CN112483768A - Sewage pipeline detection robot with water based on mechanical driving mechanism - Google Patents
Sewage pipeline detection robot with water based on mechanical driving mechanism Download PDFInfo
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- CN112483768A CN112483768A CN202011271379.1A CN202011271379A CN112483768A CN 112483768 A CN112483768 A CN 112483768A CN 202011271379 A CN202011271379 A CN 202011271379A CN 112483768 A CN112483768 A CN 112483768A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The invention relates to the technical field of sewage pipelines, in particular to a sewage pipeline water carrying detection robot based on a mechanical driving mechanism, which comprises a detection box, wherein a connecting plate is welded on the outer surface of one side of the detection box, a hinged plate is rotatably installed at one end of the connecting plate, a wheel body is installed on the outer surface of the lower end of the hinged plate, a side plate is welded on the inner side of the hinged plate, a rotating plate is installed on the outer surface of one side of the side plate, a sliding plate is welded at one end of the lower surface of the detection box, a detection member is installed on one side of the detection box, a control key and an indicator lamp are installed on the upper surface of the detection box. The wheel body is provided with the antiskid plate, the wheels are of an independent transmission structure, the tail of the device can slide and move through the sliding plate through the chassis of the telescopic rod adjustable device, the device is made of plastic materials and is provided with the radar antenna, and the steering is realized through the rotating plate.
Description
Technical Field
The invention relates to the technical field of sewage pipelines, in particular to a sewage pipeline water carrying detection robot based on a mechanical driving mechanism.
Background
The sewage pipeline system is composed of pipelines for collecting and conveying urban sewage and accessory structures thereof, the sewage flows into a main pipe from a branch pipe, then flows into a main pipe and finally flows into a sewage treatment plant, the pipelines are distributed like rivers from small to large in a tree-like shape and completely different from the circulation through condition of a water supply pipe network, the sewage generally flows from high to low in the pipelines by means of the water surface difference of the two ends of the pipelines, the interior of the pipelines does not bear pressure, namely flows by means of gravity, the detection of the sewage pipeline is generally carried out by robots, and the manual operation is assisted.
Chinese patent discloses a ship type underground sewer line inspection robot (grant No. CN109557102A), this patent technology simple structure, detect to target in place, effectively avoid the barrier, the cable protection advantage such as target in place, however, sewer line on the existing market takes water inspection robot, most accommodation is little, be unfavorable for the device to move under adverse circumstances, the walking of general device in mud is inflexible, be unfavorable for the use flexibility of device, the weight of general device is great, be unfavorable for the energy-conservation of device, and carry inconveniently, general device is located the less external remote control who is unfavorable for the operator of pipeline internal signal output, delay and the problem of network connection interrupt appear in the serious condition, lead to the detection operation of device, the turning to of general device is through the wheel body turns to, turn to insensitive in mud. Accordingly, those skilled in the art have provided a wastewater pipeline water detection robot based on a mechanical driving mechanism to solve the problems set forth in the background art.
Disclosure of Invention
The invention aims to provide a sewage pipeline water carrying detection robot based on a mechanical driving mechanism, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a sewage pipeline takes water to detect robot based on mechanical drive mechanism, includes the detection case, one side skin weld of detection case has the connecting plate, the one end of connecting plate is rotated and is installed the articulated slab, the lower extreme skin surface mounting of articulated slab has the wheel body, the inboard welding of articulated slab has the curb plate, one side skin surface mounting of curb plate has the commentaries on classics board, the lower surface one end welding of detection case has the slide, the detection component is installed to one side of detection case, the last surface mounting of detection case has control button and pilot lamp, the last surface mounting of detection case has the radar, one side skin surface mounting of detection case has light and camera.
As a further scheme of the invention: the inside of detection case installs charge-discharge controller, battery, controller and wireless transmitter in proper order, the inboard of detection component is installed and is surveyed the telescopic link, the lower extreme of surveying the telescopic link is installed turbidity sensor and pH valve sensor.
As a still further scheme of the invention: the other side of the side plate is provided with a steering motor corresponding to the position of the rotating plate, the other side of the hinged plate is provided with a transmission motor corresponding to the position of the wheel body, the connecting plate and the inner side of the hinged plate are rotatably provided with a chassis adjusting telescopic rod, and blades are welded on the outer surface of the wheel body.
As a still further scheme of the invention: the detection box is made of plastic, the sliding plate is made of chemical fiber, the wheel body is made of plastic, and hydrogen is filled in the cavity.
As a still further scheme of the invention: the hinged plates are rotatably connected to one side of the outer surface of the detection box through the connecting plates, two groups of the connecting plates, the hinged plates and the wheel bodies are arranged, and the two groups of the connecting plates, the hinged plates and the wheel bodies are correspondingly arranged at the front and rear positions of one side of the detection box.
As a still further scheme of the invention: the output end electrode of the charge-discharge controller is connected with the input end of the storage battery, the output end electrode of the storage battery is connected with the input end of the controller, the output end electrode of the controller is connected with the input ends of the control key, the indicating lamp, the detection component, the illuminating lamp, the camera and the radar, and the output end electrode of the controller is connected with the input ends of the wireless transmitter and the radar.
As a still further scheme of the invention: the detection telescopic rod, the turbidity sensor and the pH value sensor at the lower end of the detection component penetrate through one side of the interior of the detection box and are inserted into the interior of the sewage.
As a still further scheme of the invention: the rotary plate is rotatably installed at the outer surface position of one side of the side plate through a steering motor, and the wheel body is rotatably installed at the outer surface position of one side of the hinged plate through a transmission motor.
Compared with the prior art, the invention has the beneficial effects that: the sewage pipeline water carrying detection robot can run on water surface and sludge, has wide application range, is favorable for running under severe environment, is provided with the antiskid plates on the wheel body, increases the ground-eating force of the wheel body through the antiskid plates, has the independent transmission structure of the wheels, can regulate the chassis of the device through the telescopic rod, is favorable for running under different conditions, has the tail part of the device to slip and move through the sliding plates, increases the contact area with the sludge, avoids the problem that the wheel body sinks to influence the movement of the device, is flexible to walk in the sludge, adopts plastic materials to reduce the weight, runs in a small boat form when more water exists, runs in the sludge in a skiing motorcycle form, has light weight, is not favorable for energy conservation of the device, is convenient to carry, is provided with the radar antenna, is favorable for network transmission, avoids the problems of weak signal output, delay and network connection interruption under severe conditions, the external remote control of an operator is facilitated, the steering is realized through the rotating plate, and the steering sensitivity in the sludge is facilitated.
Drawings
FIG. 1 is a schematic diagram of a wastewater pipeline water detection robot based on a mechanical drive mechanism;
FIG. 2 is a perspective view of a detection box in a sewer inspection robot with water based mechanical drive mechanism;
FIG. 3 is a schematic structural view of a detection member in a wastewater pipeline water detection robot based on a mechanical driving mechanism;
FIG. 4 is a schematic view of a connection structure of a connection plate, a hinge plate and a wheel body in a sewage pipeline water carrying detection robot based on a mechanical driving mechanism.
In the figure: 1. a detection box; 2. a connecting plate; 3. a hinge plate; 4. a wheel body; 5. a side plate; 6. a slide plate; 7. a control key; 8. an indicator light; 9. rotating the plate; 10. a detecting member; 11. an illuminating lamp; 12. a camera; 13. a radar; 14. a charge and discharge controller; 15. a storage battery; 16. a controller; 17. a wireless transmitter; 18. detecting a telescopic rod; 19. a turbidity sensor; 20. a pH value sensor; 21. a drive motor; 22. a steering motor; 23. the telescopic rod is adjusted by the chassis; 24. a blade.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, in the embodiment of the invention, a sewage pipeline water carrying detection robot based on a mechanical driving mechanism comprises a detection box 1, a connecting plate 2 is welded on the outer surface of one side of the detection box 1, a hinged plate 3 is rotatably installed at one end of the connecting plate 2, a wheel body 4 is installed on the outer surface of the lower end of the hinged plate 3, a side plate 5 is welded on the inner side of the hinged plate 3, a rotating plate 9 is installed on the outer surface of one side of the side plate 5, a sliding plate 6 is welded on one end of the lower surface of the detection box 1, a detection member 10 is installed on one side of the detection box 1, a control key 7 and an indicator light 8 are installed on the upper surface of the detection box 1, a radar 13 is installed on the upper surface of one side of the detection box 1, an illuminating lamp 11 and a camera 12 are installed on the outer surface of one, the hinged plate 3 is rotatably connected to one side position of the outer surface of the detection box 1 through the connecting plate 2, two groups of the connecting plate 2, the hinged plate 3 and the wheel body 4 are arranged, the two groups of the connecting plate 2, the hinged plate 3 and the wheel body 4 are correspondingly arranged at the front and back positions of one side of the detection box 1, firstly, the taking-out device presses the control key 7, the indicator light 8 is lightened to display electric quantity, the external control screen is connected with the wireless device, the device is placed in the pipeline, the illuminating lamp 11 and the camera 12 are turned on, image information is transmitted to the external control screen, the detection component 10 is operated and turned on, the turbidity of water liquid is detected, if the turbidity is turbid, when the sludge is determined, the wheel body 4 rotates at one end of the connecting plate 2 through the hinged plate 3 to adjust the inclination of the detection box 1, so that the bottom at one, wheel body 4 rotates, and slide 6 slides on mud, if not muddy very, when deciding for sewage absolutely, wheel body 4 rotates the gradient of adjusting detection case 1 through articulated slab 3 in the one end of connecting plate 2, makes the one end bottom of detection case 1 press close to the surface of water, and wheel body 4 rotates the back-and-forth movement on the surface of water, changes board 9 and rotates and accomplish at the surface of water and turn to, and detection case 1 floats and removes at the surface of water, when needing to detect, detects component 10 operation, detects turbidity and pH valve, spreads information.
In fig. 2, 3: the detection box 1 is internally provided with a charge and discharge controller 14, a storage battery 15, a controller 16 and a wireless transmitter 17 in sequence, the inner side of the detection component 10 is provided with a detection telescopic rod 18, the lower end of the detection telescopic rod 18 is provided with a turbidity sensor 19 and a pH value sensor 20, the output end electrode of the charge and discharge controller 14 is connected with the input end of the storage battery 15, the output end electrode of the storage battery 15 is connected with the input end of the controller 16, the output end electrode of the controller 16 is connected with a control key 7, an indicator light 8, the detection component 10, an illuminating lamp 11, a camera 12 and the input end of a radar 13, the output end electrode of the controller 16 is connected with the input ends of the wireless transmitter 17 and the radar 13, the detection telescopic rod 18, the turbidity sensor 19 and the pH value sensor 20 at the lower end of the detection component 10 penetrate through one side of the interior of the detection, the indicating lamp 8 is lighted to display the electric quantity in the storage battery 15, the external control screen is connected with the wireless transmitter 17 through the radar 13, the device is placed in a pipeline, the illuminating lamp 11 and the camera 12 are started, image information is transmitted to the external control screen through the radar 13 and the wireless transmitter 17, the turbidity sensor 19 is operated and started to detect the turbidity of water liquid, if the turbidity is relatively turbid, when the sludge is determined, the wheel body 4 rotates at one end of the connecting plate 2 through the hinged plate 3 to adjust the inclination of the detection box 1, so that the bottom of one end of the detection box 1 is close to the sludge, the wheel body 4 rotates to move back and forth, the rotating plate 9 rotates to complete steering, the wheel body 4 rotates, the sliding plate 6 slides on the sludge, if the sludge is not particularly turbid, when the sludge is determined, the wheel body 4 rotates at one end of the connecting plate 2 through the hinged plate 3 to adjust the inclination of the detection, the wheel body 4 rotates and moves back and forth on the water surface, the rotating plate 9 rotates to complete steering on the water surface, the detection box 1 floats on the water surface to move, when detection is needed, the detection telescopic rod 18 pushes the turbidity sensor 19 and the pH value sensor 20 to be inserted into the water surface, turbidity and the pH value are detected, detection information is sent to the inside of the controller 16, and the controller 16 transmits the information through the wireless transmitter 17 and the radar 13.
In fig. 1, 4: a steering motor 22 is arranged at the position of the other side of the side plate 5 corresponding to the rotating plate 9, a transmission motor 21 is arranged at the position of the other side of the hinged plate 3 corresponding to the wheel body 4, a chassis adjusting telescopic rod 23 is rotatably arranged at the inner sides of the connecting plate 2 and the hinged plate 3, blades 24 are welded on the outer surface of the wheel body 4, the rotating plate 9 is rotatably arranged at the position of the outer surface of one side of the side plate 5 through the steering motor 22, the wheel body 4 is rotatably arranged at the position of the outer surface of one side of the hinged plate 3 through the transmission motor 21 to detect the turbidity of water, if the water is turbid, when the water is judged to be sludge, the chassis adjusting telescopic rod 23 operates, the wheel body 4 rotates at one end of the connecting plate 2 through the hinged plate 3 to adjust the gradient of the detection box 1, so that the bottom of one end of the detection, the rotating plate 9 pushes the sludge to complete steering, the wheel body 4 rotates, the sliding plate 6 slides on the sludge, if the sludge is not particularly turbid, when the sewage is determined, the telescopic rod 23 is adjusted on the chassis to operate, the wheel body 4 rotates at one end of the connecting plate 2 through the hinged plate 3 to adjust the inclination of the detection box 1, the bottom of one end of the detection box 1 is close to the water surface, the transmission motor 21 drives the wheel body 4 to rotate, the blade 24 rotates to move back and forth on the water surface, the steering motor 22 drives the rotating plate 9 to rotate, and the rotating plate 9 pushes the water surface to complete steering.
It should be noted that: the device comprises a radar 13 (model number is AH-2.4G-LD), a camera 12 (model number is MZ500), a charge and discharge controller 14 (model number is FY500-12V24V), a controller 16 (model number is GSPAPT1.2W-2), a wireless transmitter 17 (model number is HLK-8266), a detection telescopic rod 18 and a chassis adjusting telescopic rod 23 (model number is XDFA24-500), a turbidity sensor 19 (model number is AMT-PZ300), a pH value sensor 20 (model number is JY-PH8.0), a steering motor 22 and a transmission motor 21 (model number is CM 35D-20).
The working principle of the invention is as follows: firstly, the control key 7 is pressed by the taking-out device, the indicator light 8 lights up to display the electric quantity in the storage battery 15, the external control screen is connected with the wireless transmitter 17 through the radar 13, the device is placed in the pipeline, the illuminating lamp 11 and the camera 12 are turned on, the image information is transmitted to the external control screen through the radar 13 and the wireless transmitter 17, the turbidity sensor 19 is turned on to detect the turbidity of water liquid, if the turbidity is relatively turbid, when the turbidity is determined to be sludge, the chassis adjusting telescopic rod 23 is turned on, the wheel body 4 rotates at one end of the connecting plate 2 through the hinged plate 3 to adjust the inclination of the detecting box 1, so that the bottom of one end of the detecting box 1 is separated from the sludge, the transmission motor 21 drives the wheel body 4 to rotate, the blades 24 rotate to push the sludge to move back and forth, the steering motor 22 drives the rotating plate 9 to rotate, the rotating plate 9, if not specially muddy, when deciding for sewage, the telescopic link 23 operation is adjusted to the chassis, wheel body 4 rotates the gradient of adjusting detection case 1 through articulated slab 3 in the one end of connecting plate 2, make the one end bottom of detection case 1 press close to the surface of water, drive motor 21 drives wheel body 4 and rotates, blade 24 rotates the back-and-forth movement on the surface of water, steering motor 22 drives commentaries on classics board 9 and rotates, commentaries on classics board 9 promotes the surface of water and accomplishes and turn to, detection case 1 floats and moves on the surface of water, when needing to detect, it promotes turbidity sensor 19 and pH value sensor 20 and inserts in the surface of water to survey telescopic link 18, detect turbidity and pH value, send the inside of controller 16 to the detection information, controller 16 spreads out the information through wireless transmitter 17 and radar 13.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. A sewage pipeline water carrying detection robot based on a mechanical driving mechanism comprises a detection box (1), it is characterized in that the outer surface of one side of the detection box (1) is welded with a connecting plate (2), one end of the connecting plate (2) is rotatably provided with a hinged plate (3), the outer surface of the lower end of the hinged plate (3) is provided with a wheel body (4), a side plate (5) is welded on the inner side of the hinged plate (3), a rotating plate (9) is arranged on the outer surface of one side of the side plate (5), one end of the lower surface of the detection box (1) is welded with a sliding plate (6), one side of the detection box (1) is provided with a detection component (10), the upper surface of the detection box (1) is provided with a control key (7) and an indicator light (8), the upper surface mounting of detection case (1) has radar (13), one side surface mounting of detection case (1) has light (11) and camera (12).
2. The robot for detecting the water carried in the sewer pipe based on the mechanical driving mechanism is characterized in that a charging and discharging controller (14), a storage battery (15), a controller (16) and a wireless transmitter (17) are sequentially installed in the detection box (1), a detection telescopic rod (18) is installed on the inner side of the detection member (10), and a turbidity sensor (19) and a pH value sensor (20) are installed at the lower end of the detection telescopic rod (18).
3. The robot for detecting the water in the sewage pipeline based on the mechanical driving mechanism is characterized in that a steering motor (22) is installed at the position, corresponding to the rotating plate (9), of the other side of the side plate (5), a transmission motor (21) is installed at the position, corresponding to the wheel body (4), of the other side of the hinged plate (3), a chassis adjusting telescopic rod (23) is installed on the connecting plate (2) and the inner side of the hinged plate (3) in a rotating mode, and blades (24) are welded on the outer surface of the wheel body (4).
4. The sewer pipe water detection robot based on the mechanical driving mechanism is characterized in that the detection box (1) is made of plastic, the sliding plate (6) is made of chemical fiber, the wheel body (4) is made of plastic, and hydrogen is filled in a cavity.
5. The sewer pipe water detection robot based on the mechanical driving mechanism is characterized in that the hinged plate (3) is rotatably connected to one side of the outer surface of the detection box (1) through a connecting plate (2), two groups of the connecting plate (2), the hinged plate (3) and the wheel body (4) are arranged, and the two groups of the connecting plate (2), the hinged plate (3) and the wheel body (4) are correspondingly arranged at the front end position and the rear end position of one side of the detection box (1).
6. The robot for detecting the water in the sewage pipeline based on the mechanical driving mechanism is characterized in that an output end electrode of the charging and discharging controller (14) is connected with an input end of a storage battery (15), an output end electrode of the storage battery (15) is connected with an input end of a controller (16), an output end electrode of the controller (16) is connected with input ends of a control key (7), an indicator lamp (8), a detection component (10), an illuminating lamp (11), a camera (12) and a radar (13), and an output end electrode of the controller (16) is connected with input ends of a wireless transmitter (17) and the radar (13).
7. The robot for detecting the water carried in the sewer pipe based on the mechanical driving mechanism as claimed in claim 2, wherein the detection telescopic rod (18), the turbidity sensor (19) and the pH value sensor (20) at the lower end of the detection member (10) penetrate through one side of the interior of the detection box (1) and are inserted into the interior of the sewage.
8. The robot for detecting the presence of water in a sewer pipe based on a mechanical driving mechanism as claimed in claim 3, wherein said rotating plate (9) is rotatably mounted at a position of one outer surface of the side plate (5) by a steering motor (22), and said wheel body (4) is rotatably mounted at a position of one outer surface of the hinge plate (3) by a transmission motor (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011271379.1A CN112483768B (en) | 2020-11-13 | 2020-11-13 | Sewage pipeline detection robot with water based on mechanical driving mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011271379.1A CN112483768B (en) | 2020-11-13 | 2020-11-13 | Sewage pipeline detection robot with water based on mechanical driving mechanism |
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| CN112483768A true CN112483768A (en) | 2021-03-12 |
| CN112483768B CN112483768B (en) | 2022-06-28 |
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| CN106061825A (en) * | 2013-11-30 | 2016-10-26 | 沙特阿拉伯石油公司 | Hinged vehicle chassis |
| CN106287106A (en) * | 2016-09-30 | 2017-01-04 | 福建（泉州）哈工大工程技术研究院 | A kind of Mobyneb urban discharging pipeline measuring robots |
| CN107554228A (en) * | 2017-10-19 | 2018-01-09 | 刘华英 | A kind of adjustable angle of stability, extensible engineering machinery chassis |
| CN207657929U (en) * | 2017-12-31 | 2018-07-27 | 荆楚理工学院 | A kind of robot climbing mechanism |
| CN108343801A (en) * | 2017-01-24 | 2018-07-31 | 中国石油化工股份有限公司 | A kind of pipeline climbing robot |
| CN111365620A (en) * | 2020-02-24 | 2020-07-03 | 郑州大学 | Pipeline radar detection robot |
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2020
- 2020-11-13 CN CN202011271379.1A patent/CN112483768B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106061825A (en) * | 2013-11-30 | 2016-10-26 | 沙特阿拉伯石油公司 | Hinged vehicle chassis |
| CN106287106A (en) * | 2016-09-30 | 2017-01-04 | 福建（泉州）哈工大工程技术研究院 | A kind of Mobyneb urban discharging pipeline measuring robots |
| CN108343801A (en) * | 2017-01-24 | 2018-07-31 | 中国石油化工股份有限公司 | A kind of pipeline climbing robot |
| CN107554228A (en) * | 2017-10-19 | 2018-01-09 | 刘华英 | A kind of adjustable angle of stability, extensible engineering machinery chassis |
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