CN116330355B - AGV intelligent robot braking performance testing arrangement - Google Patents
AGV intelligent robot braking performance testing arrangement Download PDFInfo
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- CN116330355B CN116330355B CN202310618059.6A CN202310618059A CN116330355B CN 116330355 B CN116330355 B CN 116330355B CN 202310618059 A CN202310618059 A CN 202310618059A CN 116330355 B CN116330355 B CN 116330355B
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- 238000012360 testing method Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 127
- 238000001514 detection method Methods 0.000 claims abstract description 53
- 238000000034 method Methods 0.000 abstract description 12
- 230000008569 process Effects 0.000 abstract description 8
- 230000006378 damage Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000002045 lasting effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 238000012502 risk assessment Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Abstract
The invention discloses an AGV intelligent robot braking performance testing device, which relates to the technical field of robot braking performance detection and is provided with the following scheme that the AGV intelligent robot braking performance testing device comprises two supporting frames, wherein a controller is fixed on the left side of each supporting frame positioned on the left side; the driving mechanism is arranged on the left side of the left support frame; the invention carries out all-round detection on the side surface of the robot and the top of the robot, detects collision pressure and pressure duration between each position of the robot and the detection mechanism, judges the pressure data and the pressure duration, judges the collision force of the mechanical arm on the foreign matters after the mechanical arm contacts the foreign matters in the operation process, and aims to avoid damage to articles or people wrongly entering the mechanical arm in the operation process.
Description
Technical Field
The invention relates to the technical field of detection of braking performance of robots, in particular to an AGV intelligent robot braking performance testing device.
Background
The robot technology is a comprehensive technology developed by modern science, is a product of crossing various subjects such as mechanical and electronic engineering, computers, automatic control, artificial intelligence and the like, is one of hot spots of current technological development, greatly changes the production and living modes of human beings, and is a further great progress of human development.
The publication number is: in the chinese patent of invention CN113650012B, a method, apparatus and system for testing braking performance of a robot are disclosed, including: after the robot is braked, acquiring the position information of the tail end of the mechanical arm; calculating the speed of the tail end of the mechanical arm according to the position information; and if the speed meets the braking completion condition, determining the braking time of the robot according to the braking start time of the robot, and determining the braking distance of the robot according to the position information. According to the technical scheme provided by the embodiment of the invention, the braking distance and the braking time of the tail end of the mechanical arm of the robot are monitored, the braking distance and the braking time of the tail end of the mechanical arm are used as the standards for evaluating the braking performance of the robot, the accuracy of the braking performance test of the robot is improved, and the test result is beneficial to the safety risk assessment in actual production, so that the working safety of the robot is ensured.
Although the scheme has the advantages, the scheme controls the robot to automatically brake through a command sent by the robot and then observes the braking condition, but the robot can detect whether the robot contacts an object or a person in real time through a sensor in the moving process and stops running at the moment of contact, so that damage and injury to the object or the person are avoided, the collision pressure and the pressure duration in the self-collision braking process are not tested, and the self-braking collision test of the robot is particularly important for ensuring the safety and the production safety of the equipment.
Disclosure of Invention
The invention provides an AGV intelligent robot braking performance testing device, which aims to solve the defects in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the AGV intelligent robot braking performance testing device comprises two supporting frames, wherein a controller is fixed on the left side of each supporting frame;
the driving mechanism is arranged on the left side of the left support frame;
the first moving mechanism is arranged on the two supporting frames;
the second moving mechanism is arranged below the first moving mechanism;
the folding mechanism is arranged below the second moving mechanism;
the protection mechanism is arranged below the second moving mechanism;
and the detection mechanism is arranged below the folding mechanism.
Preferably, the driving mechanism comprises a motor fixed on the left side of the support frame and positioned on the left side, a first gear is fixedly connected to the output shaft end of the motor, and the motor is electrically connected with the controller.
Preferably, the first moving mechanism comprises a first reciprocating screw rod rotationally connected inside two supporting frames, a first unidirectional gear is arranged on the outer portion of the first reciprocating screw rod, the rear side of the first unidirectional gear is meshed with the first gear, two same guide rods are fixedly connected between the supporting frames, a first moving plate is sleeved on the outer portion of the first guide rods, a first moving plate is sleeved on the outer portion of the first reciprocating screw rod in a threaded mode, two connecting plates are fixedly connected to the bottom of the first moving plate, and the first moving mechanism drives the first detecting mechanism and the second moving mechanism to transversely move.
Preferably, the second moving mechanism comprises a second reciprocating screw rod rotatably connected inside the two connecting plates, a first bevel gear is fixedly arranged outside the second reciprocating screw rod, a second guide rod is fixedly connected between the two connecting plates, a second moving plate is sleeved outside the second guide rod, the second moving plate is sleeved outside the second reciprocating screw rod in a threaded mode, the two supporting frames are rotatably connected with a first rotating shaft, a second unidirectional gear is mounted outside the first rotating shaft, the top of the second unidirectional gear is meshed with the first gear, a plurality of raised strips are fixedly arranged outside the first rotating shaft, a plurality of same bevel gears are sleeved outside the raised strips, the right side of the second bevel gear is meshed with the first bevel gear, a plurality of first sliding blocks are fixedly arranged on the inner wall of the second bevel gear, the first sliding blocks are sleeved in gaps formed by the plurality of raised strips respectively, a pushing plate is fixedly connected to the rear side of the connecting plates, the first unidirectional gear and the second unidirectional gear drive the second reciprocating screw rod to rotate in different directions, and the second moving mechanism drives the detecting mechanism to longitudinally move.
Preferably, the folding mechanism comprises a U-shaped frame which is rotationally connected to the bottom of the moving plate II, a rotating shaft II is rotationally connected to the upper portion of the U-shaped frame, a gear II is fixed to the left end of the rotating shaft II, a rack is fixedly connected to the front side of the connecting plate and located on the rear side of the rotating shaft II, and the folding mechanism drives the detecting mechanism to rotate and fold through the moving mechanism II and the driving mechanism.
Preferably, the detection mechanism comprises a connecting rod fixed on the outer part of the rotating shaft, a detection rod is fixed at the bottom end of the connecting rod, a balancing weight is fixed at the bottom of the detection rod, the detection rod is electrically connected with the controller, and the detection mechanism detects pressure and lasting time generated when the mechanical arm collides.
Preferably, the left side that is located the left side the support frame is fixedly connected with alarm, alarm and controller electric connection, two fixedly connected with is same carry the roller between the support frame, carry roller and controller through electric connection.
Preferably, the protection machanism is including seting up the spout at U type frame inner wall, the inside cover of spout is equipped with two sliders two, the bottom of slider two is fixed with U type draw-in groove, the both sides of movable plate two all are fixed with the limiting plate, and protection machanism protects detection mechanism when the arm collision power is too big, avoids its damage.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the first moving mechanism and the second moving mechanism are arranged, the moving mechanism drives the detecting mechanism and the second moving mechanism to move transversely, and the second moving mechanism drives the detecting mechanism to move longitudinally.
2. According to the invention, the protection mechanism, the folding mechanism and the detection mechanism are arranged, the folding mechanism drives the detection mechanism to rotate and fold through the second moving mechanism and the driving mechanism, the detection mechanism detects the pressure and the lasting time generated when the mechanical arm collides, and the protection mechanism protects the detection mechanism when the collision force of the mechanical arm is overlarge, so that the detection mechanism is prevented from being damaged.
In summary, this equipment modern design, easy operation, this equipment carries out all-round detection to the side of robot and the top of robot, detect collision pressure and pressure duration between every position of robot and the detection mechanism, and judge pressure data and pressure duration, judge the collision dynamics to the foreign matter after the arm touches the foreign matter in the operation in-process, object is avoided the article or the people that the arm operation in-process goes wrong to cause the injury, this equipment judges to the contact article of arm to the various parameters of this in-process of stopping operation, the disqualified arm of screening, ensure the factor of safety of arm.
Drawings
FIG. 1 is a schematic diagram of the overall three-dimensional structure of an AGV intelligent robot brake performance testing device according to the present invention;
FIG. 2 is a schematic diagram of a first perspective structure of a moving mechanism of an AGV intelligent robot brake performance testing device according to the present invention;
FIG. 3 is a schematic diagram of a second perspective structure of a moving mechanism of an AGV intelligent robot brake performance testing device according to the present invention;
FIG. 4 is a schematic diagram of a two-dimensional structure of a moving mechanism of an AGV intelligent robot brake performance testing device according to the present invention;
FIG. 5 is a schematic view of the structure of FIG. 4 at A partially enlarged;
fig. 6 is a schematic view of a partial enlarged structure at B in fig. 3.
In the figure: 1. a support frame; 2. a conveying roller; 3. a controller; 4. an alarm; 5. a driving mechanism; 51. a motor; 52. a first gear; 6. a first moving mechanism; 61. a reciprocating screw I; 62. one-way gear I; 63. a first guide rod; 64. a first moving plate; 65. a connecting plate; 7. a second moving mechanism; 71. a first rotating shaft; 72. a second unidirectional gear; 73. a convex strip; 74. bevel gears II; 75. a first sliding block; 76. a push plate; 77. a reciprocating screw II; 78. bevel gears I; 79. a second moving plate; 710. a second guide rod; 8. a folding mechanism; 81. a second rotating shaft; 82. a U-shaped frame; 83. a second gear; 84. a rack; 9. a protection mechanism; 91. a chute; 92. a U-shaped clamping groove; 93. a limiting plate; 10. a detection mechanism; 101. a detection rod; 102. and (5) balancing weights.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. Furthermore, the terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1: referring to fig. 1-3: the device for testing the braking performance of the AGV intelligent robot comprises two support frames 1, wherein a controller 3 is fixed on the left side of the left support frame 1;
the driving mechanism 5 is arranged on the left side of the left side supporting frame 1;
the first moving mechanism 6 is arranged on the two support frames 1;
the second moving mechanism 7 is arranged below the first moving mechanism 6;
the folding mechanism 8 is arranged below the second moving mechanism 7;
the protection mechanism 9 is arranged below the second moving mechanism 7;
the detection mechanism 10, the detection mechanism 10 is installed below the folding mechanism 8;
the driving mechanism 5 comprises a motor 51 fixed on the left side of the left side supporting frame 1, a first gear 52 is fixedly connected to the output shaft end of the motor 51, and the motor 51 is electrically connected with the controller 3;
the first moving mechanism 6 comprises a first reciprocating screw 61 rotatably connected inside the two supporting frames 1, a first unidirectional gear 62 is arranged outside the first reciprocating screw 61, the rear side of the first unidirectional gear 62 is meshed with the first gear 52, the same first guide rod 63 is fixedly connected between the two supporting frames 1, a first moving plate 64 is sleeved outside the first guide rod 63, the first moving plate 64 is sleeved outside the first reciprocating screw 61 in a threaded manner, two connecting plates 65 are fixedly connected to the bottom of the first moving plate 64, and the moving mechanism drives the detecting mechanism and the second moving mechanism to transversely move;
the second moving mechanism 7 comprises a second reciprocating screw 77 rotationally connected inside the two connecting plates 65, a first bevel gear 78 is fixed outside the second reciprocating screw 77, the same second guide rod 710 is fixedly connected between the two connecting plates 65, a second moving plate 79 is sleeved outside the second guide rod 710, the second moving plate 79 is sleeved outside the second reciprocating screw 77 in a threaded manner, the same first rotating shaft 71 is rotationally connected inside the two supporting frames 1, a second unidirectional gear 72 is installed outside the first rotating shaft 71, the top of the second unidirectional gear 72 is meshed with the first gear 52, a plurality of raised strips 73 are fixed outside the first rotating shaft 71, the same second bevel gear 74 is sleeved outside the plurality of raised strips 73, the right side of the second bevel gear 74 is meshed with the first bevel gear 78, a plurality of first sliding blocks 75 are fixed on the inner wall of the second bevel gear 74, the first sliding blocks 75 are respectively sleeved in gaps formed by the plurality of raised strips 73, a push plate 76 is fixedly connected to the rear side of the rear connecting plates 65, and the first unidirectional gear and the second unidirectional gear drive the second reciprocating screw to rotate in different directions, and the second moving mechanism drives the detection mechanism 10 to longitudinally move;
the folding mechanism 8 comprises a U-shaped frame 82 rotatably connected to the bottom of the second moving plate 79, a second rotating shaft 81 is rotatably connected to the upper part of the U-shaped frame 82, a second gear 83 is fixed to the left end of the second rotating shaft 81, a rack 84 is fixedly connected to the front side of the rear connecting plate 65, and the folding mechanism 8 drives the detection mechanism to rotate and fold through the second moving mechanism and the driving mechanism;
the detection mechanism 10 comprises an external connecting rod fixed on the second rotating shaft 81, a detection rod 101 is fixed at the bottom end of the connecting rod, a balancing weight 102 is fixed at the bottom of the detection rod 101, the detection rod 101 is electrically connected with the controller 3, and the detection mechanism 10 detects pressure and lasting time generated when the mechanical arm collides;
the left side that is located left side support frame 1 fixedly connected with alarm 4, alarm 4 and controller 3 electric connection, the same conveying roller 2 of fixedly connected with between two support frames 1, conveying roller 2 and controller 3 pass through electric connection.
Example 2: referring to fig. 2-6: the embodiment provides a technical scheme based on the first embodiment:
the protection machanism 9 is including seting up the spout 91 at U type frame 82 inner wall, and the inside cover of spout 91 is equipped with two slider two, and the bottom of slider two is fixed with U type draw-in groove 92, and the both sides of movable plate two 79 all are fixed with limiting plate 93, and protection machanism protects detection mechanism when the arm collision power is too big, avoids its damage.
Working principle:
the operation of the conveying roller 2 is controlled by the controller 3 to enable the mechanical arm to move to the lower part of the first moving mechanism 6, then the motor 51 is started by the controller 3 to reversely rotate the first unidirectional gear 72 through the first gear 52, the second unidirectional gear 72 rotates to drive the first rotating shaft 71 and the raised strips 73 to rotate, the raised strips 73 rotate to drive the second bevel gear 74 through the first sliding block 75, the second bevel gear 74 drives the first bevel gear 78 and the second reciprocating screw 77 to rotate, the second reciprocating screw 77 rotates to enable the second moving plate 79 to drive the folding mechanism 8, the protecting mechanism 9 and the detecting mechanism 10 to longitudinally move, the top of the second gear 83 is meshed with the rack 84, the second gear 83 rotates and drives the second rotating shaft 81 to rotate when the second gear is continuously moved, the second rotating shaft 81 rotates to drive the detecting mechanism 10 to rotate and is parallel to the second reciprocating screw 77, and the longer detecting mechanism 10 is prevented from being blocked by a detecting workpiece and cannot move in the moving process, when the folding mechanism is folded, the situation is avoided, then the motor 51 is started by the controller 3 to rotate positively, the one-way gear 62 is driven by the gear one 52 to rotate, the one-way gear one 62 drives the reciprocating screw one 61 to rotate, the reciprocating screw one 61 rotates to drive the moving plate one 64 to move, the moving plate one 64 drives the part of the moving mechanism two 7, the folding mechanism 8, the protecting mechanism 9 and the detecting mechanism 10 to move transversely, the detecting mechanism 10 is driven to move to a transverse coordinate, the part of the moving mechanism two 7 pushes the bevel gear two 74 to move through the push plate 76, the bevel gear two 74 is always meshed with the bevel gear one 78, then the controller 3 controls the motor 51 to rotate reversely to enable the reciprocating screw two 77 to rotate, the moving plate two 79 is moved forward to a longitudinal designated coordinate, the gear two 83 rotates in the moving process, the detecting rod 101 rotates to be perpendicular to the reciprocating screw two 77, the detection mechanism 10 is moved to a specified detection position, then the mechanical arm is started to operate, one side of the mechanical arm is contacted with one side of the detection rod 101 with the adjusted position in the mechanical arm operation process, the pressure sensing device in the detection rod 101 senses the force generated between the mechanical arm and the detection rod 101, the time for generating the force is detected, then data are transmitted into the controller 3, the controller 3 judges the data, the collision force and the force generating time when the mechanical arm encounters an obstacle in the operation process are judged, the alarm with different degrees is carried out according to the judgment result, after detection is carried out, the detection mechanism 10 is moved to the other specified position in the mode, the detection is carried out, collision detection is carried out on each side of the mechanical arm, if the collision detection is required to be carried out on the top of the mechanical arm, then the detection mechanism 10 is folded through the folding mechanism 8, then the detection mechanism 10 is moved to the position to be detected through the first moving mechanism 6, then the mechanical arm is contacted with the detection mechanism 10, the detection mechanism 10 detects the collision force when the mechanical arm is excessively large, the protection mechanism 9 generates an action when the mechanical arm collision force is excessively large, the detection mechanism 10 moves to the detection rod to the other specified position, the detection mechanism is not carried out, the U-shaped plate 92 is blocked by the U-shaped plate 92 is blocked, and the U-shaped plate 92 is blocked by the U-shaped plate 92, and the U-shaped plate 93 is blocked, and the U-shaped plate is not blocked, and the U-shaped is blocked, and the position is not possible.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (2)
1. The utility model provides a AGV intelligent robot braking performance testing arrangement, includes two support frames (1), its characterized in that is located the left side support frame (1) the left side is fixed with controller (3), two fixedly connected with is same carry roller (2) between support frame (1), carry roller (2) and controller (3) through electric connection;
the driving mechanism (5), the driving mechanism (5) is arranged on the left side of the left support frame (1), the driving mechanism (5) comprises a motor (51) fixed on the left side of the left support frame (1), the output shaft end of the motor (51) is fixedly connected with a first gear (52), and the motor (51) is electrically connected with the controller (3);
the first moving mechanism (6) is arranged on the two supporting frames (1), the first moving mechanism (6) comprises a first reciprocating screw (61) rotatably connected to the inside of the two supporting frames (1), a one-way gear (62) is arranged on the outside of the first reciprocating screw (61), the rear side of the one-way gear (62) is meshed with the first gear (52), the same first guide rod (63) is fixedly connected between the two supporting frames (1), a first moving plate (64) is sleeved on the outside of the first guide rod (63), threads of the first moving plate (64) are sleeved on the outside of the first reciprocating screw (61), and two connecting plates (65) are fixedly connected to the bottom of the first moving plate (64);
the second moving mechanism (7), the second moving mechanism (7) is installed below the first moving mechanism (6), the second moving mechanism (7) comprises a second reciprocating screw (77) rotationally connected inside two connecting plates (65), a first bevel gear (78) is fixed on the outer portion of the second reciprocating screw (77), the same second guide rod (710) is fixedly connected between the two connecting plates (65), a second moving plate (79) is sleeved on the outer portion of the second guide rod (710), the second moving plate (79) is in threaded sleeve on the outer portion of the second reciprocating screw (77), the inner portions of the two supporting frames (1) are rotationally connected with the same first rotating shaft (71), a second unidirectional gear (72) is installed on the outer portion of the first rotating shaft (71), the top of the second unidirectional gear (72) is meshed with the first gear (52), a plurality of raised strips (73) are fixed on the outer portion of the first rotating shaft (71), the same second bevel gear (74) is sleeved on the outer portion of the plurality of raised strips (73), the right side of the second bevel gear (74) is sleeved on the outer portion of the first bevel gear (78), a plurality of raised strips (75) are meshed with the first sliding blocks (75) respectively, a push plate (76) is fixedly connected to the rear side of the connecting plate (65) at the rear side;
the folding mechanism (8) is arranged below the second moving mechanism (7), the folding mechanism (8) comprises a U-shaped frame (82) rotatably connected to the bottom of the second moving plate (79), a second rotating shaft (81) is rotatably connected to the upper part of the U-shaped frame (82), a second gear (83) is fixed to the left end of the second rotating shaft (81), and a rack (84) is fixedly connected to the front side of the connecting plate (65) at the rear side;
the protection mechanism (9), the protection mechanism (9) is installed below the second moving mechanism (7), the protection mechanism (9) comprises a sliding groove (91) formed in the inner wall of the U-shaped frame (82), two second sliding blocks are sleeved in the sliding groove (91), U-shaped clamping grooves (92) are fixed at the bottoms of the second sliding blocks, and limiting plates (93) are fixed on two sides of the second moving plate (79);
the detection mechanism (10), detection mechanism (10) are installed in the below of folding mechanism (8), detection mechanism (10) are including fixing in pivot two (81) outside connecting rods, the bottom mounting of connecting rod has detection stick (101), the bottom of detection stick (101) is fixed with balancing weight (102), detection stick (101) and controller (3) electric connection.
2. The AGV intelligent robot braking performance testing device according to claim 1, wherein an alarm (4) is fixedly connected to the left side of the supporting frame (1) on the left side, the alarm (4) is electrically connected with the controller (3), and the same protection top is fixed to the tops of the two supporting frames (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310618059.6A CN116330355B (en) | 2023-05-30 | 2023-05-30 | AGV intelligent robot braking performance testing arrangement |
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| CN202310618059.6A CN116330355B (en) | 2023-05-30 | 2023-05-30 | AGV intelligent robot braking performance testing arrangement |
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| CN116330355A CN116330355A (en) | 2023-06-27 |
| CN116330355B true CN116330355B (en) | 2023-08-04 |
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| CN116890194B (en) * | 2023-09-11 | 2023-12-12 | 苏州清科电气有限公司 | Switch cabinet clamping mechanism and switch cabinet welding system |
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