CN112407716B - Large-length-diameter large-load product transfer lifting device - Google Patents
Large-length-diameter large-load product transfer lifting device Download PDFInfo
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- CN112407716B CN112407716B CN202011184008.XA CN202011184008A CN112407716B CN 112407716 B CN112407716 B CN 112407716B CN 202011184008 A CN202011184008 A CN 202011184008A CN 112407716 B CN112407716 B CN 112407716B
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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- Intermediate Stations On Conveyors (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to a transfer lifting device, and provides a transfer lifting device for a large-length-diameter large-load product, which aims to solve the problems of low automation degree, poor safety and reliability, high cost and poor applicability in the existing transportation and storage of the large-length-diameter large-load product, and comprises a walking assembly and a lifting assembly; the walking assembly comprises a walking support, and a walking driving mechanism arranged on the walking support, a driving wheel set and a plurality of groups of rolling wheel sets, the output end of the walking driving mechanism is connected with the driving wheel set, the driving wheel set and the plurality of groups of rolling wheel sets are arranged in parallel, the lifting assembly comprises a lifting support and a lifting platform, and a lifting driving mechanism arranged on the lifting support, the output end of the lifting driving mechanism is connected with the lifting platform, the lifting support is arranged on the walking support, a guide rail is arranged on the lifting support, a sliding part matched with the guide rail is arranged on the lifting platform, at least one transfer assembly is arranged on the lifting platform, and the lifting platform is used for sending a product on the lifting platform out.
Description
Technical Field
The invention relates to a transfer lifting device, in particular to a transfer lifting device for a large-length and large-load product.
Background
On the working sites of the logistics transportation and storage shelf storage industries and the like, higher and higher requirements are put forward on the storage capacity, storage space, rapid transfer and the like of products with large length, diameter and load. In addition, with higher labor costs, automation is also increasingly required. At present, the carrying and storage of products with large length and large load are completed by matching corresponding hoisting or forking equipment, the automation degree is low, the safety and reliability are poor, the conveying cost is high, and in addition, the difference of conveyed products is large, and the universality and the applicability are poor.
Disclosure of Invention
The invention provides a large-length-diameter large-load product transfer lifting device, which aims to solve the technical problems of low automation degree, poor safety and reliability, high cost and poor applicability in the existing transportation and storage of large-length-diameter large-load products.
In order to achieve the purpose, the invention provides the following technical scheme:
a large-length-diameter large-load product transfer lifting device is characterized by comprising a walking component and a lifting component;
the walking assembly comprises a walking bracket, a walking driving mechanism, a driving wheel set and a plurality of rolling wheel sets, wherein the walking driving mechanism, the driving wheel set and the rolling wheel sets are arranged on the walking bracket;
the output end of the walking driving mechanism is connected with the driving wheel set and is used for driving the driving wheel set to rotate; the driving wheel set and the plurality of rolling wheel sets are arranged in parallel, and are used for driving the walking support to move together;
the lifting assembly comprises a lifting support, a lifting platform and a lifting driving mechanism arranged on the lifting support;
the output end of the lifting driving mechanism is connected with the lifting platform and used for driving the lifting platform to lift;
the lifting support is arranged on the walking support, a guide rail is arranged on the lifting support, and a sliding part matched with the guide rail is arranged on the lifting platform;
the lifting platform is provided with at least one transfer assembly for conveying the product on the lifting platform out of the lifting platform, and the transfer direction of the transfer assembly is perpendicular to the extending direction of the lifting platform.
Furthermore, the anti-falling device also comprises an anti-falling motor arranged on the lifting bracket;
the output end of the anti-falling motor is connected with a screw rod of the trapezoidal screw rod and is used for driving the screw rod to rotate;
and a nut of the trapezoidal lead screw is connected with the lifting platform.
Furthermore, two lifting brackets are arranged and are respectively positioned at two ends of the lifting platform;
the two lifting driving mechanisms are respectively arranged on the two lifting brackets.
Further, the device also comprises a balancing weight;
the lifting driving mechanism comprises a lifting driving motor and a lifting transmission shaft which are arranged on the lifting bracket;
the output end of the lifting driving motor is connected with a speed reducer, and the output shaft of the speed reducer is connected with a lifting driving chain wheel;
the lifting transmission shaft is provided with a first lifting transmission chain wheel, a second lifting transmission chain wheel and a third lifting transmission chain wheel;
a first transmission chain is arranged on the first lifting transmission chain wheel, and a third transmission chain is arranged on the third lifting transmission chain wheel; one end of each of the first transmission chain and the third transmission chain is connected with the lifting platform, and the other end of each of the first transmission chain and the third transmission chain is connected with the balancing weight;
the lifting driving chain wheel is connected with the second lifting transmission chain wheel through a second transmission chain.
Further, the transfer assembly comprises a transfer driving motor, a driving rotating shaft and a plurality of driven rotating shafts;
the transfer driving motor is arranged on the lifting platform, and the output end of the transfer driving motor is connected with the driving rotating shaft and is used for driving the driving rotating shaft to rotate;
the driving rotating shaft and the driven rotating shafts are both arranged on the lifting platform through a bracket;
the driven rotating shafts are connected with the driving rotating shaft through double-row chain wheels and chains;
the driving rotating shaft and the plurality of driven rotating shafts are arranged in parallel.
Further, the walking driving mechanism comprises a walking motor;
the output end of the walking motor is connected with a speed reducer, and the output shaft of the speed reducer is connected with a walking driving chain wheel;
and the walking driving chain wheel is connected with the driving wheel set through a walking driving chain.
Further, the rail comprises a transverse portion, a first longitudinal portion and a second longitudinal portion; the transverse part is arranged on the lifting bracket;
the first longitudinal part and the second longitudinal part are both perpendicular to the transverse part and are arranged in parallel;
the sliding part comprises a first pulley, a second pulley and a third pulley;
the first pulley is disposed between the first longitudinal portion and the second longitudinal portion, and the second pulley and the third pulley are respectively located on outer sides of the first longitudinal portion and the second longitudinal portion.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the large-length-diameter large-load product transferring lifting device, the functions of longitudinal walking, vertical lifting and transverse transferring of large-length-diameter large-load products are realized through the cooperation of the walking assembly, the lifting assembly and the transferring assembly, and the problems of high difficulty, difficulty in guiding, high equipment cost and low safety and reliability of the conventional transferring lifting large-load products are effectively solved; according to the invention, large-length-diameter and large-load products are placed on the transfer assembly, the walking assembly drives the driving wheel sets to rotate through the walking driving mechanism, the plurality of rolling wheel sets rotate along with the walking driving mechanism, so that the walking bracket integrally and longitudinally walks, the lifting driving mechanism in the lifting assembly drives the lifting platform to lift, the moving assembly realizes transverse transfer of the products, and the products can be safely conveyed to the storage shelf; in addition, the cooperation of guide rail and slider makes the elevating movement of lift platform more stable safety.
2. The transfer assembly comprises a plurality of rotating shafts, the movable driving motor drives the driving rotating shaft to rotate, the driven rotating shaft synchronously rotates in a stable and reliable double-row chain wheel chain transmission mode, and products with large length, diameter and load can be conveyed out of the transfer assembly.
3. According to the lifting driving mechanism, one end of the first transmission chain and one end of the third transmission chain are connected with the lifting platform, the other end of the first transmission chain and one end of the third transmission chain are connected with the balancing weight, and the balancing weight and the lifting platform are balanced, so that the load of a lifting driving motor can be reduced, and meanwhile, the driving of the lifting platform is more stable.
4. The invention is also provided with an anti-falling part, when the lifting driving unit breaks down, the self-locking function of the trapezoidal lead screw is utilized, the lifting platform can be prevented from rapidly descending, and the falling risk of the transferred lifting product is avoided.
5. The sliding parts are three pulleys which are respectively positioned between two longitudinal parts of the guide rail and on two sides of the guide rail, and the matching is safe and firm, so that the movement of the lifting platform is more stable.
Drawings
FIG. 1 is a schematic structural view of an embodiment of a lifting device for transferring large-diameter and large-load products according to the present invention;
FIG. 2 is a schematic structural view of the walking assembly of FIG. 1 according to the present invention;
FIG. 3 is a schematic view of the lift assembly of FIG. 1 according to the present invention;
FIG. 4 is a schematic structural diagram of the lift driving mechanism of FIG. 3 according to the present invention;
fig. 5 is a schematic structural view of the transfer assembly of fig. 1 according to the present invention.
The automatic lifting device comprises a 1-walking assembly, a 101-walking bracket, a 102-walking driving mechanism, a 103-driving wheel set, a 104-rolling wheel set, a 2-lifting assembly, a 201-lifting bracket, a 202-lifting platform, a 203-lifting driving mechanism, a 2031-lifting driving motor, a 2032-lifting transmission shaft, a 2033-lifting driving chain wheel, a 2034-second lifting transmission chain wheel, a 2035-first transmission chain, a 2036-second transmission chain, a 2037-third transmission chain, a 204-guide rail, a 205-sliding piece, a 3-transferring assembly, a 301-transferring driving motor, a 302-driving rotating shaft, a 303-driven rotating shaft, a 4-balancing weight, a 501-anti-falling motor and a 502-screw rod.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings, and it is obvious that the described embodiments do not limit the present invention.
As shown in fig. 1 to 5, the present invention provides a transfer lifting device for large-diameter and large-load products, which mainly comprises a walking assembly 1, a lifting assembly 2 and a transfer assembly 3.
The walking assembly 1 comprises a walking bracket 101, and a walking driving mechanism 102, a driving wheel set 103 and a plurality of rolling wheel sets 104 which are arranged on the walking bracket 101. The walking driving mechanism 102 comprises a walking motor, an output end of the walking motor is connected with a speed reducer, an output shaft of the speed reducer is connected with a walking driving chain wheel, the walking driving chain wheel is connected with a driving wheel set 103 through a walking driving chain and used for driving the driving wheel set 103 to rotate, the driving wheel set 103 and a plurality of rolling wheel sets 104 are arranged in parallel, and the driving wheel set 103 and the plurality of rolling wheel sets 104 are used for driving the walking support 101 to move together. The walking bracket 101 can also be used as the underframe of the whole transfer lifting device, the walking motor drives the walking drive sprocket to rotate, the driving wheel set 103 is driven to rotate by the walking drive chain, the driving wheel set 103 and the rolling wheel set 104 can adopt structures similar to wheels, namely, two ends of a wheel shaft are respectively provided with a wheel, under the transmission of the driving chain, the driving wheel set 103 arranged on the walking bracket 101 drives the walking bracket 101 to move, a plurality of groups of rolling wheel sets 104 move along with the wheels, the arrangement of the rolling wheel sets 104 can also make the walking bracket 101 more stable when moving, the walking assembly 1 provides walking power for the whole transfer lifting device, if the device is used in a specific production or storage workshop, the device can provide corresponding walking tracks for the driving wheel set 103 and the rolling wheel set 104 according to predicted walking tracks, and the transfer lifting device can walk along the preset tracks.
The lifting assembly 2 includes a lifting bracket 201 and a lifting platform 202, and a lifting driving mechanism 203 mounted on the lifting bracket 201. The lifting support 201 is mounted on the walking support 101, the lifting support 201 is provided with a guide rail 204, the lifting platform 202 is provided with a sliding piece 205 matched with the guide rail 204, and the lifting platform 202 can stably run along the guide rail 204 when moving up and down. Be used for holding the big load product of big major diameter on the lift platform 202, lift actuating mechanism 203 is including installing lift driving motor 2031 and the lift transmission shaft 2032 on lift support 201, lift driving motor 2031's output links to each other with the speed reducer, the output shaft of speed reducer goes up and down driving sprocket 2033, it rotates to drive lift driving sprocket 2033, be equipped with first lift driving sprocket on the lift transmission shaft 2032, second lift driving sprocket 2034 and third lift driving sprocket, link to each other through second drive chain 2036 between lift driving sprocket 2033 and the second lift driving sprocket 2034, lift driving sprocket 2033 drives second lift driving sprocket 2034 through second drive chain 2036, make lift transmission shaft 2032 rotate, and then drive first lift driving sprocket and third lift driving sprocket synchronous revolution. In order to make the lifting of the lifting platform 202 more stable, the lifting support 201 can be set to two, which are respectively located at two ends of the lifting platform 202, the lifting driving mechanism 203 is also set to two, which are respectively installed on the two lifting supports 201, and meanwhile, the counterweight block 4 is installed in a matching manner, the first lifting driving chain wheel is provided with the first transmission chain 2035, the third lifting driving chain wheel is provided with the third transmission chain 2037, both the first transmission chain 2035 and the third transmission chain 2037 are one end connected with the lifting platform 202, the other end is connected with the counterweight block 4, the weight of the counterweight block 4 can be adjusted according to the load on the lifting platform 202, the transmission chain is connected with the lifting platform 202, the transmission chain and the counterweight block 4 can be stably connected by corresponding connecting pieces, and the counterweight block 4 can be used for reducing the load of the lifting driving motor 2031 at two ends.
In addition, as a preferable mode, the guide rail 204 and the slider 205 may be provided in such a form that the guide rail 204 includes a transverse portion installed on the lifting bracket 201, a first longitudinal portion and a second longitudinal portion, both of which are vertically installed on the transverse portion and are arranged in parallel with each other. The sliding member 205 includes a first pulley, a second pulley and a third pulley, the first pulley is disposed between the first longitudinal portion and the second longitudinal portion, the second pulley and the third pulley are respectively located at two outer sides of the first longitudinal portion and the second longitudinal portion, when the lifting platform 202 moves up and down, the first pulley rolls between the first longitudinal portion and the second longitudinal portion, and the second pulley and the third pulley are attached to roll at two sides of the first longitudinal portion and the second longitudinal portion.
The lifting platform 202 is also provided with at least one transfer component 3, the number of the transfer components 3 can be adjusted according to the size and stability requirements of products with large length, diameter and load so as to be compatible with different products, the transfer components 3 are used for sending the products on the lifting platform 202 out of the lifting platform 202, and the transfer direction of the transfer components 3 is perpendicular to the extending direction of the lifting platform 202. The transfer component 3 is similar to a conveyor belt and sends the product out of the lifting platform, but the structural design is substantially different from the conveyor belt, the transfer component 3 comprises a transfer driving motor 301, a driving rotating shaft 302 and a plurality of driven rotating shafts 303, the driving rotating shaft 302 and the plurality of driven rotating shafts 303 are arranged in parallel, the transfer driving motor 301 is arranged on the lifting platform 202, and the output end of the transfer driving motor is connected with the driving rotating shaft 302 and drives the driving rotating shaft 302 to rotate; the plurality of driven rotating shafts 303 are connected with the driving rotating shaft 302 through a double-row chain wheel chain, so that the plurality of driven rotating shafts 303 and the driving rotating shaft 302 synchronously rotate, and products on the driven rotating shafts 303 and the driving rotating shaft 302 are sent out in a rolling mode.
In order to improve the safety performance of the whole device, in one embodiment of the invention, the anti-falling part is further provided and comprises an anti-falling motor 501 arranged on the lifting bracket 201, the output end of the anti-falling motor 501 is connected with a screw rod 502 of a trapezoidal screw rod, and a nut of the trapezoidal screw rod in the anti-falling part moves along with the lifting platform 202. The anti-falling motor 501 drives the screw rod 502 to rotate, the nut of the trapezoidal screw rod is connected with the lifting platform 202, and the nut can be flexibly connected with the lifting platform 202. When the lifting assembly 202 operates normally, the anti-falling part is in a following state and moves along with the lifting platform 202, when the lifting driving motor 2031 breaks down and the lifting platform 202 possibly falls, the anti-falling part utilizes the self-locking principle of the trapezoidal lead screw to immediately lock the lifting platform 202, and therefore product safety is effectively guaranteed.
The transfer lifting working process of the transfer lifting device comprises the following steps: when the device is put in storage, the lifting platform 202 receives a certain large-length-diameter and large-load product at a low position, the product is positioned on the driving rotating shaft 302 and the driven rotating shaft 303 of the transferring component 3, the walking motor drives the driving wheel set 103 to rotate to drive the walking bracket 101, namely, the whole device moves to a preset position, and the walking component 1 stops working; when the lifting assembly 2 starts to work, the lifting drive motor 2031 drives the lifting drive sprocket 2033 to rotate, the second lifting drive sprocket 2034 drives the lifting drive shaft 2032 to rotate, so that the first lifting drive sprocket and the third lifting drive sprocket synchronously rotate, the lifting platform 202 is lifted to a preset height by the first drive chain 2035 and the third drive chain 2037, and the lifting assembly 2 stops working; the transfer assembly 3 starts to work, the transfer driving motor 301 drives the driving rotating shaft 302 and the driven rotating shafts 303 to synchronously rotate, and the products on the driving rotating shaft 302 and the driven rotating shafts 303 are sent out of the lifting platform, for example, for storage, and can be sent to a shelf. Subsequently, the lifting assembly 2 can continue to work, the lifting platform 2 is lowered back to the position, and the walking assembly 1 conveys the device to the preset position to wait for the next work.
The principle is the same when the warehouse is out and the principle is in the warehouse when the warehouse is in, and the working flow is opposite.
The transfer lifting device can effectively save space, has large load redundancy, high automation degree and safety reliability, can greatly reduce equipment cost, can adapt to various similar use occasions and working conditions, and has wide applicability.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to other related technical fields, are included in the scope of the present invention.
Claims (4)
1. The utility model provides a big major diameter heavy load product moves and carries elevating gear which characterized in that: comprises a walking component (1), a lifting component (2), an anti-falling motor (501) and a balancing weight (4);
the walking assembly (1) comprises a walking bracket (101), and a walking driving mechanism (102), a driving wheel set (103) and a plurality of rolling wheel sets (104) which are arranged on the walking bracket (101);
the output end of the walking driving mechanism (102) is connected with the driving wheel set (103) and is used for driving the driving wheel set (103) to rotate; the driving wheel set (103) and the plurality of rolling wheel sets (104) are arranged in parallel, and the driving wheel set (103) and the plurality of rolling wheel sets (104) are used for driving the walking support (101) to move together;
the lifting assembly (2) comprises a lifting support (201), a lifting platform (202) and a lifting driving mechanism (203) arranged on the lifting support (201);
the output end of the lifting driving mechanism (203) is connected with the lifting platform (202) and is used for driving the lifting platform (202) to lift;
the lifting support (201) is arranged on the walking support (101), a guide rail (204) is arranged on the lifting support (201), and a sliding piece (205) matched with the guide rail (204) is arranged on the lifting platform (202);
the guide rail (204) comprises a transverse portion, a first longitudinal portion and a second longitudinal portion; the transverse part is arranged on a lifting bracket (201);
the first longitudinal part and the second longitudinal part are both perpendicular to the transverse part and are arranged in parallel;
the slider (205) comprises a first pulley, a second pulley, and a third pulley;
the first pulley is arranged between the first longitudinal part and the second longitudinal part, and the second pulley and the third pulley are respectively positioned at two outer sides of the first longitudinal part and the second longitudinal part;
the lifting platform (202) is provided with at least one transfer component (3) for sending a product positioned on the lifting platform (202) out of the lifting platform (202), and the transfer direction of the transfer component (3) is vertical to the extension direction of the lifting platform (202);
the anti-falling motor (501) is arranged on the lifting support (201), and the output end of the anti-falling motor (501) is connected with a screw rod (502) of a trapezoidal screw rod and used for driving the screw rod (502) to rotate; the nut of the trapezoidal screw rod is connected with the lifting platform (202);
the lifting driving mechanism (203) comprises a lifting driving motor (2031) and a lifting transmission shaft (2032) which are arranged on the lifting bracket (201);
the output end of the lifting driving motor (2031) is connected with a speed reducer, and the output shaft of the speed reducer is connected with a lifting driving chain wheel (2033);
a first lifting transmission chain wheel, a second lifting transmission chain wheel (2034) and a third lifting transmission chain wheel are arranged on the lifting transmission shaft (2032);
a first transmission chain (2035) is arranged on the first lifting transmission chain wheel, and a third transmission chain (2037) is arranged on the third lifting transmission chain wheel; one end of each of the first transmission chain (2035) and the third transmission chain (2037) is connected with the lifting platform (202), and the other end is connected with the balancing weight (4);
the lifting driving chain wheel (2033) is connected with the second lifting transmission chain wheel (2034) through a second transmission chain (2036).
2. A large-diameter large-load product transfer lifting device as claimed in claim 1, wherein: the two lifting supports (201) are respectively positioned at two ends of the lifting platform (202);
the two lifting driving mechanisms (203) are respectively arranged on the two lifting brackets (201).
3. A large-diameter large-load product transfer lifting device as claimed in claim 2, wherein:
the transfer assembly (3) comprises a transfer driving motor (301), a driving rotating shaft (302) and a plurality of driven rotating shafts (303);
the transfer driving motor (301) is arranged on the lifting platform (202), and the output end of the transfer driving motor is connected with the driving rotating shaft (302) and is used for driving the driving rotating shaft (302) to rotate;
the driving rotating shaft (302) and the driven rotating shafts (303) are arranged on the lifting platform (202) through brackets;
the driven rotating shafts (303) are connected with the driving rotating shaft (302) through double-row chain wheels and chains;
the driving rotating shaft (302) and the driven rotating shafts (303) are arranged in parallel.
4. A large-diameter large-load product transfer lifting device as claimed in claim 3, wherein: the walking driving mechanism (102) comprises a walking motor;
the output end of the walking motor is connected with a speed reducer, and the output shaft of the speed reducer is connected with a walking driving chain wheel;
the walking drive chain wheel is connected with the drive wheel group (103) through a walking drive chain.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011184008.XA CN112407716B (en) | 2020-10-29 | 2020-10-29 | Large-length-diameter large-load product transfer lifting device |
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| CN202011184008.XA CN112407716B (en) | 2020-10-29 | 2020-10-29 | Large-length-diameter large-load product transfer lifting device |
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| CN112407716A CN112407716A (en) | 2021-02-26 |
| CN112407716B true CN112407716B (en) | 2023-01-10 |
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| CN202011184008.XA Active CN112407716B (en) | 2020-10-29 | 2020-10-29 | Large-length-diameter large-load product transfer lifting device |
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| CN114291760A (en) * | 2021-12-07 | 2022-04-08 | 常州好迪机械有限公司 | Reciprocating conveyor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102008036322A1 (en) * | 2008-07-29 | 2010-02-04 | Dürr Systems GmbH | Interim storage for intermediate storage of objects to be painted |
| NL1038148C2 (en) * | 2010-08-03 | 2012-02-13 | Ferdar Automation Technology Nederland B V | STORAGE AND ORDER COLLECTION SYSTEM. |
| CN105834495B (en) * | 2016-05-23 | 2017-12-15 | 佛山新成洪鼎机械技术有限公司 | A kind of weight balance device based on servomotor Synchronization Control |
| DE102016222255B3 (en) * | 2016-11-14 | 2018-04-12 | Kuka Roboter Gmbh | Robotic arm, mobile robot and logistics system |
| CN107628403A (en) * | 2017-09-27 | 2018-01-26 | 广东友力智能科技有限公司 | A kind of automated storage and retrieval system |
| CN210593658U (en) * | 2019-05-29 | 2020-05-22 | 苏州富士德物流设备有限公司 | Stacker convenient to adjust |
| CN110758958B (en) * | 2019-08-08 | 2020-12-22 | 重庆大学 | Shaft product stacking and transferring system |
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