CN113976805A - Multi-functional centre gripping manipulator of industrial forging robot - Google Patents
Multi-functional centre gripping manipulator of industrial forging robot Download PDFInfo
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- CN113976805A CN113976805A CN202111279398.3A CN202111279398A CN113976805A CN 113976805 A CN113976805 A CN 113976805A CN 202111279398 A CN202111279398 A CN 202111279398A CN 113976805 A CN113976805 A CN 113976805A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
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Abstract
The invention discloses a multifunctional clamping manipulator of an industrial forging robot, which comprises a base, a first motor, an electric telescopic column and an ash removal mechanism, wherein the upper end surface of the base is connected with a moving seat in a sliding mode, the bottom of a motor box is connected with a bearing frame in a rotating mode, the electric telescopic column is fixed on the outer side of a clamping plate, the moving plate is connected to the outer end surface of the clamping plate in a sliding mode, and the ash removal mechanism is fixed on the bearing frame. This multi-functional centre gripping manipulator of industrial forging robot, can select to use splint or sucking disc according to specific demand before using the device, when selecting to use splint, then take transmission to rotate, the lead screw rotates thereupon, two splint are close to each other this moment, conveniently clip the material, when selecting to use the sucking disc, then need whole movable plate and sucking disc that descend, usable sucking disc holds the material afterwards, utilize splint to clip the material or utilize the sucking disc to suck after the material, the shower nozzle is bloied downwards, conveniently clear away the dust on material surface, so that reach the effect of automatic dust removal.
Description
Technical Field
The invention relates to the technical field of industrial forging robots, in particular to a multifunctional clamping manipulator of an industrial forging robot.
Background
The forging is a processing method which utilizes a forging and pressing machine to apply pressure on a metal blank to enable the metal blank to generate plastic deformation so as to obtain a forging piece with certain mechanical property, certain shape and certain size.
Disclosure of Invention
The invention aims to provide a multifunctional clamping manipulator of an industrial forging robot, which aims to solve the problems that the clamping mode of the existing clamping manipulator in the background technology is single, the clamping effect is not firm and stable enough, and the function is single.
In order to achieve the purpose, the invention provides the following technical scheme: a multifunctional clamping manipulator of an industrial forging robot comprises a base, a first motor, an electric telescopic column and a dust cleaning mechanism,
the upper end face of the base is connected with a movable seat in a sliding mode, a mechanical arm is fixed to the top of the movable seat, a motor box is fixed to the tail end of the mechanical arm through a bolt, the bottom of the motor box is connected with a bearing frame in a rotating mode, and clamping plates are symmetrically connected to two sides of the lower end face of the bearing frame in a sliding mode;
the electric telescopic column is fixed on the outer side of the clamping plate, the bottom of the electric telescopic column is connected with the movable plate, the movable plate is connected to the outer end face of the clamping plate in a sliding mode, and a sucker is fixedly arranged on the movable plate in a penetrating mode;
the ash removal mechanism is fixed on the bearing frame, and the bottom of the ash removal mechanism is positioned between the clamping plates.
Through adopting above-mentioned technical scheme, can select to use splint or sucking disc according to the demand before using the device, if the selection uses splint, then usable splint clip the material, subsequently the splint can be lived to the lockable, if the selection uses the sucking disc, then usable sucking disc absorbs the material, make the centre gripping mode more diversified, utilize splint to clip the material or utilize the sucking disc to absorb the material after can collocation use the arm to accomplish the transportation of material and handle, the arm can be along with removing the seat back-and-forth movement together simultaneously, the material can be along with bearing frame is rotatory together, at this in-process, the shower nozzle blows downwards, conveniently clear away the dust on material surface.
Preferably, the movable seat is connected to the rail in a sliding mode, the rail is symmetrically fixed to two sides of the upper end face of the base, and the roller is arranged on the upper side of the rail and arranged on the movable seat.
Through adopting above-mentioned technical scheme, the track plays spacing effect at the gliding in-process around removing the seat, and the gyro wheel plays supplementary effect at the gliding in-process around removing the seat.
Preferably, the first motor is fixed in the track, the output end of the first motor is connected with a gear, the gear is meshed and connected with the lower side of the first rack, and the first rack is symmetrically fixed on two sides of the top in the track.
Through adopting above-mentioned technical scheme, the gear links together with first rack meshing, and during gear revolve, the removal seat slides from beginning to end, conveniently controls the horizontal vertical position of arm.
Preferably, a motor is fixed in the motor box, and the lower side of the motor is connected with the bearing frame through a motor shaft.
Through adopting above-mentioned technical scheme, in the in-process of handling the department of transporting to the material, the carriage can rotate under the effect of motor and motor shaft, conveniently controls the direction of material.
Preferably, a second motor is fixed on one side of the upper end face of the bearing frame, the output end of the second motor is connected with a belt transmission device, one side of the bottom of the belt transmission device is connected with a lead screw, and the lead screw is in threaded connection with the clamping plate.
Through adopting above-mentioned technical scheme, when the lead screw rotated, two splint slidable from side to side, conveniently pressed from both sides tightly or loosen the material.
Preferably, the two end faces at the top of the clamping plate are internally and symmetrically fixed with electric telescopic rods, the outer ends of the electric telescopic rods are connected with the toothed plates, the toothed plates are meshed and connected with the inner sides of the second racks, and the second racks are symmetrically fixed on the inner walls of the two sides of the bearing frame.
Through adopting above-mentioned technical scheme, utilize splint to clip the material after, the pinion rack can move under electric telescopic handle's extension effect and link together with the second rack meshing that corresponds, conveniently locks splint.
Preferably, the inner end surface of the clamping plate is fixed with lugs which are distributed in a rectangular array.
Through adopting above-mentioned technical scheme, the lug can increase the friction between splint and the material, makes the centre gripping effect more firm.
Preferably, the movable plate is connected in the sliding groove in a sliding mode, the sliding groove is formed in the outer end face of the clamping plate, a limiting column is fixed in the sliding groove, and the limiting column penetrates through the movable plate.
Through adopting above-mentioned technical scheme, the movable plate can slide from top to bottom under the flexible effect of electronic flexible post, facilitates the use or packs up the sucking disc, and spout and spacing post play spacing effect at the gliding in-process from top to bottom of movable plate.
Preferably, the deashing mechanism includes air pump, connecting tube, ventilation passageway and shower nozzle, and the air pump is fixed at the opposite side of bearer frame up end, and one side of air pump is connected with the ventilation passageway through connecting tube simultaneously, the ventilation passageway is fixed in the middle of bearer frame lower extreme face department, and the bottom of ventilation passageway runs through and is fixed with the shower nozzle.
Through adopting above-mentioned technical scheme, after the centre gripping material, outside air can be through connecting tube, ventilation channel and shower nozzle blowout in proper order under the effect of air pump, conveniently clears away the dust on material surface.
Compared with the prior art, the invention has the beneficial effects that: the multifunctional clamping manipulator of the industrial forging robot,
(1) the base can be fixed on the industrial forging robot under the action of an external bolt, so that the mounting is convenient, and when the gear rotates, the movable base slides back and forth, so that the horizontal longitudinal position of the mechanical arm is convenient to control;
(2) before the device is used, clamping plates or suckers can be selected according to specific requirements, when the clamping plates are selected to be used, the transmission device is driven to rotate, the screw rod rotates along with the screw rod, the two clamping plates are close to each other at the moment to clamp materials conveniently, when the suckers are selected to be used, the movable plate and the suckers need to be lowered integrally, then the suckers can be used for sucking the materials, the clamping plates are used for clamping the materials, or the suckers can be used for sucking the materials, then mechanical arms can be matched to transfer the materials to a specified position, in the process, the materials can rotate along with the bearing frame, and the direction of the materials is convenient to adjust;
(3) after the material is clamped by the clamping plate or sucked by the sucking disc, the nozzle blows air downwards, so that dust on the surface of the material is conveniently removed, and the automatic dust removal effect is achieved;
(4) after utilizing splint to clip the material, the pinion rack moves to the outside and links together with the second rack meshing that corresponds, conveniently reaches the effect of locking, makes the centre gripping effect more firm.
Drawings
FIG. 1 is a schematic front sectional view of the present invention;
FIG. 2 is a schematic view of the connection structure of the motor box, the bearing frame, the second motor, the belt transmission device, the clamping plate, the projection, the electric telescopic column, the moving plate and the ash removal mechanism of the invention;
FIG. 3 is a schematic view of a connection structure of a second rack, a lead screw, a clamping plate, an electric telescopic rod, a toothed plate, a sliding chute, an electric telescopic column, an air pump and a connecting pipeline;
FIG. 4 is an enlarged view of the structure at A in FIG. 1 according to the present invention;
FIG. 5 is an enlarged view of the structure at B in FIG. 1 according to the present invention;
FIG. 6 is a schematic view of a connection structure of a base and a rail according to the present invention;
fig. 7 is a schematic view of the connection structure of the track and the first rack according to the present invention.
In the figure: 1. the base, 2, the track, 3, first rack, 4, remove the seat, 5, the gyro wheel, 6, first motor, 7, the gear, 8, the arm, 9, the motor box, 10, the motor, 11, the motor shaft, 12, the carriage, 13, the second rack, 14, the second motor, 15, belt transmission, 16, lead screw, 17, splint, 18, electric telescopic handle, 19, the pinion rack, 20, the lug, 21, electric telescopic column, 22, the movable plate, 23, the spout, 24, spacing post, 25, the sucking disc, 26, deashing mechanism, 2601, the air pump, 2602, connecting tube, 2603, the ventilation duct, 2604, the shower nozzle.
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. 1-7, the present invention provides a technical solution: a multifunctional clamping manipulator of an industrial forging robot is disclosed, as shown in figure 1, figure 2 and figure 3, a movable base 4 is connected to the upper end face of a base 1 in a sliding mode, a mechanical arm 8 is fixed to the top of the movable base 4, a motor box 9 is fixed to the tail end of the mechanical arm 8 through a bolt, the movable base 4 is connected to a rail 2 in a sliding mode, the rail 2 is symmetrically fixed to two sides of the upper end face of the base 1, a roller 5 is arranged on the upper side of the rail 2, the roller 5 is arranged on the movable base 4, the rail 2 plays a limiting role in the front-back sliding process of the movable base 4, the roller 5 plays an auxiliary role in the front-back sliding process of the movable base 4, the movable base 4 can move smoothly, a first motor 6 is fixed inside the rail 2, the output end of the first motor 6 is connected with a gear 7, the gear 7 is connected to the lower side of a first rack 3 in a meshing mode, and the first rack 3 is symmetrically fixed to two sides of the top in the rail 2, the gear 7 can rotate under the action of the first motor 6, the gear 7 is meshed with the first rack 3, and the movable seat 4 slides back and forth at the moment, so that the horizontal and longitudinal positions of the mechanical arm 8 can be conveniently controlled.
According to the drawings of fig. 1, fig. 2, fig. 3 and fig. 4, the bottom of the motor box 9 is rotatably connected with a bearing frame 12, two sides of the lower end surface of the bearing frame 12 are symmetrically and slidably connected with clamping plates 17, a motor 10 is fixed in the motor box 9, the lower side of the motor 10 is connected with the bearing frame 12 through a motor shaft 11, the material can be transported after the material taking operation is completed, in the process, the bearing frame 12 can rotate under the action of the motor 10 and the motor shaft 11 to conveniently control the direction of the material, a second motor 14 is fixed on one side of the upper end surface of the bearing frame 12, the output end of the second motor 14 is connected with a belt transmission device 15, one side of the bottom of the belt transmission device 15 is connected with a lead screw 16, the lead screw 16 is in threaded connection with the clamping plate 17, the belt transmission device 15 can rotate under the action of the second motor 14 to drive the lead screw 16 to rotate, at the moment, the clamping plate 17 can slide left and right under the limiting action of the bearing frame 12 and the lead screw 16, two splint 17 can press from both sides tight fixed material when being close to each other, two splint 17 can loosen the material when keeping away from each other, the both ends in the plane symmetry at splint 17 top is fixed with electric telescopic handle 18, and electric telescopic handle 18's outer end is connected with pinion rack 19, pinion rack 19 meshes the inboard of connecting at second rack 13, and second rack 13 symmetry is fixed on the both sides inner wall of bearing frame 12, utilize splint 17 to carry after the material, pinion rack 19 can move and link together with the second rack 13 meshing that corresponds under electric telescopic handle 18's extension effect, conveniently lock splint 17, the interior terminal surface of splint 17 is fixed with lug 20, and lug 20 is the rectangular array and distributes, lug 20 can increase the friction between splint 17 and the material, make the clamping effect more firm stable.
As shown in fig. 1, 2, 3, 4 and 5, an electric telescopic pole 21 is fixed to the outside of the clamping plate 17, and the bottom of the electric telescopic column 21 is connected with a moving plate 22, the moving plate 22 is connected on the outer end face of the clamping plate 17 in a sliding way, a suction cup 25 is fixed on the moving plate 22 in a penetrating way, the moving plate 22 is connected in the sliding groove 23 in a sliding way, the sliding groove 23 is arranged on the outer end surface of the clamping plate 17, a limiting column 24 is fixed in the sliding groove 23, the limiting column 24 penetrates through the moving plate 22, before using the device, the clamping plate 17 or the suction cup 25 can be selected according to specific requirements, and if the suction cup 25 is selected, the moving plate 22 slides downward under the extension action of the electric telescopic column 21 to conveniently unfold the suction cup 25 for use, and if the clamping plate 17 is selected for use, the operations are repeated in the opposite direction, so that the sucking disc 25 is conveniently retracted, and the sliding groove 23 and the limiting column 24 play a role of limiting assistance in the process of sliding the moving plate 22 up and down.
As shown in fig. 1, 2, 3, 4, 6 and 7, the ash removing mechanism 26 is fixed on the carriage 12, and the bottom of the ash removing mechanism 26 is located between the clamping plates 17, the ash removing mechanism 26 includes an air pump 2601, a connecting pipe 2602, a ventilation channel 2603 and a nozzle 2604, the air pump 2601 is fixed on the other side of the upper end surface of the carriage 12, meanwhile, one side of the air pump 2601 is connected with the ventilation channel 2603 through the connecting pipe 2602, the ventilation channel 2603 is fixed in the middle of the lower end surface of the carriage 12, and the nozzle 2604 is fixed at the bottom of the ventilation channel 2603 through the bottom, after the material is clamped by the clamping plates 17 or sucked by the suction cups 25, the air can be ejected through the connecting pipe 2602, the ventilation channel 2603 and the nozzle 2604 in sequence under the action of the air pump 2601, so as to facilitate blowing off the dust on the surface of the material.
The working principle of the embodiment is as follows: when the multifunctional clamping manipulator of the industrial forging robot is used, firstly, the base 1 is fixed on the industrial forging robot by using an external bolt, after the first motor 6 is started, the first motor 6 drives the gear 7 to rotate, the gear 7 is meshed and connected with the first rack 3, the moving seat 4 slides back and forth on the track 2, at the moment, the roller 5 rolls to facilitate the movement of the auxiliary moving seat 4, the mechanical arm 8 can move back and forth along with the moving seat 4 to facilitate the control of the horizontal longitudinal position of the mechanical arm 8, before the device is used, the clamping plate 17 or the sucking disc 25 is required to be selected according to requirements, after the clamping plate 17 is positioned to a material position by using the mechanical arm 8, if the clamping plate 17 is selected to be used, the second motor 14 is started, the second motor 14 drives the belt transmission device 15 to rotate so as to drive the screw 16 to rotate, the clamping plate 17 slides left and approaches each other due to the limiting action of the bearing frame 12 and the screw 16, clamping the material, starting the electric telescopic rod 18, extending the electric telescopic rod 18, moving the toothed plate 19 and meshing and connecting with the corresponding second toothed bar 13 to lock the clamping plate 17, if the sucking disc 25 is selected to be used, starting the electric telescopic column 21, extending the electric telescopic column 21, sliding the moving plate 22 downwards under the limiting action of the chute 23 to drive the sucking disc 25 to move downwards, then sucking the column material by using the sucking disc 25, clamping the material by using the clamping plate 17 or sucking the material by using the sucking disc 25, starting the air pump 2601, spraying outside air through the connecting pipeline 2602, the ventilation channel 2603 and the spray head 2604 in sequence to conveniently remove dust on the surface of the material, loosening the material after transferring the material to a specified position by using the mechanical arm 8, starting the motor 10 in the process, driving the motor shaft 11 to rotate by using the motor 10, and driving the bearing frame 12 to rotate, it is convenient to adjust the orientation of the materials and matters not described in detail in this specification are well known to those skilled in the art.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides a multi-functional centre gripping manipulator of industry forging robot, includes base (1), first motor (6), electronic flexible post (21) and deashing mechanism (26), its characterized in that:
the upper end face of the base (1) is connected with a movable base (4) in a sliding mode, a mechanical arm (8) is fixed to the top of the movable base (4), meanwhile, a motor box (9) is fixed to the tail end of the mechanical arm (8) through a bolt, the bottom of the motor box (9) is connected with a bearing frame (12) in a rotating mode, and clamping plates (17) are symmetrically connected to the two sides of the lower end face of the bearing frame (12) in a sliding mode;
the electric telescopic column (21) is fixed on the outer side of the clamping plate (17), the bottom of the electric telescopic column (21) is connected with the movable plate (22), the movable plate (22) is connected to the outer end face of the clamping plate (17) in a sliding mode, and a sucker (25) penetrates through and is fixed on the movable plate (22);
the ash removal mechanism (26) is fixed on the bearing frame (12), and the bottom of the ash removal mechanism (26) is positioned between the clamping plates (17).
2. The multifunctional clamping manipulator of the industrial forging robot as claimed in claim 1, wherein: remove seat (4) sliding connection on track (2), and track (2) symmetry is fixed in the both sides of base (1) up end, the upside of track (2) is provided with gyro wheel (5), and gyro wheel (5) set up on removing seat (4).
3. The multifunctional clamping manipulator of the industrial forging robot as claimed in claim 2, wherein: first motor (6) are fixed in track (2), and the output of first motor (6) is connected with gear (7), gear (7) meshing connection is in the downside of first rack (3), and first rack (3) symmetry is fixed in track (2) the both sides at top.
4. The multifunctional clamping manipulator of the industrial forging robot as claimed in claim 1, wherein: a motor (10) is fixed in the motor box (9), and the lower side of the motor (10) is connected with the bearing frame (12) through a motor shaft (11).
5. The multifunctional clamping manipulator of the industrial forging robot as claimed in claim 1, wherein: a second motor (14) is fixed on one side of the upper end face of the bearing frame (12), the output end of the second motor (14) is connected with a belt transmission device (15), one side of the bottom of the belt transmission device (15) is connected with a lead screw (16), and the lead screw (16) is in threaded connection with a clamping plate (17).
6. The multifunctional clamping manipulator of the industrial forging robot as claimed in claim 1, wherein: the two end faces at the top of the clamping plate (17) are symmetrically fixed with electric telescopic rods (18), the outer ends of the electric telescopic rods (18) are connected with toothed plates (19), the toothed plates (19) are meshed and connected with the inner sides of second racks (13), and the second racks (13) are symmetrically fixed on the inner walls of the two sides of the bearing frame (12).
7. The multifunctional clamping manipulator of the industrial forging robot as claimed in claim 1, wherein: the inner end face of the clamping plate (17) is fixed with convex blocks (20), and the convex blocks (20) are distributed in a rectangular array.
8. The multifunctional clamping manipulator of the industrial forging robot as claimed in claim 1, wherein: the movable plate (22) is connected in the sliding groove (23) in a sliding mode, the sliding groove (23) is formed in the outer end face of the clamping plate (17), the limiting column (24) is fixed in the sliding groove (23), and the limiting column (24) penetrates through the movable plate (22).
9. The multifunctional clamping manipulator of the industrial forging robot as claimed in claim 1, wherein: the ash removal mechanism (26) comprises an air pump (2601), a connecting pipeline (2602), a ventilation channel (2603) and a spray head (2604), the air pump (2601) is fixed on the other side of the upper end face of the bearing frame (12), one side of the air pump (2601) is connected with the ventilation channel (2603) through the connecting pipeline (2602), the ventilation channel (2603) is fixed in the middle of the lower end face of the bearing frame (12), and the spray head (2604) is fixedly penetrated at the bottom of the ventilation channel (2603).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111279398.3A CN113976805A (en) | 2021-10-30 | 2021-10-30 | Multi-functional centre gripping manipulator of industrial forging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111279398.3A CN113976805A (en) | 2021-10-30 | 2021-10-30 | Multi-functional centre gripping manipulator of industrial forging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113976805A true CN113976805A (en) | 2022-01-28 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111279398.3A Withdrawn CN113976805A (en) | 2021-10-30 | 2021-10-30 | Multi-functional centre gripping manipulator of industrial forging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113976805A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114558389A (en) * | 2022-04-28 | 2022-05-31 | 张掖市巨龙铁合金有限公司 | Negative pressure bag-type dust collector with dust cleaning device |
| CN115647274A (en) * | 2022-12-22 | 2023-01-31 | 河北凯瑞装备股份有限公司 | Transfer robot and forging workstation between process |
| CN115991363A (en) * | 2023-03-22 | 2023-04-21 | 无锡雷博激光技术有限公司 | Automatic material taking assembly of optical fiber laser |
| CN116037842A (en) * | 2023-03-30 | 2023-05-02 | 北京德信友和科技有限公司 | Mechanical clamping jaw for operating tool in mechanical equipment |
| CN116749159A (en) * | 2023-08-17 | 2023-09-15 | 深圳市恒润鑫五金有限公司 | Double-arm manipulator for loading materials |
| CN117300572A (en) * | 2023-11-29 | 2023-12-29 | 山东高速德建建筑科技股份有限公司 | Electromechanical pipeline assembly quality based on BIM |
-
2021
- 2021-10-30 CN CN202111279398.3A patent/CN113976805A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114558389A (en) * | 2022-04-28 | 2022-05-31 | 张掖市巨龙铁合金有限公司 | Negative pressure bag-type dust collector with dust cleaning device |
| CN115647274A (en) * | 2022-12-22 | 2023-01-31 | 河北凯瑞装备股份有限公司 | Transfer robot and forging workstation between process |
| CN115991363A (en) * | 2023-03-22 | 2023-04-21 | 无锡雷博激光技术有限公司 | Automatic material taking assembly of optical fiber laser |
| CN116037842A (en) * | 2023-03-30 | 2023-05-02 | 北京德信友和科技有限公司 | Mechanical clamping jaw for operating tool in mechanical equipment |
| CN116749159A (en) * | 2023-08-17 | 2023-09-15 | 深圳市恒润鑫五金有限公司 | Double-arm manipulator for loading materials |
| CN116749159B (en) * | 2023-08-17 | 2023-10-20 | 深圳市恒润鑫五金有限公司 | Double-arm manipulator for loading materials |
| CN117300572A (en) * | 2023-11-29 | 2023-12-29 | 山东高速德建建筑科技股份有限公司 | Electromechanical pipeline assembly quality based on BIM |
| CN117300572B (en) * | 2023-11-29 | 2024-01-23 | 山东高速德建建筑科技股份有限公司 | Electromechanical pipeline assembly quality based on BIM |
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Application publication date: 20220128 |