CN111824361A - Boats and ships total section butt joint is assembled frame car in coordination with remove compliance - Google Patents
Boats and ships total section butt joint is assembled frame car in coordination with remove compliance Download PDFInfo
- Publication number
- CN111824361A CN111824361A CN202010546329.3A CN202010546329A CN111824361A CN 111824361 A CN111824361 A CN 111824361A CN 202010546329 A CN202010546329 A CN 202010546329A CN 111824361 A CN111824361 A CN 111824361A
- Authority
- CN
- China
- Prior art keywords
- platform
- double
- moving
- moving platform
- cooperative
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
- B63B73/20—Building or assembling prefabricated vessel modules or parts other than hull blocks, e.g. engine rooms, rudders, propellers, superstructures, berths, holds or tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
- B63B73/60—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by the use of specific tools or equipment; characterised by automation, e.g. use of robots
-
- 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
- B65G7/00—Devices for assisting manual moving or tilting heavy loads
- B65G7/02—Devices adapted to be interposed between loads and the ground or floor, e.g. crowbars with means for assisting conveyance of loads
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a ship block docking cooperative assembly frame vehicle with movement compliance, which comprises a single-degree-of-freedom rail cooperative assembly frame vehicle, a transfer plate, a first double-moving platform, a second double-moving platform, a third double-moving platform, a saddle, a support and a tail end posture adjusting platform, wherein the transfer plate is arranged on the transfer plate; the adapter plate is fixedly installed on the single-degree-of-freedom rail collaborative assembly trolley, the three double-moving platforms are arranged on the adapter plate according to 120 degrees of the circumference, the three saddles are respectively arranged on the three double-moving platforms, the support is arranged on the saddles, and the tail end resource adjusting platform is arranged on the support. The invention ensures that each trolley has good movement compliance, improves the bearing capacity of the trolley, reduces the contact stress during assembly, can adapt to the automatic assembly of ships with different shapes and sizes by the array combined trolley, and has higher precision, higher efficiency, higher safety and reliability.
Description
Technical Field
The invention relates to the field of automatic assembly and pairing of large equipment, in particular to a ship block docking cooperative assembly trolley with mobile compliance.
Background
At present, the assembly and butt joint of large ship parts in China are mostly realized by means of visual and hand cranking. The two components are typically placed on a carrier or platform, respectively, and a ring of corresponding hole-pin mating structures is formed on the abutting ring surfaces of the two components. By pushing one part to slowly approach the other part, the corresponding hole pin posture is manually adjusted while observing, and the part is inserted after being aligned. However, this method has many problems, such as low precision of pin fitting in the mating surface, large assembling stress, no universality, and low efficiency. In actual work, the assembling equipment is poor in flexibility and easy to damage assembling parts. Aiming at the problem, an automatic control cooperative assembly frame trolley with three degrees of freedom is produced, but a large ship component is generally in a curved surface structure, and a contact point of the frame trolley and the component needs to be a surface instead of a point or a line, so that the curved surface radian and the inclination angle of the large ship component cannot be conformed, and the stress of the contact point of the frame trolley and the large ship component is overlarge in the assembly process, so that the assembly precision is influenced.
Therefore, those skilled in the art are dedicated to develop a docking cooperative fitting driving method which can cooperatively control all the vehicle lifting according to the shape and size planning combination array of the ship components, thereby realizing the fitting of the ship components with different shapes and sizes.
Disclosure of Invention
In view of the above-mentioned defects of the prior art, the technical problems to be solved by the present invention are high operation precision, high automation degree, large movement range, wide adaptable assembly environment and the like, and each trolley has a compliant capability and can be assembled with components.
In order to achieve the aim, the invention provides a ship block butt joint cooperative assembly trolley with movement compliance. The device is characterized by comprising a single-degree-of-freedom rail cooperative assembly frame vehicle, a transfer plate, a first double-moving platform, a second double-moving platform, a third double-moving platform, a saddle, a support and a tail end posture adjusting platform; the adapter plate is fixedly installed on the single-degree-of-freedom rail collaborative assembly trolley, the first double-moving platform, the second double-moving platform and the third double-moving platform are arranged on the adapter plate according to 120 degrees of the circumference, the saddle is arranged on the first double-moving platform, the second double-moving platform and the third double-moving platform respectively, the support is arranged on the saddle, and the tail end financing platform is arranged on the support.
Further, the saddle and the support are connected through a revolute pair.
Further, the support is connected with the tail end posture adjusting platform through a ball pair.
Further, the single degree of freedom rail cooperative assembly unwheeling includes: the device comprises a motion control cabinet, a vehicle shell, a rear wheel spindle, a chassis, a track wheel and a front wheel spindle; the chassis is fixed with the shell through bolts, the rear wheel spindle and the front wheel spindle are mounted on the shell, the wheel spindles are mounted and connected with the four track wheels, and the track wheels can move along the track in a single degree of freedom.
Further, the motion control cabinet is fixed on the chassis and is arranged to control the motion of a driving motor of the single-degree-of-freedom rail cooperative assembly frame vehicle and a driving motor on the double-moving platform.
Further, the first dual-mobile platform comprises: the device comprises a lower platform driving motor, a moving platform seat, an I-shaped roller guide rail, an outer lateral transverse roller, a lower platform sliding seat, an upper platform moving module, an upper platform driving motor, a screw rod and an inner lateral vertical roller; the movable platform base is fixed on the adapter plate, the I-shaped roller guide rails are symmetrically arranged in the movable platform base, the lead screw is arranged on the inner side of each I-shaped roller guide rail, the lower platform sliding seat is connected with the lead screw, the lower platform driving motor is arranged on the I-shaped roller guide rail at one end of the movable platform base, the lower platform sliding seat is fixed with the upper platform moving module through a bolt, two pairs of outer transverse rollers are matched with the lower platform sliding seat through bearings to be transversely symmetrically arranged, two pairs of inner vertical rollers are matched with the lower platform sliding seat through bearings to be vertically symmetrically arranged, the upper platform driving motor is arranged at one end of the upper platform moving module through rolling guide and plays a supporting role.
Further, the lower deck driving motor may drive the lower deck slide to move in a direction parallel to the drum rail.
Further, the upper stage driving motor may drive the upper stage moving module to move in a direction perpendicular to the drum rail.
Further, the lower platform sliding seat is connected with the screw rod screw pair.
Furthermore, the first double-moving platform, the second double-moving platform and the third double-moving platform have the same structure.
Compared with the prior art, the invention provides the ship block butt joint cooperative assembly trolley with the movement compliance, so that each trolley has good compliance, the contact stress during assembly is reduced, the bearing capacity is improved, different arrays of trolleys can be freely combined, and ship parts in different shapes and sizes can be assembled. Meanwhile, multiple trolley lifting machines are automatically and cooperatively assembled, the laser tracker or the IGPS is adopted to measure the pose of a component, the automatic high-precision assembly replaces the existing visual hand-operated capital adjustment, and the automatic high-precision assembly has higher precision, higher efficiency and higher safety and reliability.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a general block diagram of a preferred embodiment of the present invention;
FIG. 2 is a block diagram of a single degree of freedom rail cooperating mounting cart in accordance with a preferred embodiment of the present invention;
FIG. 3 is a block diagram of a first dual-mobility platform in accordance with a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of a dual motion stage arrangement according to another preferred embodiment of the present invention;
FIG. 5 is a schematic view of a docking assembly of a ship according to another preferred embodiment of the present invention;
FIG. 6 is an elevation view of a docking assembly of a vessel on site in accordance with another preferred embodiment of the present invention;
fig. 7 is a top plan view of the on-site vessel docking assembly in accordance with another preferred embodiment of the present invention.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
Example 1
As shown in fig. 1, the present embodiment includes: the single-degree-of-freedom track collaborative assembly trolley comprises a single-degree-of-freedom track collaborative assembly trolley 1, a transfer plate 2, a first double moving platform 3, a second double moving platform 4, a third double moving platform 5, a saddle 6, a support 7 and a tail end posture adjusting platform 8. Wherein: a first double-moving platform 3, a second double-moving platform 4 and a third double-moving platform 5 are arranged at 120 degrees of the circumference and are fixed with a single-freedom-degree rail cooperative assembly trolley 1 through a transfer plate 2, a saddle 6 is arranged on the double-moving platforms in a sliding mode, the saddle 6 is connected with a support 7 through a revolute pair, and the support 7 is connected with a tail end posture adjusting platform 8 through a ball pair.
As shown in fig. 2, the single-degree-of-freedom rail-cooperating trolley 1 comprises: motion control cabinet 9, hull 10, rear wheel main shaft 11, chassis 12, rail wheel 13, preceding wheel main shaft 14, wherein: the chassis 12 is fixed with the shell 10 through bolts, the rear wheel spindle 11 and the front wheel spindle 14 are installed on the shell 10 and are connected with four track wheels 13, and the track wheels 13 can move along the track in a single degree of freedom. The motion control cabinet 9 is fixed on the chassis 12 and is used for controlling the motion of the driving motor of the single-freedom-degree rail cooperative assembly frame vehicle 1 and the driving motor on the double-moving platform.
As shown in fig. 3, the first dual-motion platform 3 includes: lower platform driving motor 15, moving platform seat 16, i-shaped roller guide rail 17, lateral transverse roller 18, lower platform slide 19, upper platform moving module 20, upper platform driving motor 21, lead screw 22 and medial vertical roller 23, wherein: the moving platform base 16 is fixed on the adapter plate 2, the lower platform slide base 19 is connected with the screw pair of the screw rod 22, the lower platform driving motor 15 can drive the lower platform slide base 19 to move along the y1 direction, the upper platform driving motor 21 can drive the upper platform moving module 20 to move along the x1 direction, the lower platform slide base 19 is fixed with the upper platform moving module 20 through a bolt, the I-shaped roller guide rails 17 are symmetrically arranged on the moving platform base 16, the lower platform slide base 19 plays a guiding role, the two pairs of outer lateral transverse rollers 18 and the lower platform slide base 19 are matched into transverse symmetrical arrangement through bearings, through rolling guidance, the two pairs of inner vertical rollers 23 and the lower platform slide base 19 are matched into vertical symmetrical arrangement through bearings, and the vertical symmetrical arrangement is realized through rolling guidance and supporting. The first double moving platform 3, the second double moving platform 4 and the third double moving platform 5 are identical in structure.
Example 2
As shown in fig. 1 and 4, the dual-moving platform includes a first dual-moving platform 3, a second dual-moving platform 4, and a third dual-moving platform 5, which have the same structure and different arrangement directions, and realize six-degree-of-freedom attitude adjustment through the relative motion of the three. The specific posture adjustment method comprises the following steps: the first double-moving platform 3 moves along the y1 direction, the second double-moving platform 4 moves along the y2 direction, and the third double-moving platform 5 moves along the y3 direction, so that the translation movement of the tail end posture adjusting platform 8 along the z-axis direction is realized; the first double-moving platform 3 does not move, the second double-moving platform 4 moves along the y2 direction, and the third double-moving platform 5 moves along the y3 direction, so that the overturning motion of the tail end posture adjusting platform 8 around the x-axis direction can be realized, and the overturning motion of two degrees of freedom of the plane can also be realized; the first double moving platform 3 moves along the y1 direction, the second double moving platform 4 moves along the x2 direction, and the third double moving platform 5 moves along the x3 direction, so that the translation motion of the tail end posture adjusting platform 8 along the y axis direction can be realized, the translation motion of two degrees of freedom of the plane can be realized, and in sum, the posture adjustment of six degrees of freedom can be realized.
Example 3
As shown in fig. 5, 6 and 7, four ship block docks with movement compliance cooperate with a truck assembly to form a docking unit 25, which is arranged on a track 26, and the ship components 24 cooperate with a four-truck for adjusting the posture. Finally, four groups of docking units 25 are used to form a 2-row and 2-column formation to be connected with the ship component 24, and automatic docking assembly of the large ship component is completed.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A ship block docking cooperative assembly frame vehicle with movement compliance is characterized by comprising a single-degree-of-freedom rail cooperative assembly frame vehicle, a transfer plate, a first double-moving platform, a second double-moving platform, a third double-moving platform, a saddle, a support and a tail end posture adjusting platform; the adapter plate is fixedly installed on the single-degree-of-freedom rail collaborative assembly trolley, the first double-moving platform, the second double-moving platform and the third double-moving platform are arranged on the adapter plate according to 120 degrees of the circumference, the saddle is arranged on the first double-moving platform, the second double-moving platform and the third double-moving platform respectively, the support is arranged on the saddle, and the tail end financing platform is arranged on the support.
2. The mobile compliant docking cooperative frame work vehicle as in claim 1 wherein said saddle is connected to said frame by a revolute pair.
3. The vessel block docking cooperative assembly trolley with mobile compliance of claim 1 wherein the cradle and the end pose platform are connected by a ball set.
4. The vessel block docking cooperative assembly trolley with mobile compliance of claim 1, wherein the single degree of freedom rail cooperative assembly trolley comprises: the device comprises a motion control cabinet, a vehicle shell, a rear wheel spindle, a chassis, a track wheel and a front wheel spindle; the chassis is fixed with the shell through bolts, the rear wheel spindle and the front wheel spindle are mounted on the shell, the wheel spindles are mounted and connected with the four track wheels, and the track wheels can move along the track in a single degree of freedom.
5. The vessel block docking cooperative-assembly trolley with mobile compliance of claim 4, wherein the motion control cabinet is fixed on the chassis, and the motion control cabinet is configured to control the motion of the driving motor of the single-degree-of-freedom rail cooperative-assembly trolley and the driving motor on the dual-moving platform.
6. The vessel block docking cooperative assembly trolley with mobile compliance of claim 1 wherein said first double mobile platform comprises: the device comprises a lower platform driving motor, a moving platform seat, an I-shaped roller guide rail, an outer lateral transverse roller, a lower platform sliding seat, an upper platform moving module, an upper platform driving motor, a screw rod and an inner lateral vertical roller; the movable platform base is fixed on the adapter plate, the I-shaped roller guide rails are symmetrically arranged in the movable platform base, the lead screw is arranged on the inner side of each I-shaped roller guide rail, the lower platform sliding seat is connected with the lead screw, the lower platform driving motor is arranged on the I-shaped roller guide rail at one end of the movable platform base, the lower platform sliding seat is fixed with the upper platform moving module through a bolt, two pairs of outer transverse rollers are matched with the lower platform sliding seat through bearings to be transversely symmetrically arranged, two pairs of inner vertical rollers are matched with the lower platform sliding seat through bearings to be vertically symmetrically arranged, the upper platform driving motor is arranged at one end of the upper platform moving module through rolling guide and plays a supporting role.
7. The vessel block docking cooperative assembly trolley with mobile compliance of claim 6, wherein the lower platform drive motor can drive the lower platform carriage to move in a direction parallel to the drum track.
8. The vessel block docking cooperative assembly trolley according to claim 6, wherein the upper platform driving motor can drive the upper platform moving module to move in a direction perpendicular to the drum track.
9. The mobile compliant docking cooperative mounting trolley according to claim 6 wherein said lower platform slide is connected to said screw pair.
10. The vessel block docking cooperative assembly trolley with mobile compliance of claim 1 wherein the first double moving platform, the second double moving platform and the third double moving platform are identical in structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010546329.3A CN111824361A (en) | 2020-06-15 | 2020-06-15 | Boats and ships total section butt joint is assembled frame car in coordination with remove compliance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010546329.3A CN111824361A (en) | 2020-06-15 | 2020-06-15 | Boats and ships total section butt joint is assembled frame car in coordination with remove compliance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111824361A true CN111824361A (en) | 2020-10-27 |
Family
ID=72898815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010546329.3A Pending CN111824361A (en) | 2020-06-15 | 2020-06-15 | Boats and ships total section butt joint is assembled frame car in coordination with remove compliance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111824361A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112776957A (en) * | 2020-12-31 | 2021-05-11 | 上海交通大学 | Ship block butt joint cooperative assembly trolley with swing angle compliance |
| CN113247206A (en) * | 2021-06-16 | 2021-08-13 | 徐美红 | Safety fixing structure for manufacturing ship |
| CN113929020A (en) * | 2021-09-17 | 2022-01-14 | 上海交通大学 | High-precision multifunctional operation mobile robot |
| CN114131658A (en) * | 2021-12-30 | 2022-03-04 | 江苏东岳工程机械有限公司 | Groove robot gas cutting positioner |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205524881U (en) * | 2016-04-25 | 2016-08-31 | 威海印刷机械有限公司 | Three degree of freedom numerical control hydraulic pressure berth bogie systems |
| CN106041799A (en) * | 2016-07-08 | 2016-10-26 | 上海交通大学 | Six-degree-of-freedom location posture adjusting device for automatic assembly of large parts |
| CN109807624A (en) * | 2019-03-05 | 2019-05-28 | 上海交通大学 | A kind of high-precision ship section automatic assembling docking system that multiple degrees of freedom is adjusted |
| CN110001886A (en) * | 2019-04-16 | 2019-07-12 | 上海交通大学 | A kind of berth bogie mechanism for the docking of ship section |
| CN111114714A (en) * | 2020-02-08 | 2020-05-08 | 辛全英 | Cabin entering tool for marine cabinet |
-
2020
- 2020-06-15 CN CN202010546329.3A patent/CN111824361A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205524881U (en) * | 2016-04-25 | 2016-08-31 | 威海印刷机械有限公司 | Three degree of freedom numerical control hydraulic pressure berth bogie systems |
| CN106041799A (en) * | 2016-07-08 | 2016-10-26 | 上海交通大学 | Six-degree-of-freedom location posture adjusting device for automatic assembly of large parts |
| CN109807624A (en) * | 2019-03-05 | 2019-05-28 | 上海交通大学 | A kind of high-precision ship section automatic assembling docking system that multiple degrees of freedom is adjusted |
| CN110001886A (en) * | 2019-04-16 | 2019-07-12 | 上海交通大学 | A kind of berth bogie mechanism for the docking of ship section |
| CN111114714A (en) * | 2020-02-08 | 2020-05-08 | 辛全英 | Cabin entering tool for marine cabinet |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112776957A (en) * | 2020-12-31 | 2021-05-11 | 上海交通大学 | Ship block butt joint cooperative assembly trolley with swing angle compliance |
| CN113247206A (en) * | 2021-06-16 | 2021-08-13 | 徐美红 | Safety fixing structure for manufacturing ship |
| CN113929020A (en) * | 2021-09-17 | 2022-01-14 | 上海交通大学 | High-precision multifunctional operation mobile robot |
| CN113929020B (en) * | 2021-09-17 | 2023-02-10 | 上海交通大学 | High-precision multifunctional operation mobile robot |
| CN114131658A (en) * | 2021-12-30 | 2022-03-04 | 江苏东岳工程机械有限公司 | Groove robot gas cutting positioner |
| CN114131658B (en) * | 2021-12-30 | 2023-12-29 | 江苏东岳工程机械有限公司 | Groove robot gas cutting positioning device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111824361A (en) | Boats and ships total section butt joint is assembled frame car in coordination with remove compliance | |
| CN209831574U (en) | Multi-degree-of-freedom pose adjusting rotary table for large workpieces | |
| CN210174826U (en) | Double-station battery replacement station capable of sharing intelligent and rapidly replacing batteries based on multiple vehicle types | |
| CN112756901A (en) | Tank body butt joint system | |
| CN116511835A (en) | Barrel automatic processing system, barrel processing method and barrel automatic processing technology | |
| CN109807624B (en) | High-precision ship section automatic assembly docking system with multi-degree-of-freedom adjustment | |
| CN112296582B (en) | Multi-vehicle type switching system of white vehicle body welding fixture | |
| CN209740652U (en) | self-propelled compensating beam tipping arrangement | |
| CN201102553Y (en) | Device for transferring non-standard track space engine on the standard track space circuitry | |
| CN100503332C (en) | Device for transferring non-standard track space engine on the standard track space circuitry | |
| CN113044733B (en) | Engine mounting vehicle and engine mounting method | |
| CN215622379U (en) | Six-degree-of-freedom butt joint equipment | |
| CN115609535A (en) | Quick butt joint dismounting device of cabin section | |
| CN102837563A (en) | Self-correct guide front wheel mechanism of rail guide vehicle for installing commercial vehicle rear axle assembly line | |
| CN112157383A (en) | Flexible compliant six-degree-of-freedom positioning device for ship block docking | |
| CN114227582A (en) | Front auxiliary frame assembly assembling tool | |
| JP2000249495A (en) | Rocket launching facility | |
| CN112776957A (en) | Ship block butt joint cooperative assembly trolley with swing angle compliance | |
| CN214518570U (en) | Tank body butt joint system | |
| CN220809623U (en) | Tool switching system of tool loading tool and automobile production line | |
| CN217296052U (en) | Trolley positioning device for assembling vehicle-mounted battery | |
| CN113602332B (en) | Integrated transfer device | |
| CN220811000U (en) | Material transferring mechanism | |
| CN220427097U (en) | Electric arc increase and decrease material manufacturing system location structure based on AGV transports platform | |
| CN212620578U (en) | Automobile chassis detection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |