purpose, the invention adopts the following technical scheme: a tapping robot comprises a clamping mechanism, a cutting mechanism, a movement mechanism, a measurement limiting module and an existing control system; the tapping robot is fixed on a rubber tree through the clamping mechanism, the moving mechanism and the measuring limiting module are arranged on the clamping mechanism and are connected with the existing control system, the measuring limiting module transmits a received signal to the existing control system, and the existing control system controls the moving mechanism to act according to the received measuring signal; the cutting mechanism is arranged on the moving mechanism, and the moving mechanism drives the cutting mechanism to perform spiral motion on the clamping mechanism; and the cutting mechanism is also connected with the existing control system, and the existing control system controls the work of the cutting mechanism.
Further, the clamping mechanism comprises a track toothed ring frame, an arc toothed ring frame, a clamping fixing frame and a light beam supporting rod; the number of the arc-shaped gear ring frames is two, and the end parts of the two arc-shaped gear ring frames are connected together through the light beam supporting rod respectively; two ends of each arc-shaped gear ring frame are connected into a closed structure through the clamping fixing frame; the track gear ring frames are fixedly arranged on the lower portion of the arc-shaped gear ring frame on the upper portion and the upper portion of the arc-shaped gear ring frame on the lower portion respectively and are used for being matched with the movement mechanism to act.
Further, a rubber fixing foot seat is arranged on the inner side of the arc-shaped tooth ring frame, and the rubber fixing foot seat is also arranged on the inner side of the clamping fixing frame; the connecting end of the rubber fixing foot seat is a bolt rod, is in threaded connection with the arc-shaped tooth ring frame and the clamping fixing frame, and is adjusted in a telescopic mode through threads.
Furthermore, the outer side of the arc-shaped tooth ring frame is provided with a U-shaped support frame, the arrangement position of the U-shaped support frame is corresponding to the inner side of the arc-shaped tooth ring frame, and the bolt rod of the rubber fixing foot seat penetrates through the arc-shaped tooth ring frame and the U-shaped support frame in threaded connection.
Further, the movement mechanism comprises a driving gear, a driven gear, a first driving motor, a movement rotating shaft, an arc-shaped connecting plate, a first rolling screw pair, a second driving motor, a third driving motor and a first gear; an output shaft of the first driving motor is connected with the driving gear and transmits power to the driving gear; the driving gear is meshed with the driven gear, the driven gear is fixedly arranged on the movement rotating shaft, two ends of the movement rotating shaft are respectively provided with one first gear, the two first gears are coaxially connected with the driven gear, and the two first gears are respectively meshed with the two track gear ring frames; and the second rolling screw pair is arranged along the horizontal direction and is in a vertical state with the first rolling screw pair, the second rolling screw pair is driven by the third driving motor, and the third driving motor is also arranged on the first rolling screw pair.
Further, the first rolling screw pair, the third driving motor and the second rolling screw pair are connected in the following manner: the second rolling screw pair is arranged on a groove-shaped connecting back plate, one end of the connecting back plate is provided with the third driving motor, and the connecting back plate is connected to the sliding block of the first rolling screw pair through an L-shaped adapter plate.
Further, the cutting mechanism is arranged on the sliding block of the second rolling lead screw pair.
Further, the cutting mechanism comprises a cutter holder, a cutter handle and a rubber cutter; the tool apron is arranged on the sliding block of the second rolling screw pair, one end of the tool shank is movably connected with the tool apron, and the other end of the tool shank is connected with the rubber cutter.
Furthermore, the measurement limit module comprises a limit sensor, an ultrasonic sensor and a circumference limit sensor; the two ends of the connecting back plate of the first rolling lead screw pair and the two ends of the connecting back plate of the second rolling lead screw pair are respectively provided with the limiting sensors, the ultrasonic sensors are arranged on the sliding block of the second rolling lead screw pair below the tool apron, and the circumference limiting sensors are arranged at the two end parts of each arc-shaped gear rack.
Further, the limit sensor adopts a photoelectric sensor; the circumference limit sensor adopts an inductive sensor.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the invention improves the accuracy of rubber cutting, avoids the waste of rubber juice and the damage to rubber breast tube tissues caused by manual misoperation, and ensures smooth secant and uniform depth. 2. The invention can effectively avoid the blockage of fallen bark fragments, and the bark fragments can automatically fall off under the action of gravity. 3. The invention adopts the cutting from bottom to top, which is favorable for the glue solution to flow along the cutting track, thereby avoiding the waste of the glue solution in the cutting process; and the cutting from bottom to top is favorable for the stable cutting track, and the glue solution is prevented from flowing out from the cutting track line. 4. The invention ensures the yield, simultaneously reduces the damage of the rubber tree caused by cutting to the minimum by accurate rubber tapping depth control, prolongs the service life of the rubber tree and increases the re-cutting rate. 5. The rubber tapping robot can greatly reduce the labor cost, reduce the population of rubber industry workers, reduce the output cost of rubber and enhance the competitiveness of the rubber industry in China.
In conclusion, the rubber cutting tool has wide market prospect, becomes a standard rubber cutting tool in the rubber planting industry, provides a new technical means for the rubber tapping industry, and changes the single cutting mode of the traditional manual push-pull knife in the rubber tapping industry.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a side view of the overall structure of the present invention;
FIG. 3 is a three-dimensional model diagram of the holding of the tapping robot of the present invention.
Detailed Description
In the description of the present invention, it is to be understood that the terms "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The invention is described in detail below with reference to the figures and examples.
As shown in FIG. 1, the invention provides a tapping robot, which comprises a clamping mechanism, a cutting mechanism, a movement mechanism, a measurement limit module and an existing control system. The tapping robot is fixed on a rubber tree through a clamping mechanism, a moving mechanism and a measuring limiting module are arranged on the clamping mechanism and are connected with an existing control system, the measuring limiting module transmits a received signal to the existing control system, and the existing control system controls the moving mechanism to act according to the received measuring signal. The cutting mechanism is arranged on the moving mechanism, and the moving mechanism drives the cutting mechanism to perform spiral motion on the clamping mechanism; and the cutting mechanism is also connected with the existing control system, and the work of the cutting mechanism is controlled by the existing control system.
In a preferred embodiment, the clamping mechanism comprises an arc-shaped gear ring frame 1, a light beam support rod 2, a clamping fixing frame 3 and a track gear ring frame 4. The number of the arc-shaped tooth ring frames 1 is two, and the end parts of the two arc-shaped tooth ring frames 1 are connected together through a light beam supporting rod 2 respectively; two ends of each arc-shaped gear ring frame 1 are connected into a closed structure through a clamping and fixing frame 3. The lower part of the arc-shaped tooth ring frame 1 positioned at the upper part and the upper part of the arc-shaped tooth ring frame 1 positioned at the lower part are respectively and fixedly provided with a track tooth ring frame 4 which is used for cooperating with a movement mechanism.
In the above embodiment, the inner side of the arc-shaped rack 1 is provided with the rubber fixing foot seats 5, the inner side of the clamping fixing frame 3 is also provided with the rubber fixing foot seats 5, and the connecting end of the rubber fixing foot seats 5 is a bolt rod, is in threaded connection with the arc-shaped rack 1 and the clamping fixing frame 3, and can be adjusted in a telescopic manner through threads. When the rubber tapping robot is used, the rubber fixing foot seats 5 and the barks of the rubber trees are adjusted and fastened together through threads, and then the whole rubber tapping robot is clamped on the rubber trees.
In the above embodiments, the U-shaped support frame 6 is disposed outside the arc-shaped rack 1, the U-shaped support frame 6 is disposed corresponding to the rubber fixing foot seat 5 inside the arc-shaped rack 1, and the bolt rod of the rubber fixing foot seat 5 passes through the arc-shaped rack 1 and is in threaded connection with the U-shaped support frame 6.
In a preferred embodiment, the motion mechanism comprises a driving gear 7, a driven gear 8, a first driving motor 9, a motion rotating shaft 10, a first gear 11, an arc-shaped connecting plate 12, a first rolling screw pair 13, a second driving motor 14 and a third driving motor 15. An output shaft of the first driving motor 9 is connected with the driving gear 7 and transmits power to the driving gear 7; the driving gear 7 is meshed with the driven gear 8, the driven gear 8 is fixedly arranged on the movement rotating shaft 10, two ends of the movement rotating shaft 10 are respectively provided with a first gear 11, the two first gears 11 are coaxially connected with the driven gear 8, the two first gears 11 are respectively meshed with the two track ring gear frames 4, power is transmitted to the movement rotating shaft 10 through the driven gear 8 by the driving gear 7, and the movement rotating shaft 10 drives the two first gears 11 to move on the two track ring gear frames 4. And arc-shaped connecting plates 12 are respectively arranged at two ends of the moving rotating shaft 10, and the arc-shaped connecting plates 12 are positioned at the inner side of the arc-shaped toothed ring frame 1 and are used for supporting the first driving motor 9, the first rolling screw pair 13, the second driving motor 14, the third driving motor 15 and the cutting mechanism so as to drive the components to move along the circumferential direction of the track toothed ring frame 4. The first driving motor 9 and the second driving motor 14 are both arranged on the arc-shaped connecting plate 12 located below, the second driving motor 14 is used for being connected with a first rolling screw pair 13 arranged in the vertical direction, the second rolling screw pair 13 is arranged on the first rolling screw pair 13 along the horizontal direction and is in a vertical state with the first rolling screw pair 13, the second rolling screw pair 13 is driven by a third driving motor 15, and the third driving motor 15 is also arranged on the first rolling screw pair 13.
In the above embodiment, the connection modes of the first rolling screw pair 13, the third driving motor 15 and the second rolling screw pair 13 are as follows: the second rolling screw pair 13 is arranged on a groove-shaped connecting back plate, a third driving motor 15 is arranged at one end of the connecting back plate, and the connecting back plate is connected to the sliding block of the first rolling screw pair 13 through an L-shaped adapter plate 16.
In the above embodiments, the cutting mechanism is provided on the slider of the second rolling screw pair 13.
In the above embodiments, the first driving motor 9, the second driving motor 14 and the third driving motor 15 are all connected to the existing control system.
In a preferred embodiment, the cutting mechanism includes a knife holder 17, a knife handle, and a glue knife. The tool apron 17 is arranged on a sliding block of the second rolling screw pair 13, one end of the tool shank is movably connected with the tool apron 17, the other end of the tool shank is connected with the rubber cutter, and the depth of the rubber cutter cutting into the bark of the rubber tree is controlled by the second rolling screw pair 13 through the telescopic movement of the tool shank in the tool apron 17.
In a preferred embodiment, the measurement limit module comprises a limit sensor 18, an ultrasonic sensor 19 and a circumferential limit sensor 20. Limiting sensors 18 are respectively arranged at two ends of a connecting back plate of the first rolling lead screw pair 13 and two ends of a connecting back plate of the second rolling lead screw pair 13, an ultrasonic sensor 19 is arranged on a sliding block of the second rolling lead screw pair 13 below a tool apron 17, the limiting sensors 18 are used for realizing the limiting positions of the sliding block movement of the first rolling lead screw pair 13 and the second rolling lead screw pair 13, and when the limiting positions are reached, the sliding blocks automatically stop returning to the starting points; the adjustment of the feeding depth of the rubber cutter is realized through the ultrasonic sensor 19, and when the change of the bark surface is discontinuous, the rubber cutter can be subjected to avoidance treatment: when the distance between the ultrasonic sensor 19 and the bark surface is continuously measured and gradually decreased to reach the set threshold, the existing control system controls the rubber knife to be lifted to a preset height so as to avoid the obstacle to complete the cutting operation. The circumference limit sensors 20 are arranged at two end parts of each arc-shaped tooth ring frame 1, when the cutting mechanism moves to the limit position, the circumference limit sensors 20 transmit the acquired signals to the existing control system, and the existing control system controls the movement mechanism to return the cutting mechanism to the starting point according to the original path; the up-and-down movement sliding block can carry out cutting movement between two photoelectric sensors of the cutting mechanism, and when the cutting mechanism reaches the limit position, the cutting mechanism automatically stops returning to the starting point.
In the above embodiment, the limit sensor 18 is a photoelectric sensor; the circumferential limit sensor 20 is an inductive sensor.
In the embodiments, the cutting system can also operate in a large-scale networking mode through the existing control system and the communication module, and simultaneously starts the cutting function. The rubber tapping operation is started by the rubber tapping machine in one area simultaneously by sending a command to the existing control system remotely, so that the rubber tapping machine can work in a reciprocating mode.
In summary, when the present invention is used, after power is turned on, the limit sensor 18 searches for an origin in the up-down movement direction, and the circumferential limit sensor 20 searches for an origin in the circumferential movement direction, and after the search for an origin is completed, the second rolling screw pair 13 in the feeding direction operates to prick the rubber cutter to a certain depth (the ultrasonic sensor 19 is used for positioning the pricking depth of the rubber cutter), and after the designated depth is reached, the circumferential movement and the up-down movement simultaneously reach a limit at the other end at a preset speed, and the stop is performed. The combination of circular motion and up-and-down motion forms a one-day helical cutting trajectory.
The above embodiments are only for illustrating the present invention, and the structure, size, arrangement position and shape of each component can be changed, and on the basis of the technical scheme of the present invention, the improvement and equivalent transformation of the individual components according to the principle of the present invention should not be excluded from the protection scope of the present invention.
Claims (10)
1. A tapping robot which is characterized in that: the device comprises a clamping mechanism, a cutting mechanism, a movement mechanism, a measurement limiting module and an existing control system; the tapping robot is fixed on a rubber tree through the clamping mechanism, the moving mechanism and the measuring limiting module are arranged on the clamping mechanism and are connected with the existing control system, the measuring limiting module transmits a received signal to the existing control system, and the existing control system controls the moving mechanism to act according to the received measuring signal; the cutting mechanism is arranged on the moving mechanism, and the moving mechanism drives the cutting mechanism to perform spiral motion on the clamping mechanism; and the cutting mechanism is also connected with the existing control system, and the existing control system controls the work of the cutting mechanism.
2. A tapping robot as recited in claim 1, wherein: the clamping mechanism comprises a track toothed ring frame, an arc toothed ring frame, a clamping fixing frame and a light beam supporting rod; the number of the arc-shaped gear ring frames is two, and the end parts of the two arc-shaped gear ring frames are connected together through the light beam supporting rod respectively; two ends of each arc-shaped gear ring frame are connected into a closed structure through the clamping fixing frame; the track gear ring frames are fixedly arranged on the lower portion of the arc-shaped gear ring frame on the upper portion and the upper portion of the arc-shaped gear ring frame on the lower portion respectively and are used for being matched with the movement mechanism to act.
3. A tapping robot as recited in claim 2, wherein: a rubber fixing foot seat is arranged on the inner side of the arc-shaped tooth ring frame, and the rubber fixing foot seat is also arranged on the inner side of the clamping fixing frame; the connecting end of the rubber fixing foot seat is a bolt rod, is in threaded connection with the arc-shaped tooth ring frame and the clamping fixing frame, and is adjusted in a telescopic mode through threads.
4. A tapping robot as recited in claim 3, wherein: the outer side of the arc-shaped tooth ring frame is provided with a U-shaped support frame, the setting position of the U-shaped support frame is corresponding to the inner side of the arc-shaped tooth ring frame, and the bolt rod of the rubber fixing foot seat penetrates through the arc-shaped tooth ring frame and the U-shaped support frame in threaded connection.
5. A tapping robot as recited in claim 2, wherein: the movement mechanism comprises a driving gear, a driven gear, a first driving motor, a movement rotating shaft, an arc-shaped connecting plate, a first rolling lead screw pair, a second driving motor, a third driving motor and a first gear; an output shaft of the first driving motor is connected with the driving gear and transmits power to the driving gear; the driving gear is meshed with the driven gear, the driven gear is fixedly arranged on the movement rotating shaft, two ends of the movement rotating shaft are respectively provided with one first gear, the two first gears are coaxially connected with the driven gear, and the two first gears are respectively meshed with the two track gear ring frames; and the second rolling screw pair is arranged along the horizontal direction and is in a vertical state with the first rolling screw pair, the second rolling screw pair is driven by the third driving motor, and the third driving motor is also arranged on the first rolling screw pair.
6. A tapping robot as recited in claim 5, wherein: the first rolling screw pair, the third driving motor and the second rolling screw pair are connected in the following mode: the second rolling screw pair is arranged on a groove-shaped connecting back plate, one end of the connecting back plate is provided with the third driving motor, and the connecting back plate is connected to the sliding block of the first rolling screw pair through an L-shaped adapter plate.
7. A tapping robot as recited in claim 5, wherein: and the cutting mechanism is arranged on the sliding block of the second rolling lead screw pair.
8. A tapping robot as recited in claim 7, wherein: the cutting mechanism comprises a cutter holder, a cutter handle and a rubber cutter; the tool apron is arranged on the sliding block of the second rolling screw pair, one end of the tool shank is movably connected with the tool apron, and the other end of the tool shank is connected with the rubber cutter.
9. A tapping robot as recited in claim 5, wherein: the measurement limiting module comprises a limiting sensor, an ultrasonic sensor and a circumference limiting sensor; the two ends of the connecting back plate of the first rolling lead screw pair and the two ends of the connecting back plate of the second rolling lead screw pair are respectively provided with the limiting sensors, the ultrasonic sensors are arranged on the sliding block of the second rolling lead screw pair below the tool apron, and the circumference limiting sensors are arranged at the two end parts of each arc-shaped gear rack.
10. A tapping robot as recited in claim 9, wherein: the limit sensor adopts a photoelectric sensor; the circumference limit sensor adopts an inductive sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910970991.9A CN110696008B (en) | 2019-10-14 | 2019-10-14 | Rubber tapping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910970991.9A CN110696008B (en) | 2019-10-14 | 2019-10-14 | Rubber tapping robot |
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| Publication Number | Publication Date |
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| CN110696008A true CN110696008A (en) | 2020-01-17 |
| CN110696008B CN110696008B (en) | 2020-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910970991.9A Active CN110696008B (en) | 2019-10-14 | 2019-10-14 | Rubber tapping robot |
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| Country | Link |
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| CN (1) | CN110696008B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112215139A (en) * | 2020-10-12 | 2021-01-12 | 东北大学 | Cutting knife positioning algorithm based on combination of ultrasonic sensor and monocular camera |
| CN112568087A (en) * | 2020-12-10 | 2021-03-30 | 封满秀 | Multi-curved-surface type rosin scraping device |
| CN114872094A (en) * | 2022-05-23 | 2022-08-09 | 北京信息科技大学 | Cake slicer of fork mechanism is cut to oval guide rail |
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| BR102013023506A2 (en) * | 2013-09-13 | 2015-07-28 | Fabio Augusto Colella | Automation of rubber tree latex extraction (bleeding) and clot harvest |
| CN105052675A (en) * | 2015-08-28 | 2015-11-18 | 青岛中创瀚维精工科技有限公司 | Rubber tapping machine and rubber tapping method |
| CN106034980A (en) * | 2016-07-13 | 2016-10-26 | 武汉市享昱科技有限公司 | Automatic rubber cutting robot |
| CN109275544A (en) * | 2017-07-19 | 2019-01-29 | 中国热带农业科学院橡胶研究所 | A kind of electronic rubber cutting machine |
| CN210382113U (en) * | 2019-07-16 | 2020-04-24 | 盛元康能(北京)科技发展有限公司 | Intelligent rubber tapping machine |
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2019
- 2019-10-14 CN CN201910970991.9A patent/CN110696008B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR102013023506A2 (en) * | 2013-09-13 | 2015-07-28 | Fabio Augusto Colella | Automation of rubber tree latex extraction (bleeding) and clot harvest |
| CN105052675A (en) * | 2015-08-28 | 2015-11-18 | 青岛中创瀚维精工科技有限公司 | Rubber tapping machine and rubber tapping method |
| CN106034980A (en) * | 2016-07-13 | 2016-10-26 | 武汉市享昱科技有限公司 | Automatic rubber cutting robot |
| CN109275544A (en) * | 2017-07-19 | 2019-01-29 | 中国热带农业科学院橡胶研究所 | A kind of electronic rubber cutting machine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112215139A (en) * | 2020-10-12 | 2021-01-12 | 东北大学 | Cutting knife positioning algorithm based on combination of ultrasonic sensor and monocular camera |
| CN112568087A (en) * | 2020-12-10 | 2021-03-30 | 封满秀 | Multi-curved-surface type rosin scraping device |
| CN112568087B (en) * | 2020-12-10 | 2023-01-20 | 国网山东省电力公司五莲县供电公司 | Multi-curved-surface type rosin scraping device |
| CN114872094A (en) * | 2022-05-23 | 2022-08-09 | 北京信息科技大学 | Cake slicer of fork mechanism is cut to oval guide rail |
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| CN110696008B (en) | 2020-12-15 |
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