CN113183748A - Friction piece type omnidirectional moving working platform - Google Patents
Friction piece type omnidirectional moving working platform Download PDFInfo
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- CN113183748A CN113183748A CN202110420134.9A CN202110420134A CN113183748A CN 113183748 A CN113183748 A CN 113183748A CN 202110420134 A CN202110420134 A CN 202110420134A CN 113183748 A CN113183748 A CN 113183748A
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- rotor
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- working
- omnidirectional moving
- plate type
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- 238000000227 grinding Methods 0.000 claims description 18
- 230000008093 supporting effect Effects 0.000 claims description 11
- 230000002093 peripheral effect Effects 0.000 claims description 5
- 238000002485 combustion reaction Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 7
- 238000005498 polishing Methods 0.000 description 7
- 238000011282 treatment Methods 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 6
- 239000004579 marble Substances 0.000 description 6
- 230000000474 nursing effect Effects 0.000 description 5
- 238000005201 scrubbing Methods 0.000 description 4
- 238000004018 waxing Methods 0.000 description 4
- 239000004568 cement Substances 0.000 description 2
- 239000013078 crystal Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009499 grossing Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000007747 plating Methods 0.000 description 2
- 239000010426 asphalt Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005108 dry cleaning Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a friction sheet type omnidirectional moving working platform which comprises a platform body, at least three flat rotating bodies and a driving mechanism for driving the rotating bodies to rotate independently and change the rotating speed and the steering direction, wherein the rotating bodies are circumferentially and symmetrically distributed at the bottom of the platform body along the same circle center, the rotating axes of the rotating bodies are obliquely arranged relative to the vertical axis where the circle center is located, the rotating bodies comprise working parts for contacting and matching with the ground, the platform is driven to linearly move or steer along the ground in an omnidirectional manner based on the independent rotation control of the rotating bodies and the oblique frictional contact matching between the working parts and the ground, and the ground can be simultaneously subjected to functional processing.
Description
Technical Field
The invention relates to an omnidirectional moving working platform, in particular to a friction sheet type omnidirectional moving working platform.
Background
For years, the omnidirectional moving platform constructed based on Mecanum wheels and omnidirectional wheels, and various omnidirectional AGVs and autonomous omnidirectional moving robots formed on the basis have been developed in the fields of material transportation, assembly butt joint, routing inspection and the like in low-speed and narrow and complex spaces, but have been greatly limited in the fields of intelligent nursing of commercial marble floors such as homes, hotels and the like, leveling, light collecting and grinding of building floors, and special purpose work fields needing to be completed by means of friction and giving full play to the friction characteristics of sand beach, wetland playing platforms and the like, the omnidirectional platform constructed by adopting the Mecanum wheels and the omnidirectional wheels is greatly limited in application in the aspects, and besides the factors that the cost is high due to the complex and precise structures of the Mecanum wheels and the omnidirectional wheels, the huge body sizes and the complex chassis and walking systems of the Mecanum wheels and the omnidirectional wheels, and also seriously hampers its further use.
Firstly, because of this, in the above fields, various application platforms, such as the existing intelligent floor sweeping, dragging and floor washing robots, driving type and remote control type floor light-collecting and grinding robots, have to be constructed by adopting a differential gear train with smaller cost and volume.
In recent years, double-disc rotary floor mopping robots manufactured by some enterprises at home and abroad appear in the market successively, but the robot still realizes the movement in the preset direction by using a differential principle and a relative rotation method by considering the essence of the robot, but the working efficiency and the floor mopping effect are still somewhat unsatisfactory.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a friction sheet type omnidirectional moving working platform which realizes overall omnidirectional motion by utilizing the friction contact matching of a working part of a rotating body and the ground and simultaneously performs corresponding functional processing on the ground.
In order to achieve the purpose, the invention provides a friction plate type omnidirectional moving working platform which comprises a platform body, at least three flat rotating bodies and a driving mechanism for driving the rotating bodies to rotate independently and change rotating speed and steering, wherein the rotating bodies are circumferentially and symmetrically distributed at the bottom of the platform body along the same circle center, the rotating axes of the rotating bodies are obliquely arranged relative to the axis where the circle center is located, the rotating bodies comprise working components for contacting and matching with the ground, and the platform is driven to linearly move or steer along the ground in an omnidirectional manner based on the independent rotation control of the rotating bodies and the oblique frictional contact matching between the working components and the ground, and the ground can be simultaneously subjected to functional processing.
The invention has the beneficial effects that: through the respective independent rotation of each rotor of drive to rely on the working member of rotor and the frictional contact cooperation on ground, realize the holistic omnidirectional movement of platform, working member can also carry out corresponding functional processing to ground simultaneously. The invention combines and utilizes the walking function of the platform and the processing function of the ground, and can be applied to practical scenes of scrubbing, cleaning, marble waxing nursing and the like aiming at the ground, thereby creating a novel multipurpose intelligent robot which has no walking wheels, is used for scrubbing the floor, polishing the marble, nursing and the like, is used for all-direction movement intelligent home furnishing and the like, and saving an independent wheel walking system which is necessary for similar robots in the past, thereby greatly saving the manufacturing cost of the robot and greatly reducing the volume and the space occupation of the robot.
Furthermore, the rotor includes circular supporting disk, and the working member includes the attached friction pad who fixes on the supporting disk.
Through the arrangement, the supporting disc can provide a better supporting effect for the friction pad, the stability of the integral form of the friction pad is ensured, and the friction pad can perform cleaning, polishing, scrubbing, smearing and other treatments on the ground while the platform moves along the ground.
Furthermore, the peripheral edges of the supporting disc and the friction pad are turned up to be arc surfaces or inclined surfaces, so that the shape with the upturned edges is formed.
Through the arrangement, the peripheral edges of the supporting plate and the friction pad are made into the upwarping shape for processing, and the obstacle crossing capability of the platform can be improved.
Furthermore, the rotor is including at least three radial outside bracing piece that stretches out, and these bracing pieces are along the axis of rotation circumference equipartition of rotor, the working part including at least three with the bracing piece corresponds the fixed blade of cooperation installation.
With the above arrangement, the blade is able to perform processes such as trowelling (burnishing), compacting, etc. on the ground (e.g. concrete ground) while the platform is moving along the ground.
Further, the working component also comprises a grinding disc sleeved and fixed below the blades.
Through the arrangement, the grinding disc is sleeved under the blades on the basis of not changing the original blade structure, so that the working component can also perform processing such as grinding, compacting and the like on the ground (such as concrete ground) while the platform moves along the ground.
In another preferred scheme, the working component is a grinding disc which is fixedly installed on the rotating body, namely the grinding disc can be directly installed on the rotating body without blades, so that the cost can be reduced.
Further, the driving mechanism comprises at least three electric motors or internal combustion engines which are respectively correspondingly matched with the rotating bodies in a driving mode.
Through the arrangement, the motor or the internal combustion engine is used as a power source for respectively controlling the independent operation of each rotating body, and the operability and the accuracy of the platform motion are improved.
Furthermore, an included angle between the rotating axis of the rotating body and the vertical axis of the circle center is 1.5 degrees to 30 degrees.
Through the arrangement, the whole walking speed of the platform can be improved by adopting the angle, and meanwhile, the working parts can be contacted with the ground as far as possible, so that the treatment effect on the ground is improved.
Furthermore, the rotor is three or four, and adjacent rotor is for when the rotor is three the interval of centre of a circle is 120 degrees, and adjacent rotor is for when the rotor is four the interval of centre of a circle is 90 degrees.
Through the arrangement, the three or four rotating bodies are adopted as a preferable scheme, so that the integral cost control, the structural optimization, the platform advancing control and the like of the platform are facilitated.
Drawings
FIG. 1 is a structural view of example 1 of the present invention;
FIG. 2 is a structural view of example 1 of the present invention 2;
FIG. 3 is a front view of embodiment 1 of the present invention;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;
FIG. 5 is a structural view of embodiment 2 of the present invention;
FIG. 6 is a structural view of the assembled abrasive disc according to embodiment 2 of the present invention;
FIG. 7 is a front view of embodiment 3 of the present invention;
FIG. 8 is a structural view of embodiment 3 of the present invention;
FIG. 9 is a cross-sectional view taken along line B-B of FIG. 7;
FIG. 10 is a structural view of example 4 of the present invention in FIG. 1;
FIG. 11 is a structural view of example 4 of the present invention shown in FIG. 2;
FIG. 12 is an assembled view of a first embodiment of the working elements, rotor and drive mechanism of the present invention;
FIG. 13 is an assembly schematic view 1 of a second embodiment of the working member, rotor and drive mechanism of the present invention;
FIG. 14 is an assembly schematic view 2 of a second embodiment of the working member, rotor and drive mechanism of the present invention;
FIG. 15 is an assembled view of a third embodiment of the working element, rotor and drive mechanism of the present invention;
FIG. 16 is a schematic diagram of the present invention employing three rotors;
fig. 17 is a schematic diagram of the operation of the present invention using four rotors.
Detailed Description
An embodiment 1 of the friction sheet type omnidirectional moving working platform is shown in figures 1-4: including platform body 1, the rotor 2 of three platykurtic, be used for driving these rotors 2 independent rotation respectively and change the rotational speed and the actuating mechanism 3 that turns to, three rotor 2 is in the bottom of platform body 1 along same centre of a circle circumference symmetry equipartition, and the adjacent rotor 2 of circumference is for the interval of centre of a circle is 120 degrees, the preferred central point of putting of platform body in the centre of a circle, the axis of rotation x of three rotor 2 for the vertical axis y at centre of a circle place is the slope setting, and the homoenergetic is located the coplanar that all can correspond between the axis of rotation x of every rotor 2 and the axis y, rotor 2 is including being used for with ground contact complex working member, based on these rotor 2 independent rotation control respectively, and the frictional contact cooperation of slope between working member and the ground, drive the platform is along the straight-line motion of ground qxcomm or turn to, and the functional treatment can be simultaneously carried out on the ground, and the functional treatment refers to the corresponding functional treatment on the surface of the ground, such as cleaning, grinding, smoothing (polishing), polishing, compacting, smearing, crystal plating, waxing and the like on the ground, which are realized by means of actions such as wiping, friction, pressing and the like between different types of working components and the ground.
In the present invention, the ground surface includes marble, tile, wooden floor, cement/asphalt pavement, etc. having relatively hard texture, and may also include gel/liquid/powder cement, concrete, gravel, mudflat, wet land, etc.
The driving mechanism 3 includes three servo motors respectively connected to the rotating bodies 2, the rotating bodies 2 can be driven to rotate by the servo motors, and the rotation speed and the rotation direction of each rotating body 2 can be adjusted and controlled. The platform also comprises a power supply and control module for realizing the work control and energy supply of the driving mechanism 3, and the power supply and control module is arranged at the upper part of the platform body 1.
In embodiment 1, the rotating body 2 and the working components are configured as shown in fig. 12, specifically, the rotating body 2 includes a circular support plate 21, and the working components include a friction pad 22 attached and fixed to the bottom of the support plate. The support plate 21 and the friction pad 22 can be connected by glue or a fastener, and a magic tape can be used for conveniently detaching, cleaning or replacing the friction pad 22. The circular support disc 21 can provide sufficient support for the flexible friction pad 22, keeping its overall form stable.
The friction pad 22 as a working component can perform cleaning, polishing, scrubbing, smearing and other treatments on the ground while the platform moves along the ground, and can be applied to the application scenes of intelligent nursing robots for household and commercial marble floor crystal plating, waxing, dry cleaning and the like.
In order to prevent the uneven ground or obstacles such as stones from affecting the operation of the platform, the peripheral edges of the supporting disk 21 and the friction pad 22 are turned up to be arc surfaces or inclined surfaces to form a shape with the edges turned up, so that the obstacle crossing effect of the rotating body 2 can be improved.
The included angle between the rotation axis x of the rotating body 2 and the vertical axis y of the circle center is preferably 80 degrees to 88 degrees, and the included angle alpha between the vertical axes y is 1.5 degrees to 30 degrees. The whole walking speed of the platform can be improved, the working parts can be in contact with the ground as far as possible, and the ground treatment effect is improved.
An embodiment 2 of the friction sheet type omnidirectional moving working platform is shown in fig. 5-6, and the principle of omnidirectional movement and working of the embodiment 2 is the same as that of the embodiment 1, and the main difference is that in the embodiment 2, the rotor 2 and the working part adopt the structures shown in fig. 13 and 14, specifically, the rotor 2 comprises three support rods 23 which radially extend outwards, the three support rods 23 are uniformly distributed along the circumferential direction of the rotation axis of the rotor 2, and the working part comprises three blades 24 which are respectively and correspondingly and fixedly arranged at the lower parts of the three support rods 23. Similarly, to enhance the obstacle crossing effect during operation, the blades 24 may be slightly raised on both sides in the circumferential direction. In other embodiments, four or more support rods 23 and blades 24 may be used to further improve the reliability and stability or structural strength of the platform during operation.
In embodiment 2, as shown in fig. 15, the working component further comprises a grinding disc 25 sleeved and fixed around the blades 24, so that the working component can also perform processing such as grinding, compacting and the like on the ground (such as concrete ground) while the platform moves along the ground by sleeving the grinding disc 25 below the blades 24 on the basis of not changing the structure of the original blades 24. The blades 24 and the grinding disc 25 are detachably connected.
Of course, in other embodiments, the structural design of the blades 24 or the supporting rods 23 can be omitted, and the grinding disc 25 can be directly used as the rotor 2 or the grinding disc 25 can be mounted through a bracket similar to that in embodiment 1. Similarly, the grinding disc 25 may also be designed to have a slightly raised peripheral edge in order to improve the obstacle crossing effect during its operation.
Fig. 7 to 9 show an embodiment 3 of the friction-sheet-type omnidirectional moving work platform of the present invention, which is the same as the omnidirectional moving and working principle of embodiment 1, and the specific structure of the rotating bodies 2 is also the same as that of embodiment 1, and the main difference is that in embodiment 3, the four rotating bodies 2 are symmetrically and uniformly distributed at the bottom of the platform body 1 along the circumferential direction of the same circle center, the interval between the adjacent rotating bodies 2 with respect to the circle center is 90 degrees, the circle center is preferably the central position point of the bottom of the platform body, the rotating axes x of the rotating bodies 2 are arranged in an inclined manner with respect to the axis y where the circle center is located, and the rotating axis x and the axis y of each rotating body 2 can be correspondingly located on the same plane. Correspondingly, the driving mechanism 3 also comprises four servo motors which are respectively and correspondingly connected with the rotating bodies 2.
An embodiment 4 of the friction plate type omnidirectional moving working platform is shown in fig. 10-11, which is the same as the omnidirectional moving and working principle of the embodiment 3, and the main difference is that the rotating body 2 and the working components of the embodiment 4 are designed as shown in fig. 13-15, like the rotating body 2 of the embodiment 2.
The working principle of the invention for travel when using three and four rotors is shown in figures 16-17: the steering, rotating speed and rotation of the three/four rotating bodies are controlled individually by the driving mechanism, according to a specific rule, the working part of each rotating body forms friction force and driving thrust in different directions at the contact position of the working part and the ground, and finally, the combination of various forces at the respective contact points forms thrust force or rotating couple in a specific direction, so that the whole platform is pushed to transversely move (upwards, downwards, leftwards and rightwards), obliquely move (upwards, downwards, upwards and rightwards) and rotate in place (clockwise and anticlockwise) along the direction of resultant force. Due to the fact that the platform is driven to move in a rotating mode based on the rotating body, functional processing such as cleaning, grinding, smoothing (polishing), polishing, compacting, smearing and the like can be correspondingly conducted on the ground through matching of different types of working components.
It should be noted that, in the embodiment of the present invention, only three or four rotating bodies are shown, but theoretically, the rotating bodies may be five or more, and the same effect can be achieved, and the design of the specific number needs to be combined with the requirements of practical application and various considerations such as product weight and cost.
The invention can be applied to omnidirectional mobile intelligent household multipurpose intelligent robots for mopping, marble waxing and nursing and the like, and can also be applied to ground functional processing mechanical equipment controlled or remotely controlled by a person.
The above embodiment is only one of the preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a friction piece formula omnidirectional movement work platform which characterized in that: including the rotor of platform body, at least three platykurtic, be used for driving these rotors independently rotate respectively and change the rotational speed and the actuating mechanism who turns to, these rotors are along the bottom of same centre of a circle circumference symmetry equipartition at the platform body, the axis of rotation of these rotors for the vertical axis at centre of a circle place is the slope setting, the rotor including be used for with ground contact complex working member, based on independent rotation control respectively of these rotors and the frictional contact cooperation of slope is in order to drive between working member and the ground the platform is along the linear motion of ground qxcomm direction or turn to, and can be right simultaneously ground carries out functional processing.
2. The friction plate type omnidirectional moving working platform according to claim 1, wherein: the rotor is including circular shape supporting disk, the working member is including the attached friction pad of fixing on the supporting disk.
3. The friction plate type omnidirectional moving working platform according to claim 2, wherein: the peripheral edges of the supporting disk and the friction pad are turned up to be arc surfaces or inclined surfaces to form a shape with upturned edges.
4. The friction plate type omnidirectional moving working platform according to claim 1, wherein: the rotor is including at least three radial outside bracing piece that stretches out, and these bracing pieces are along the axis of rotation circumference equipartition of rotor, the working part including at least three with the bracing piece corresponds the fixed blade of cooperation installation.
5. The friction plate type omnidirectional moving working platform according to claim 4, wherein: the working component also comprises a grinding disc sleeved and fixed below the blades.
6. The friction plate type omnidirectional moving working platform according to claim 1, wherein: the working component is a grinding disc which is fixedly arranged on the rotating body.
7. The friction plate type omnidirectional moving working platform according to claim 1, wherein: the driving mechanism comprises at least three electric motors or internal combustion engines which are respectively in corresponding driving fit with the rotating bodies.
8. The friction plate type omnidirectional moving working platform according to claim 1, wherein: the included angle between the rotating axis of the rotating body and the vertical axis of the circle center is 1.5 degrees to 30 degrees.
9. A friction plate type omni-directional mobile working platform according to any one of claims 1 to 8, wherein: the rotor is three or four, and the adjacent rotor is for three when the rotor is the interval of centre of a circle is 120 degrees, and the adjacent rotor is for when the rotor is four the interval of centre of a circle is 90 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110420134.9A CN113183748A (en) | 2021-04-19 | 2021-04-19 | Friction piece type omnidirectional moving working platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110420134.9A CN113183748A (en) | 2021-04-19 | 2021-04-19 | Friction piece type omnidirectional moving working platform |
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| Publication Number | Publication Date |
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| CN113183748A true CN113183748A (en) | 2021-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110420134.9A Pending CN113183748A (en) | 2021-04-19 | 2021-04-19 | Friction piece type omnidirectional moving working platform |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4719659A (en) * | 1985-12-28 | 1988-01-19 | Uragami Fukashi | Rotary travelling surface treatment device |
| CN101372004A (en) * | 2007-08-20 | 2009-02-25 | 财团法人工业技术研究院 | Automatic waxing device and method |
| CN207191215U (en) * | 2017-08-02 | 2018-04-06 | 深圳市矩阵动力科技开发有限公司 | A kind of Omni-mobile mechanism |
| CN211006267U (en) * | 2019-11-06 | 2020-07-14 | 武汉华夏理工学院 | Concrete pouring and leveling device for highway construction |
| CN214822578U (en) * | 2021-04-19 | 2021-11-23 | 海尚集团有限公司 | Friction piece type omnidirectional moving working platform |
-
2021
- 2021-04-19 CN CN202110420134.9A patent/CN113183748A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4719659A (en) * | 1985-12-28 | 1988-01-19 | Uragami Fukashi | Rotary travelling surface treatment device |
| CN101372004A (en) * | 2007-08-20 | 2009-02-25 | 财团法人工业技术研究院 | Automatic waxing device and method |
| CN207191215U (en) * | 2017-08-02 | 2018-04-06 | 深圳市矩阵动力科技开发有限公司 | A kind of Omni-mobile mechanism |
| CN211006267U (en) * | 2019-11-06 | 2020-07-14 | 武汉华夏理工学院 | Concrete pouring and leveling device for highway construction |
| CN214822578U (en) * | 2021-04-19 | 2021-11-23 | 海尚集团有限公司 | Friction piece type omnidirectional moving working platform |
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