CN211281254U - Unmanned auxiliary robot for sunlight greenhouse and bearing platform of unmanned auxiliary robot - Google Patents
Unmanned auxiliary robot for sunlight greenhouse and bearing platform of unmanned auxiliary robot Download PDFInfo
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- CN211281254U CN211281254U CN201921669584.6U CN201921669584U CN211281254U CN 211281254 U CN211281254 U CN 211281254U CN 201921669584 U CN201921669584 U CN 201921669584U CN 211281254 U CN211281254 U CN 211281254U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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Abstract
The utility model discloses an unmanned auxiliary robot for sunlight big-arch shelter and load-bearing platform thereof. The bearing platform comprises a bearing plate, and the bearing plate comprises a flat plate and a side plate; the crawler belt wheel set comprises a driving wheel, a driven wheel and a crawler belt, and wheel shafts of the driving wheel and the driven wheel are respectively and independently arranged on the side plates on the two sides of the bearing plate. The unmanned auxiliary robot for the sunlight greenhouse further comprises a temperature sensor, a humidity sensor, an illumination sensor, a carbon dioxide sensor, a drawing sensor, an obstacle avoidance sensor, a camera and a central processing unit. The auxiliary robot with the mobile bearing platform and capable of being remotely interacted is used as a movable monitoring point in the sunlight greenhouse, so that the trouble that workers need to frequently enter the sunlight greenhouse to collect environmental parameters is avoided, and the influence of the workers on the greenhouse environment is avoided.
Description
Technical Field
The utility model relates to a remove load-bearing platform and auxiliary robot field, especially relate to a crawler-type removes load-bearing platform and an unmanned auxiliary robot who is used for sunlight big-arch shelter.
Background
The crop growing environment in the sunlight greenhouse needs to keep constant temperature and humidity to improve the yield and quality of crops, but the environment in the sunlight greenhouse is not suitable for workers to work in the sunlight greenhouse for a long time. In addition, frequent access by workers can lead to slow growth or death of crops near the greenhouse entrance.
Therefore, the method for installing the growth environment acquisition monitoring points in the greenhouse is a method commonly adopted by people, and for example, a 50-meter greenhouse needs 2 to 3 monitoring points (each monitoring point comprises an air temperature sensor, an air humidity sensor, illumination sensors, a soil temperature sensor, a soil humidity sensor, a carbon dioxide sensor and the like). However, in this method, because the position of the acquisition point is fixed, each acquisition point can only acquire the environmental conditions within a limited range around the acquisition point. In the sunlight greenhouse, with the rise and fall of the sun and the difference of the sunlight greenhouse structure, the environment difference is large every few meters, especially the difference between two ends of the sunlight greenhouse is large, and the air temperature difference is usually about 3 ℃. Therefore, in order to improve the measurement accuracy of the greenhouse environment, additional detection points are required, which leads to a significant increase in cost.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims to solve the technical problem that a crawler-type removes load-bearing platform and a unmanned auxiliary robot who is used for sunlight big-arch shelter is provided to the realization is in time made the detection and is uploaded to environmental parameter everywhere in the big-arch shelter.
The utility model provides an above-mentioned technical problem's technical scheme as follows:
according to the utility model discloses an aspect of the embodiment, a crawler-type removes load-bearing platform, include:
the bearing plate comprises a flat plate, a left side plate and a right side plate, the left side plate and the right side plate are arranged on the left side and the right side of the flat plate, and the upper edges of the left side plate and the right side plate are fixedly connected with the edges of the left side and the right side of the flat plate;
the crawler belt wheel set comprises a driving wheel, a driven wheel and a crawler belt, and wheel shafts of the driving wheel and the driven wheel are respectively and independently fixedly arranged on the side plates;
the crawler belt wheel sets at least comprise two sets which are respectively and symmetrically arranged on the left side plate and the right side plate of the bearing plate.
Furthermore, the driving wheel of the crawler wheel set is directly driven by a motor through a speed reducer, the motor and the speed reducer are fixedly arranged on the side plate from the inner side of the side plate, and the wheel shaft of the driving wheel is fixedly arranged on the output shaft of the speed reducer.
The beneficial effect of this embodiment lies in: the wheel shafts of the driving wheel and the driven wheel are respectively and independently arranged on the bearing plate side plate, so that the bearing plate side plate simultaneously serves as a wheel carrier of the crawler belt wheel set, the connection and matching relation between the bearing plate and the crawler belt wheel set is simplified, and the manufacturing cost of the movable bearing platform is reduced. The driving wheel is directly driven by the motor through the speed reducing device, and the modular installation of each crawler wheel set can be conveniently realized.
According to the utility model discloses an aspect, an unmanned auxiliary robot for sunlight big-arch shelter, include:
the bearing plate comprises a flat plate, a left side plate and a right side plate, the left side plate and the right side plate are arranged on the left side and the right side of the flat plate, and the upper edges of the left side plate and the right side plate are fixedly connected with the edges of the left side and the right side of the flat plate;
the crawler belt wheel set comprises a driving wheel, a driven wheel and a crawler belt, and wheel shafts of the driving wheel and the driven wheel are respectively and independently fixedly arranged on the side plates;
the crawler belt wheel sets are at least two and are respectively and symmetrically arranged on the left side plate and the right side plate of the bearing plate;
an auxiliary robot, the auxiliary robot comprising:
install in temperature sensor on the loading board, humidity transducer, light intensity sensor, carbon dioxide sensor, drawing sensor keeps away barrier sensor, camera and central processing unit.
Further, the auxiliary robot still include wireless communication module, central processing unit via wireless communication module realizes right temperature sensor, humidity transducer, light sensor, carbon dioxide sensor, drawing sensor keep away the uploading of barrier sensor and camera data collection.
Further, the auxiliary robot further comprises a driving module, the driving module is controlled by the central processing unit, and the central processing unit loads the control signal received through the wireless communication module to the driving module.
The beneficial effect of this embodiment lies in: the auxiliary robot with the mobile bearing platform and capable of being remotely interacted is used as a movable monitoring point in the sunlight greenhouse, so that the trouble that workers need to frequently enter the sunlight greenhouse to collect environmental parameters is avoided, and the influence of the workers on the greenhouse environment is avoided.
According to an aspect of the embodiment of the present invention, the robot further comprises a power module, the power module comprises a battery and two output ends with different voltages, and the first output end is connected to the motor; the second output end is connected with each sensor and the central processing unit.
Further, the power module further comprises an ac/dc transformer having an ac input connected to the grid.
In this embodiment, different power modules are configured for the robot, so that the mobile load-bearing platform can be conveniently switched to a battery working mode or a wired power supply working mode according to different application scenarios.
Drawings
Fig. 1 is a side view of the crawler type mobile load-bearing platform of the present invention;
fig. 2 is a side view of the unmanned auxiliary robot for the sunlight greenhouse of the present invention;
fig. 3 is a block diagram of the unmanned auxiliary robot for the sunlight greenhouse of the present invention.
In the figure, 110, a crawler-type mobile bearing platform, 111, a bearing plate, 1111, a flat plate, 1112, a side plate, 112, a crawler wheel set, 1121, a driving wheel, 1122, a driven wheel, 1123 and a crawler; 121. the system comprises a central processing unit, 122, a driving module, 123, a power supply module, 124, a drawing sensor, 125, a camera, 1261, a temperature sensor, 1262, a humidity sensor, 1263, a lighting sensor, 1264, a carbon dioxide sensor, 127, an obstacle avoidance sensor, 128 and a wireless communication module.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the illustrated embodiments are provided to explain the present invention and not to limit the scope of the invention.
Fig. 1 is a side view of the crawler-type mobile load-bearing platform of the present invention.
As shown in fig. 1, a tracked mobile load-bearing platform 110 comprises:
the bearing plate 111 comprises a flat plate 1111 and left and right side plates 1112, the left and right side plates 1112 are arranged at the left and right sides of the flat plate 1111, and the upper edges of the left and right side plates 1112 are fixedly connected with the left and right side edges of the flat plate 1111;
the crawler belt assembly 112 comprises a driving wheel 1121, a driven wheel 1122 and a crawler belt 1123, wherein wheel shafts of the driving wheel 1121 and the driven wheel 1122 are respectively and independently fixed on the side plates 1112;
the track wheel sets 112 include at least two sets, which are symmetrically disposed on the left and right side plates 1112 of the carrier plate 111, respectively.
Further, in this embodiment, the driving wheel 1121 of the crawler belt pulley set 112 is directly driven by a motor through a speed reduction device, the motor and the speed reduction device are fixedly arranged on the side plate 1112 from the inner side of the side plate 1112, and an axle of the driving wheel 1121 is fixedly arranged on an output shaft of the speed reduction device from the outer side of the side plate 1112.
When two sets of track roller sets 112 are disposed on each side plate 1112, that is, when four sets of track roller sets 112 are disposed on the carrying platform 110, the track roller sets 112 adopt a triangular roller set structure composed of a driving wheel 1121 and two driven wheels 1122; when a set of track roller sets 112 is disposed on each side plate 1112, that is, the carrying platform 110 includes two sets of track roller sets 112, the track roller sets 112 are flat wheel set structures formed by two driving wheels 1121 and two or three driven wheels 1122.
In this embodiment, the wheel shafts of the driving wheel 1121 and the driven wheel 1122 of the track roller set 112 are respectively and independently fixed on the carrying plate side plate 1112, so that the carrying plate side plate 1112 serves as a wheel carrier of the track roller set 112, thereby simplifying the connection and matching relationship between the carrying plate 111 and the track roller set 112, and reducing the manufacturing cost of the mobile carrying platform 110. Further, the driving wheel 1121 is directly driven by a motor through a speed reduction device, so that the modular installation of each track roller set 112 can be conveniently realized.
Fig. 2 is a side view of the unmanned robot for sunlight greenhouse of the present invention.
Fig. 3 is a block diagram of the unmanned auxiliary robot for the sunlight greenhouse of the present invention.
As shown in fig. 2 and 3, an unmanned auxiliary robot for a solar greenhouse comprises:
a tracked mobile load-bearing platform 110, said load-bearing platform 110 comprising:
the bearing plate 111 comprises a flat plate 1111 and left and right side plates 1112, the left and right side plates 1112 are arranged at the left and right sides of the flat plate 1111, and the upper edges of the left and right side plates 1112 are fixedly connected with the left and right side edges of the flat plate 1111;
the crawler belt assembly 112 comprises a driving wheel 1121, a driven wheel 1122 and a crawler belt 1123, wherein wheel shafts of the driving wheel 1121 and the driven wheel 1122 are respectively and independently fixed on the side plates 1112;
the track wheel sets 112 include at least two sets, which are symmetrically disposed on the left and right side plates 1112 of the carrier plate 111 respectively;
an auxiliary robot, the auxiliary robot comprising:
the temperature sensor 1261, the humidity sensor 1262, the illumination sensor 1263, the carbon dioxide sensor 1264, the drawing sensor 124, the obstacle avoidance sensor 127, the camera 125 and the central processor 121 are arranged on the bearing plate 111.
In this embodiment, the robot further includes a wireless communication module 128, and the central processor 121 uploads the data collected by the temperature sensor 1261, the humidity sensor 1262, the illumination sensor 1263, the carbon dioxide sensor 1264, the drawing sensor 124, the obstacle avoidance sensor 127, and the camera 125 through the wireless communication module 128. Further, the wireless communication device further includes a driving module 122, the driving module 122 is controlled by the central processing unit 121, and the central processing unit 121 loads the driving module 122 with a control signal received through the wireless communication module 128. Further, the motor further comprises a power module 123, wherein the power module 123 comprises a battery and two output ends with different voltages, and the first output end is connected with the motor; the second output end is connected with each sensor and the central processing unit. Further, the power module 123 further includes an ac/dc transformer having an ac input connected to the power grid.
In this embodiment, the wireless communication module 128 and the different types of power modules 123 are configured for the robot, so that the mobile load-bearing platform can be conveniently switched to a battery working mode or a wired power working mode according to different application scenarios.
In the above embodiment, according to the prior art, the central processing unit 121 may calculate and process data acquired by the drawing sensor 124, the obstacle avoidance sensor 127, and the camera 125, so as to implement path planning and automatic navigation of the crawler-type mobile carrier platform 110. Uploading of environmental data collected by the temperature sensor 1261, the humidity sensor 1262, the illumination sensor 1263, and the carbon dioxide sensor 1264, as well as receiving of remote control instructions, may be accomplished via the wireless communication module 128.
The actual devices adopted by the auxiliary robot in the above embodiments include:
the central processor 121 adopts a raspberry PI3 and a boston BCM490864 bit processor which are conventionally used in the prior art, and the operating system is an ROS distributed system under Ubuntu 16.04.
The basic configuration is:
memory: 2G
Dominant frequency: 1.2GHz
Network card: built-in 10-100M network card
Wireless communication: built-in wireless network card and built-in Bluetooth adapter
Sound card: built-in sound card
A card reader: built-in type
Interface: four USB2.0, one 3.5mm interface and one HDHI interface
Size: 85 x 56 x 17cm
The mapping sensor 124 realizes mapping and boundary and obstacle distance testing through a 2D/3D laser radar.
The basic configuration is:
the brand model is as follows: RPLIDARA1
The connection mode is as follows: USB (universal serial bus)
Angular resolution: less than or equal to 1 degree
Scanning angle: 0-360 degree
Ranging resolution: less than 0.5mm
Measurement range: 0.15 to 12 meters (radius)
Measuring frequency: 8000 times/second
The working frequency is as follows: 5.5HZ
Optomagnetic fusion: OPTMAG
The camera 125 enables real-time picture acquisition.
The basic configuration is:
brand name: raspberrypi infrared night vision camera + adjustable focus
Photosensitive chip: OV 56471/45M infrared night vision monitoring lens
Aperture (F): 1.8
Focal length: 3.6MM adjustable focal length
Viewing angle: 60 degree
A sensor pixel: 1080P
Night vision shooting distance: 5-8 m
Pixel: 500 ten thousand
The connection mode is as follows: HDMI high definition interface
The temperature and humidity sensors 1261 and 1262 collect and transmit air temperature and air humidity information and adopt integrated modules.
The basic configuration is:
brand name: easy sunlight
D, direct current power supply: DC5-30V
Outputting a signal: RS485 signal
The communication protocol is as follows: Modbus-RTU protocol
Communication address: 1-247 may be set to default 1
Baud rate: settable, default 96008 bit data 1 bit stop no check
Temperature precision: 0.5 ℃ C
Humidity precision: . + -. 3% RH
Temperature range: minus 40 ℃ to plus 60 DEG C
Humidity range: 0% RH-80% RH
Temperature resolution: 0.1 deg.C
Humidity resolution: 0.1% RH
Device power consumption: less than or equal to 0.2W
The above-mentioned
The illumination sensor 1263 collects and transmits real-time illumination data.
The basic configuration is:
brand name: searching and playing
Interface signals: RS485
The communication protocol is as follows: Modbus-RTU protocol
Measurement range: 0 to 20 ten thousand Lux
Spectral range: 400 to 700(nm) visible light
And (3) measuring precision: less than or equal to +/-5 percent
Supply voltage: DC 12V-24V
Product power consumption: < 15mA (DC12)
And (3) waterproof grade of the product: IP65
Shell material: grey cast aluminium
Product size: 65, 58, 38mm
The basic configuration is:
brand name: building block
Interface signals: RS485
The communication protocol is as follows: Modbus-RTU protocol
CO2 range: 400 to 5000ppm
And (3) measuring precision: +/- (40PPM + 3% F.S)
Supply voltage: DC 10V-24V
Product power consumption: < 0.5W
And (3) waterproof grade of the product: IP65
Shell material: grey cast aluminium
Product size: 65, 58, 38mm
The temperature sensor 1261, the humidity sensor 1262, the illumination sensor 1263 and the carbon dioxide sensor 1264 are centralized and adopt 485 modules which are conventionally used in the prior art to transmit command data and collected data.
The basic configuration is:
the name of the product is: LX08A
The function is as follows: USB to serial port
End connection: 232/485 (interface with dial switch changeable)
The working environment is as follows: -45-85 ℃ and 5-95% humidity
Size: 83.95 84.99 mm 24.91mm
The driving module 122 adopts an STM32F407VET76 mainboard
The basic configuration is:
kernel: Cortex-M432bit TISC
The characteristics are as follows: single cycle DSP instruction
The working frequency is as follows: 168MHz 210DMIPS/1.25
Working voltage: 5v of
An Spi interface: 3 are provided with
Serial port: 2 are provided with
USB interface: 1 is provided with
A network port: 1 is provided with
And (3) AD interface: 3 are provided with
GPIO interface: 20 are provided with
The motor is a 550 motor.
The basic configuration is:
brand name: JGB 37-550
Reduction ratio: 1:30
Rated voltage: 12V
No-load rotating speed: 617. + -. 12% RPM
No-load current: 2000Max mA
Rated rotation speed: 560. + -. 12% RPM
Rated current: 8500Max mA
Rated torque: 5.7kgf.cm
Axial clearance: 0.5mm
The obstacle avoidance sensor 127 realizes the distance monitoring of the obstacle.
The basic configuration is:
brand name: caston
Output current: DC/SCR/Relay 100MA/5V
Current consumption: DC < 25MA
Response time: < 2MS
Pointing angle: less than or equal to 15 °
Measuring an object: is not transparent
Measuring the distance: 3-80CM adjustable
The working environment is as follows: minus 25 ℃ to plus 55 DEG C
A housing: plastic material
The power module 123 adopts a 12V and 5V polymer double-voltage lithium battery high-capacity power supply.
The basic configuration is:
voltage: 12V, 9800mAh, 5V, 20000mAh
Size: 130, 67, 23mm
Wire length: 130mm
Current protection: protective current 2A
Service life: repeating the cycle for about 1000 times
And (3) jointing: DC 5.5X 2.1USB
Protection of the board intelligence: the battery adopts overload, overvoltage, overcharge and short circuit protection circuits inside.
The method has the advantages that the positioning is accurate, and the mapping algorithm is applied to realize the instant positioning and map modeling (including RB particle filter algorithm, two-position grid map, robot odometer information and OpenSlam algorithm) to output and draw the map. With the drawn map, the path is automatically planned according to the target position and the current position of the robot, and the robot is driven to walk.
The algorithms and methods are algorithms and methods which can be realized by the prior art, and are functions which can be realized by the prior art.
The reader should understand that in the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope of the present invention, and these modifications or replacements should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A load-bearing platform, comprising:
the bearing plate comprises a flat plate, a left side plate and a right side plate, the left side plate and the right side plate are arranged on the left side and the right side of the flat plate, and the upper edges of the left side plate and the right side plate are fixedly connected with the edges of the left side and the right side of the flat plate;
the crawler belt wheel set comprises a driving wheel, a driven wheel and a crawler belt, and wheel shafts of the driving wheel and the driven wheel are respectively and independently fixedly arranged on the side plates;
the crawler belt wheel sets at least comprise two sets which are respectively and symmetrically arranged on the left side plate and the right side plate of the bearing plate.
2. The load-bearing platform of claim 1, wherein the driving wheel of the crawler wheel group is directly driven by a motor through a speed reducer, the motor and the speed reducer are fixedly arranged on the side plate from the inner side of the side plate, and the wheel shaft of the driving wheel is fixedly arranged on the output shaft of the speed reducer.
3. An unmanned robot assist for a daylight greenhouse, comprising:
the bearing plate comprises a flat plate, a left side plate and a right side plate, the left side plate and the right side plate are arranged on the left side and the right side of the flat plate, and the upper edges of the left side plate and the right side plate are fixedly connected with the edges of the left side and the right side of the flat plate;
the crawler belt wheel set comprises a driving wheel, a driven wheel and a crawler belt, and wheel shafts of the driving wheel and the driven wheel are respectively and independently fixedly arranged on the side plates;
the crawler belt wheel sets are at least two and are respectively and symmetrically arranged on the left side plate and the right side plate of the bearing plate;
an auxiliary robot, the auxiliary robot comprising:
install in temperature sensor on the loading board, humidity transducer, light intensity sensor, carbon dioxide sensor, drawing sensor keeps away barrier sensor, camera and central processing unit.
4. The auxiliary robot of claim 3, further comprising a wireless communication module, wherein the central processor uploads the data collected by the temperature sensor, the humidity sensor, the illumination sensor, the carbon dioxide sensor, the drawing sensor, the obstacle avoidance sensor and the camera via the wireless communication module.
5. The auxiliary robot of claim 4, further comprising a driving module controlled by the central processor, wherein the central processor loads the driving module with a control signal received through the wireless communication module.
6. An auxiliary robot as claimed in claim 3, 4 or 5, wherein the drive wheels of said crawler wheel sets are driven by a motor, further comprising a power module comprising a battery and two outputs of different voltages, a first output being connected to said motor; the second output end is connected with each sensor and the central processing unit.
7. The auxiliary robot of claim 6, wherein the power module further comprises a AC to DC transformer having an AC input connected to a power grid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921669584.6U CN211281254U (en) | 2019-10-08 | 2019-10-08 | Unmanned auxiliary robot for sunlight greenhouse and bearing platform of unmanned auxiliary robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921669584.6U CN211281254U (en) | 2019-10-08 | 2019-10-08 | Unmanned auxiliary robot for sunlight greenhouse and bearing platform of unmanned auxiliary robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211281254U true CN211281254U (en) | 2020-08-18 |
Family
ID=72013101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921669584.6U Active CN211281254U (en) | 2019-10-08 | 2019-10-08 | Unmanned auxiliary robot for sunlight greenhouse and bearing platform of unmanned auxiliary robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211281254U (en) |
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2019
- 2019-10-08 CN CN201921669584.6U patent/CN211281254U/en active Active
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