CN213416178U - Portal type two-stage lifting mechanism and mobile carrying equipment - Google Patents
Portal type two-stage lifting mechanism and mobile carrying equipment Download PDFInfo
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- CN213416178U CN213416178U CN202022155318.0U CN202022155318U CN213416178U CN 213416178 U CN213416178 U CN 213416178U CN 202022155318 U CN202022155318 U CN 202022155318U CN 213416178 U CN213416178 U CN 213416178U
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Abstract
The utility model relates to a remove transport hoist mechanism's technical field, concretely relates to portal frame formula second grade hoist mechanism and remove haulage equipment. The portal type two-stage lifting mechanism comprises a fixed portal, a first-stage moving portal and a second-stage moving portal, wherein the first-stage moving portal is arranged on the fixed portal in a lifting manner, and the second-stage moving portal is arranged on the first-stage moving portal in a lifting manner; the two-stage moving gantry is fixed on the synchronous belt and driven by the synchronous belt to lift; a first limiting structure is arranged at the upper end of the first-stage moving gantry; when the secondary moving gantry rises to a first limit position relative to the primary moving gantry, the secondary moving gantry is abutted to the first limit structure, so that the linkage of the secondary moving gantry and the primary moving gantry is realized.
Description
Technical Field
The utility model relates to a remove transport hoist mechanism's technical field, concretely relates to portal frame formula second grade hoist mechanism and remove haulage equipment.
Background
In the existing market, a gantry type secondary lifting mechanism is mostly adopted in a lifting mechanism part of a mobile carrying device and is commonly used in a forklift structure. The main structure is roller guide, oil cylinder jacking, channel steel as frame, chain and chain wheel to transmit motion. The oil cylinder is arranged in the middle of the gantry. However, the gantry lifting mechanism has the disadvantages of heavy weight, low precision, high noise, large occupied space and the like.
Particularly, the main body part of the portal type secondary lifting mechanism adopts channel steel as a frame, and although the strength and the rigidity of the portal frame can be guaranteed, the overall weight is too heavy due to the fact that the channel steel is fixed in overall dimension, and when the portal type secondary lifting mechanism is used on a mobile carrying device, invalid consumption can be increased, and the economical efficiency is not good. Its guide part adopts the gyro wheel, and the gyro wheel is by thick spacing in the channel-section steel, can follow certain direction reciprocating roll, and the gyro wheel has great clearance with the gib block, though the portal can go up and down smoothly, nevertheless can reduce entire system's precision because the clearance is great, and the inside and outside portal can be because of the collision noise generation when relative motion in addition, therefore this kind of structure only is applicable to the transport occasion that the required precision is not high. And the oil cylinder is arranged in the middle of the portal and connected with the portal cross brace, and is a power device for lifting the whole portal. The oil cylinder is positioned to block the goods transmission in the space and block the view. The oil supply hydraulic station of the oil cylinder occupies a large space and generates noise.
SUMMERY OF THE UTILITY MODEL
Therefore, the to-be-solved technical problem of the utility model lies in overcoming and removing among the prior art and lifting partial quality overweight on the haulage equipment, and the precision is low, and the space occupies defects such as big and noise height to a portal frame formula second grade hoist mechanism and removal haulage equipment are provided.
In order to solve the technical problem, the utility model discloses a technical scheme as follows:
the utility model provides a portal frame formula second grade hoist mechanism, it includes: the device comprises a fixed portal and a primary moving portal, wherein the primary moving portal is arranged on the fixed portal in a lifting manner, and the upper end of the primary moving portal is provided with a first limiting structure; the second-stage moving gantry is arranged on the first-stage moving gantry in a lifting manner; the synchronous belt is respectively wound on the fixed portal and the primary moving portal and can drive the primary moving portal to ascend and descend; the secondary moving gantry is fixed on the synchronous belt and is driven by the synchronous belt to lift; when the secondary moving gantry ascends to a first limit position relative to the primary moving gantry, the secondary moving gantry is abutted to the first limit structure, so that the secondary moving gantry is linked with the primary moving gantry, and the synchronous belt is driven to ascend synchronously.
Optionally, in the gantry type secondary lifting mechanism, the upper end of the fixed gantry is provided with a driving pulley, and the lower end of the fixed gantry is provided with at least one fixed tensioning mechanism; wherein the driving belt wheel is connected with a driving structure; the upper end of the primary moving portal is provided with a driven belt wheel, and the lower end of the primary moving portal is provided with a reversing wheel; the synchronous belt is sequentially wound on the driving belt wheel, the fixed tensioning mechanism, the driven belt wheel and the reversing wheel to form a closed annular belt.
Optionally, in the above gantry type secondary lifting mechanism, the fixed gantry includes two vertical fixed gantry frames and a cross beam; the driving structure comprises a motor and a driving shaft which are respectively arranged on the cross beam; the driving belt wheel is provided with at least one belt wheel, is arranged at the upper end of the fixed portal frame and is connected with the driving shaft.
Optionally, in the above gantry type two-stage lifting mechanism, the first-stage moving gantry includes two vertical first-stage moving gantry frames, wherein the first-stage moving gantry frames are slidably disposed in the fixed gantry frames, and the first-stage moving gantry frames are in sliding fit with the fixed gantry frames through a first guide rail slider structure.
Optionally, in the door frame type secondary lifting mechanism, the first rail-slider structure comprises at least one slider inside the fixed door frame, and a linear rail outside the primary moving door frame.
Optionally, the door frame type secondary lifting mechanism includes a second limiting structure, where the second limiting structure is a fixed door frame limiting block and is disposed on the inner side of the upper end of the fixed door frame.
Optionally, in the above gantry type two-stage lifting mechanism, the upper end and the lower end of the outer side of the one-stage moving gantry frame are respectively provided with a one-stage gantry descending position block and a one-stage gantry ascending position block, which can be abutted against and limited by the fixed gantry limiting block.
Optionally, in the gantry type secondary lifting mechanism, the secondary moving gantry is connected with the primary moving gantry frames on two sides through a second guide rail slider structure; and two sides of the secondary moving gantry are connected with a driving belt wheel through synchronous belt wheel pressing plates.
Optionally, in the above portal type secondary lifting mechanism, the first limiting structure includes a bearing limiting block located at the inner side of the upper end of the primary moving portal frame; two ends of the secondary moving portal are provided with oil pressure buffers; when the secondary moving gantry ascends to a first limit position relative to the primary moving gantry, the oil buffers at two ends of the secondary moving gantry are abutted to the bearing limit block.
Optionally, in the gantry type secondary lifting mechanism, a secondary gantry descending limiting block is arranged on the inner side of the lower end of the primary moving gantry frame; two ends of the second-stage moving gantry are provided with second-stage gantry descending position blocks; when the second-stage moving gantry descends to a second limit position relative to the first-stage moving gantry, the second-stage gantry descends to a position block and abuts against a descending limit block of the second-stage gantry.
The utility model also provides a remove haulage equipment, including hoist mechanism, hoist mechanism is foretell portal formula second grade hoist mechanism.
The utility model discloses technical scheme has following advantage:
1. the utility model provides a portal type two-stage lifting mechanism, which comprises a fixed portal, a first-stage moving portal and a second-stage moving portal, wherein the first-stage moving portal is arranged on the fixed portal in a liftable way, and the second-stage moving portal is arranged on the first-stage moving portal in a liftable way; the two-stage moving gantry is fixed on the synchronous belt and driven by the synchronous belt to lift; other accessories can be installed on the secondary moving gantry, and the secondary moving gantry can be lifted independently, so that only the secondary gantry can be lifted when the equipment is lifted at a conventional height, and the invalid consumption caused by simultaneous lifting of a first stage and a second stage is avoided; a first limiting structure is arranged at the upper end of the first-stage moving gantry; when the second grade removes the portal and rises to the first extreme position for the one-level removes the portal, the second grade remove the portal with first limit structure butt is realized the second grade remove the portal with the linkage of one-level remove the portal synchronous rising under the drive of hold-in range realizes the second grade and promotes, adopts the structural style of hold-in range, has solved and has removed among the prior art and has promoted some overweight on the mobile handling equipment, and the precision is low, and the space occupies big technical problem.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a gantry type two-stage lifting mechanism according to an embodiment of the present invention;
fig. 2 is a partial schematic structural view of a fixed gantry portion provided in an embodiment of the present invention;
fig. 3 is a schematic structural view of a part of a one-stage moving gantry provided in the embodiment of the present invention;
fig. 4 is a schematic structural view of a part of a two-stage moving gantry provided in the embodiment of the present invention;
fig. 5 is a schematic view of the working principle of the gantry type two-stage lifting mechanism according to the embodiment of the present invention.
Description of reference numerals:
1-fixed portal, 2-primary moving portal, 3-secondary moving portal, 4-fixed tensioning mechanism, 5-fixed portal frame, 6-slide block, 7-fixed portal stopper, 8-driving pulley, 9-expansion sleeve, 10-driving shaft, 11-motor, 12-beam, 13-bearing with seat, 14-primary moving portal frame, 15-guide slide block for secondary portal, 16-driven pulley, 17-bearing stopper, 18-primary portal descending stopper, 19-linear guide, 20-primary portal ascending stopper, 21-reversing wheel, 22-secondary portal descending stopper, 23-secondary moving portal frame, 24-synchronous pulley press plate, 25-oil pressure buffer, 26-buffer fixed block, 27-secondary gantry descending to position block, 28-synchronous belt.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Example 1
As shown in fig. 1 to 5, the present embodiment provides a door frame type secondary lifting mechanism, which includes: the device comprises four parts, namely a fixed portal 1, a primary moving portal 2, a secondary moving portal 3 and a fixed tensioning mechanism 4.
Wherein, the fixed portal 1 takes a fixed portal frame 5 as a main frame and is provided with a cross beam 12 at the top; the primary moving gantry 2 is arranged on the fixed gantry 1 in a lifting manner, and a first limiting structure is arranged at the upper end of the primary moving gantry 2; the secondary moving gantry 3 is arranged on the primary moving gantry 2 in a lifting manner; the synchronous belts 28 are respectively wound on the fixed gantry 1 and the primary moving gantry 2, the synchronous belts 28 can drive the primary moving gantry 2 to lift, and the synchronous belts 28 are preferably flexible synchronous belts which serve as transmission parts, can eliminate vibration and reduce noise and are suitable for low-noise scenes; the secondary moving gantry 3 is fixed on the synchronous belt and is driven by the synchronous belt 28 to lift; when the secondary moving gantry 3 rises to a first limit position relative to the primary moving gantry 2, the secondary moving gantry 3 abuts against the first limit structure, so that the secondary moving gantry 3 is linked with the primary moving gantry 2 and rises synchronously under the driving of the synchronous belt 28.
In the gantry type secondary lifting mechanism provided by the embodiment, other accessories can be mounted on the secondary moving gantry, and the secondary moving gantry can be lifted independently, so that only the secondary gantry part is lifted when the equipment is lifted at a conventional height, and the invalid consumption caused by simultaneous lifting of the first stage and the second stage is avoided; moreover, a first limiting structure is arranged at the upper end of the first-stage moving door frame; when the secondary moving gantry ascends to a first limit position relative to the primary moving gantry, the secondary moving gantry is abutted against the first limit structure so as to realize linkage of the secondary moving gantry and the primary moving gantry, and synchronously ascends under the driving of the synchronous belt so as to realize secondary lifting, and the technical problems of overweight quality, low precision and large space occupation of a lifting part on the moving carrying equipment in the prior art are solved by adopting the structural mode of the synchronous belt, so that the repeated positioning precision of the equipment is high during lifting, and the high-precision positioning requirement under a compact scene can be met; and moreover, the main frame is bent and welded by adopting a thin plate, the appearance structure is optimized, lightening holes are added, the strength and the rigidity are ensured, and meanwhile, the weight is lightened to the maximum extent, so that when the whole mechanism is used for moving the carrying equipment, the total energy consumption is reduced.
Alternatively, in the above-mentioned portal secondary lifting mechanism, the upper end of the fixed portal 1 is provided with a driving pulley 8, and the lower end is provided with at least one fixed tensioning mechanism 4, preferably, as shown in fig. 1 and 4, the fixed tensioning mechanisms 4 are provided in two, and the fixed tensioning mechanism 4 can be selected as a fixed tensioning pulley; the driving belt pulley 8 is connected with a driving structure, the driving structure comprises a motor 11 and a driving shaft 10, the motor 11 and the driving shaft are respectively arranged on the cross beam 12, and the motor 11 is preferably a speed reduction motor; the two driving belt pulleys 8 are respectively positioned on the fixed portal frames 5 at the two ends, are arranged at the upper ends of the fixed portal frames 5, and are connected with the driving shaft 10, optionally, the two ends of the driving shaft 10 are fixed through a bearing 13 with a seat, and the driving belt pulleys 8 and the driving shaft 10 are connected and fixed through an expansion sleeve 9; the upper end of the primary moving portal 2 is provided with a driven belt wheel 16, and the lower end is provided with a reversing wheel 21; the synchronous belt 28 is sequentially wound on the driving belt wheel 8, the fixed tensioning mechanism 4, the driven belt wheel 16 and the reversing wheel 21 to form a closed annular belt, and the weight of the whole lifting mechanism can be reduced and the running precision of the lifting mechanism can be improved by arranging the annular synchronous belt and a corresponding driving structure.
Optionally, in the above-mentioned gantry type secondary lifting mechanism, the primary moving gantry 2 includes two vertical primary moving gantry frames 14, wherein the primary moving gantry frames 14 are slidably disposed in the fixed gantry frame 5, and are slidably engaged with each other through a first guide rail slider structure, wherein the first guide rail slider structure may include at least one slider 6 on the inner side of the fixed gantry frame 5, and a linear guide rail 19 on the outer side of the primary moving gantry frame 14; or the positions of the guide rail and the slide block are switched, and the arrangement mode of the first guide rail slide block structure realizes accurate displacement.
Optionally, the gantry type secondary lifting mechanism includes a second limiting structure, where the second limiting structure is a fixed gantry limiting block 7, and is disposed on the inner side of the upper end of the fixed gantry frame 5; the upper end and the lower end of the outer side of the first-stage moving gantry frame 14 are respectively provided with a first-stage gantry descending position block 18 and a first-stage gantry ascending position block 20 which can be abutted against and limited by the fixed gantry limiting block 7; the secondary moving gantry 3 is connected with the primary moving gantry frames 14 on two sides through a second guide rail sliding block structure; and two sides of the secondary moving gantry 3 are connected with the driving belt wheel 8 through a synchronous belt wheel pressing plate 24. The key mechanism of the portal type two-stage lifting mechanism provided by the embodiment is concentrated in the portals on the two sides, and the middle of the portal type two-stage lifting mechanism is free of mechanism separation, so that the goods are transferred conveniently.
Optionally, in the above-mentioned portal secondary lifting mechanism, the first limiting structure includes a bearing limiting block 17 located inside the upper end of the primary moving portal frame 14; two ends of the secondary moving gantry 3 are provided with oil pressure buffers 25, and the oil pressure buffers 25 can be fixed at two ends of the secondary moving gantry through buffer fixing blocks; when the secondary moving gantry 3 rises to the first limit position relative to the primary moving gantry 2, the oil buffers 25 at the two ends of the secondary moving gantry 3 are abutted to the bearing limit blocks 17, so that impact force generated when the secondary moving gantry is limited can be offset, and the stability of the lifting mechanism is improved.
Optionally, in the above-mentioned portal type secondary lifting mechanism, a secondary portal descending limiting block 22 is arranged on the inner side of the lower end of the primary moving portal frame 14; two ends of the second-stage moving gantry 3 are provided with second-stage gantry descending position blocks 27; when the secondary moving gantry 3 descends to a second limit position relative to the primary moving gantry 2, the secondary gantry descends to a position block 27 and abuts against the secondary gantry descending limit block 22 so as to limit the upper limit position and the lower limit position of the secondary moving gantry 3.
The working process of the door frame type secondary lifting mechanism provided by the embodiment is as follows:
other accessories can be installed on the secondary moving portal frame 3, the synchronous belt is connected with the secondary moving portal frame 3 through the synchronous belt pressing plate 24, when the secondary moving portal frame 3 needs to be lifted to the top, the synchronous belt is driven by the driving belt wheel 8, the synchronous belt can be a belt, the secondary moving portal frame 3 is pulled to the bearing limiting block 17 through the belt, and at the moment, the oil pressure buffer 25 is in contact with the bearing limiting block 17.
The second-stage moving gantry 3 continues to move upwards to drive the first-stage moving gantry 2 to lift simultaneously, and when the first-stage gantry rises to the position block 20 to be in contact with the fixed gantry limiting block 7, the mechanism reaches the highest point.
When it is desired to lower to the bottom, the secondary moving gantry 3 and the primary moving gantry 2 are lowered simultaneously. And (3) stopping moving the first-stage moving gantry 2 until the first-stage gantry descends to the position block 18 to contact with the fixed gantry limiting block 7, and continuing to move the second-stage moving gantry 3 downwards until the second-stage gantry descends to the position block 27 to contact with the second-stage gantry descending limiting block 22, so that the process of descending to the bottom is completed.
Example 2
The embodiment provides a mobile carrying device, which comprises a lifting mechanism, wherein the lifting mechanism is the gantry type secondary lifting mechanism in embodiment 1. The mobile carrying equipment provided by the embodiment has light overall weight and low energy consumption, and the adopted portal type secondary lifting mechanism can only lift the secondary portal part when the equipment is lifted at the conventional height, so that the invalid consumption caused by simultaneous lifting of the first and second levels is avoided; the guide rail sliding block is adopted for guiding, and synchronous belt transmission is adopted, so that the repeated positioning precision of the equipment is high during lifting, and the high-precision positioning requirement under a compact scene can be met; the gantry type secondary lifting mechanism is adopted, key mechanisms are all concentrated in the gantries on the two sides, no mechanism is arranged in the middle for blocking, the goods are favorably transferred, and the space occupancy rate is low; the flexible synchronous belt is used as a transmission part, can eliminate vibration and reduce noise, and is suitable for low-noise scenes.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (11)
1. A door frame type secondary lifting mechanism is characterized by comprising:
the device comprises a fixed portal and a primary moving portal, wherein the primary moving portal is arranged on the fixed portal in a lifting manner, and the upper end of the primary moving portal is provided with a first limiting structure;
the second-stage moving gantry is arranged on the first-stage moving gantry in a lifting manner;
the synchronous belt is respectively wound on the fixed portal and the primary moving portal and can drive the primary moving portal to ascend and descend;
the secondary moving gantry is fixed on the synchronous belt and is driven by the synchronous belt to lift;
wherein,
when the secondary moving gantry ascends to a first limit position relative to the primary moving gantry, the secondary moving gantry is abutted to the first limit structure, so that the secondary moving gantry is linked with the primary moving gantry, and the synchronous belt is driven to ascend synchronously.
2. The door frame type secondary lifting mechanism according to claim 1, wherein the fixed door frame is provided with a driving pulley at the upper end and at least one fixed tensioning mechanism at the lower end; wherein the driving belt wheel is connected with a driving structure;
the upper end of the primary moving portal is provided with a driven belt wheel, and the lower end of the primary moving portal is provided with a reversing wheel;
the synchronous belt is sequentially wound on the driving belt wheel, the fixed tensioning mechanism, the driven belt wheel and the reversing wheel to form a closed annular belt.
3. The door frame type secondary lifting mechanism according to claim 2,
the fixed portal frame comprises two vertical fixed portal frame frames and a cross beam;
the driving structure comprises a motor and a driving shaft which are respectively arranged on the cross beam;
the driving belt wheel is provided with at least one belt wheel, is arranged at the upper end of the fixed portal frame and is connected with the driving shaft.
4. A gantry secondary lift mechanism according to claim 3, wherein said primary moving gantry comprises two vertical primary moving gantry frames, wherein said primary moving gantry frames are slidably disposed within said fixed gantry frames with a sliding fit therebetween via a first rail-slider structure.
5. A gantry secondary lift mechanism according to claim 4, wherein said first rail-slide arrangement comprises at least one slide inside said fixed gantry frame and a linear rail outside said primary moving gantry frame.
6. The door frame type secondary lifting mechanism according to claim 4, further comprising a second limiting structure, wherein the second limiting structure is a fixed door frame limiting block, and the second limiting structure is arranged on the inner side of the upper end of the fixed door frame.
7. The door frame type two-stage lifting mechanism according to claim 6, wherein the upper and lower ends of the outer side of the first-stage moving door frame are respectively provided with a first-stage door frame descending position block and a first-stage door frame ascending position block which can be abutted against the fixed door frame limiting block for limiting.
8. The door frame type secondary lifting mechanism according to claim 4, wherein the secondary moving door frame is connected with the primary moving door frame at two sides through a second guide rail sliding block structure; and two sides of the secondary moving gantry are connected with a driving belt wheel through synchronous belt wheel pressing plates.
9. The door frame type secondary lifting mechanism according to any one of claims 4 to 8, wherein the first limiting structure comprises a bearing limiting block located inside the upper end of the primary moving door frame; two ends of the secondary moving portal are provided with oil pressure buffers; when the secondary moving gantry ascends to a first limit position relative to the primary moving gantry, the oil buffers at two ends of the secondary moving gantry are abutted to the bearing limit block.
10. The door frame type secondary lifting mechanism according to claim 9, wherein a secondary door frame descending limiting block is arranged on the inner side of the lower end of the primary moving door frame; two ends of the second-stage moving gantry are provided with second-stage gantry descending position blocks; when the second-stage moving gantry descends to a second limit position relative to the first-stage moving gantry, the second-stage gantry descends to a position block and abuts against a descending limit block of the second-stage gantry.
11. A mobile handling apparatus comprising a lifting mechanism, wherein the lifting mechanism is a gantry secondary lifting mechanism as claimed in any one of claims 1 to 10.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022155318.0U CN213416178U (en) | 2020-09-27 | 2020-09-27 | Portal type two-stage lifting mechanism and mobile carrying equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022155318.0U CN213416178U (en) | 2020-09-27 | 2020-09-27 | Portal type two-stage lifting mechanism and mobile carrying equipment |
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| CN213416178U true CN213416178U (en) | 2021-06-11 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162757A (en) * | 2021-11-30 | 2022-03-11 | 福建省特种设备检验研究院泉州分院 | Agv chassis |
| CN114275713A (en) * | 2020-09-27 | 2022-04-05 | 因格(苏州)智能技术有限公司 | Portal type two-stage lifting mechanism and mobile carrying equipment |
-
2020
- 2020-09-27 CN CN202022155318.0U patent/CN213416178U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114275713A (en) * | 2020-09-27 | 2022-04-05 | 因格(苏州)智能技术有限公司 | Portal type two-stage lifting mechanism and mobile carrying equipment |
| CN114162757A (en) * | 2021-11-30 | 2022-03-11 | 福建省特种设备检验研究院泉州分院 | Agv chassis |
| CN114162757B (en) * | 2021-11-30 | 2023-06-09 | 福建省特种设备检验研究院泉州分院 | Agv chassis |
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