CN214242830U - Central venous catheter unloading manipulator - Google Patents
Central venous catheter unloading manipulator Download PDFInfo
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- CN214242830U CN214242830U CN202121965966.0U CN202121965966U CN214242830U CN 214242830 U CN214242830 U CN 214242830U CN 202121965966 U CN202121965966 U CN 202121965966U CN 214242830 U CN214242830 U CN 214242830U
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- central venous
- linear module
- venous catheter
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Abstract
The utility model relates to the field of mechanical arms, and particularly discloses a central venous catheter discharging mechanical arm, which comprises a mechanical claw for grabbing a central venous catheter, a material collecting frame for collecting the central venous catheter after transfer printing and a discharging driving mechanism for driving the mechanical claw to move; the blanking driving mechanism comprises a grabbing driving mechanism and a carrying driving mechanism, the grabbing driving mechanism is used for driving the mechanical claw to complete grabbing actions, the carrying driving mechanism is used for driving the mechanical claw to complete carrying actions, and the grabbing driving mechanism is arranged on the carrying driving mechanism. This central ductus venosus unloading manipulator can snatch central ductus venosus automatically at the unloading in-process, and not only degree of automation is high, has greatly improved production efficiency moreover.
Description
Technical Field
The utility model relates to a manipulator field, concretely relates to central venous catheter unloading manipulator.
Background
The central venous catheter is a silica gel and PVC material pipeline placed in a human body great vein, is usually placed in subclavian veins, femoral veins, internal jugular veins and the like, and is divided into various types including single-cavity, double-cavity and three-cavity central venous catheters and the like. Clinical emergency department, ICU ward, department of anesthesia, hemodialysis room, the patient of departments such as department is more commonly used, and the usage is more, for example can measure central venous pressure and assess the volume of fluid infusion, can be as the route of giving of long-term parenteral nutrition to the patient of malnutrition, large-scale operation and when the volume of bleeding is more, can maintain blood pressure through central venous catheter gives a large amount of quick venous transfusion, and uremia patient often carries out hemodialysis as vascular access, and central venous catheter is an important adjunctie therapy apparatus in medical science clinical. Structurally, the central venous catheter comprises a catheter for puncturing a human body and an extension tube for outputting blood, the catheter is connected with the extension tube through an intermediate joint, two sides of the intermediate joint are provided with fixing lugs, and the outer end of the extension tube is provided with an outer joint. In the production process of the central venous catheter, information such as scales, character codes, brand logos and the like needs to be pad-printed on the surface of the central venous catheter, specifically, scale information needs to be pad-printed on the catheter, brand logo information needs to be pad-printed on the intermediate joint, and character code information needs to be pad-printed on the extension tube. In the pad printing process, the central venous catheter needs to be fixed, so that the effect of pad printing is ensured.
The traditional method is that the central venous catheter is manually placed on a pad printing platform, then the central venous catheter is manually pressed on the pad printing platform, then a pad printing head for pad printing scales is replaced, and the scales are pad printed at the position of the catheter to finish the pad printing of the scales; then, taking down the transfer printing head with the transfer printing scale, replacing the transfer printing head with a transfer printing head for transfer printing of the logo, and performing transfer printing of the logo at the position of the middle joint to finish the transfer printing of the logo; then, taking down the transfer printing head for transfer printing the logo, replacing the transfer printing head with a transfer printing head for transfer printing characters, and performing transfer printing on the characters at the position of the epitaxial tube to finish the transfer printing of the characters; finally, the central venous catheter is manually removed from the pad printing platform. Such a conventional pad printing process has the following problems:
1. the blanking process needs manual operation, which not only consumes labor and increases production cost, but also has low working efficiency.
2. The manual blanking consumes a large amount of labor force, has low automation degree and is not beneficial to large-scale production.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art not enough, provide a central ductus venosus unloading manipulator, this unloading manipulator can snatch central ductus venosus automatically at the unloading in-process, and not only degree of automation is high, has greatly improved production efficiency moreover.
The utility model provides a technical scheme of above-mentioned technical problem is:
a central venous catheter discharging manipulator comprises a mechanical claw for grabbing a central venous catheter, a material receiving frame for collecting a pad-printed central venous catheter and a discharging driving mechanism for driving the mechanical claw to move; the blanking driving mechanism comprises a grabbing driving mechanism and a carrying driving mechanism, wherein the grabbing driving mechanism is used for driving the mechanical claw to complete grabbing action, the carrying driving mechanism is used for driving the mechanical claw to complete carrying action, and the grabbing driving mechanism is arranged on the carrying driving mechanism;
the grabbing driving mechanism comprises a finger cylinder, the mechanical claw is arranged on a clamping jaw of the finger cylinder, the finger cylinder is arranged on a connecting plate, and the connecting plate is arranged on the carrying driving mechanism;
the conveying driving mechanism comprises an X-axis driving mechanism for driving the mechanical claw to move in the X-axis direction, a Y-axis driving mechanism for driving the mechanical claw to move in the Y-axis direction, and a Z-axis driving mechanism for driving the mechanical claw to move in the Z-axis direction;
the X-axis driving mechanism comprises an X-axis linear module, a frame plate used for mounting the X-axis linear module and an X-axis driving motor, the Y-axis driving mechanism comprises a Y-axis linear module and a Y-axis driving motor, and the Z-axis driving mechanism comprises a Z-axis linear module and a Z-axis driving motor; the connecting plate is mounted on a sliding block of the Z-axis linear module, a main body of the Z-axis linear module is mounted on a sliding block of the Y-axis linear module, a main body of the Y-axis linear module is mounted on a sliding block of the X-axis linear module, and the X-axis linear module is mounted on a frame plate; the X-axis driving motor is connected with the X-axis linear module through a transmission mechanism, the Y-axis driving motor is connected with the Y-axis linear module through a transmission mechanism, and the Z-axis driving motor is connected with the Z-axis linear module through a transmission mechanism;
the connecting plate comprises an upper connecting plate part and a lower connecting plate part, and the width of the lower connecting plate part is larger than that of the upper connecting plate part, so that a T-shaped structure is formed; the upper portion of the connecting plate is connected to the sliding block of the Z-axis linear module, and the finger cylinder is installed on the lower portion of the connecting plate.
The working principle of the central venous catheter feeding manipulator is as follows:
after the transfer printing is finished, the central venous catheter comes to the position of a blanking station, and the blanking process is to take the central venous catheter off from a chassis provided with a central vein and carry the central venous catheter into a blanking frame; the specific process is as follows: firstly, starting a carrying driving mechanism to drive a mechanical claw to move, so that the mechanical claw reaches a position above an underframe; next, the conveying driving mechanism continues to act, so that the mechanical claw moves downwards to reach the position near the central venous catheter; then, the grabbing driving mechanism acts to open the mechanical claw, and at the moment, the carrying driving mechanism continues to act downwards to enable the central venous catheter to be positioned in the mechanical claw; then, the grabbing driving mechanism acts to close the mechanical claws and clamp the central venous catheter; and next, the conveying driving mechanism acts to convey the mechanical claw and the central venous catheter on the mechanical claw into the material collecting frame, the grabbing driving mechanism acts to open the mechanical claw, so that the central venous catheter is thrown into the material collecting frame, and the material discharging function of the central venous catheter is completed. In the blanking process, the blanking driving mechanism automatically finishes the actions of grabbing, carrying and putting of the central venous catheter, the degree of automation is high, and the blanking device greatly improves the working efficiency compared with the traditional manual blanking method.
According to a preferred scheme of the utility model, the mechanical claw comprises two unilateral claws, each unilateral claw comprises an installation part and a clamping part, and the clamping part is provided with a semicircular clamping position matched with the central venous catheter; the unilateral claw is installed through the installation department on the clamping jaw of finger cylinder.
Preferably, the finger cylinder has a plurality of, and a plurality of the finger cylinders are installed at equal intervals on the lower part of the connecting plate.
The utility model discloses a preferred scheme, still be equipped with on the frame plate and be used for connecting Y axle actuating mechanism's sliding connection mechanism, sliding connection mechanism include the connecting block, along the slide rail that X axle direction set up and with the sliding block that the slide rail matches, the top of connecting block with the bottom of sliding block is connected, the bottom of connecting block with the main part of Y axle linear module is connected.
The utility model discloses an optimal scheme, receive the material frame including the non-qualification article that is used for collecting the qualified central ductus venosus of bat printing receive the material frame and is used for collecting the unqualified central ductus venosus of bat printing receive the material frame.
The utility model discloses a preferred scheme still includes the detection module who is used for detecting the bat printing effect, detection module includes CCD and detects the camera and is used for the installation CCD detects the camera support of camera.
In a preferred embodiment of the present invention, the camera support includes a vertical plate and a connecting bottom plate, one end of the connecting bottom plate is connected to the vertical plate, and the other end is mounted on the connecting plate; the CCD detection camera is arranged on the vertical plate.
Compared with the prior art, the utility model following beneficial effect has:
1. the utility model discloses a central ductus venosus unloading manipulator accomplishes grabbing of central ductus venosus through the gripper and expects, the blowing operation, compares in traditional manual operation, can greatly improve production efficiency, saves labour cost.
2. The utility model discloses a central ductus venosus unloading manipulator, the action of snatching, carrying and putting in of central ductus venosus is accomplished automatically to unloading actuating mechanism, and degree of automation is high, the large-scale production of being convenient for.
Drawings
Fig. 1 is a front view of the central venous catheter feeding manipulator of the present invention.
Fig. 2 is a perspective view of the central venous catheter blanking manipulator of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.
Referring to fig. 1-2, a central venous catheter feeding manipulator comprises a mechanical claw 1 for grabbing a central venous catheter, a material receiving frame for collecting a pad-printed central venous catheter and a feeding driving mechanism for driving the mechanical claw 1 to move; the blanking driving mechanism comprises a grabbing driving mechanism and a carrying driving mechanism, wherein the grabbing driving mechanism is used for driving the mechanical claw 1 to complete grabbing actions, the carrying driving mechanism is used for driving the mechanical claw 1 to complete carrying actions, and the grabbing driving mechanism is arranged on the carrying driving mechanism;
the grabbing driving mechanism comprises a finger cylinder 2, the mechanical claw 1 is arranged on a clamping jaw of the finger cylinder 2, the finger cylinder 2 is arranged on a connecting plate 3, and the connecting plate 3 is arranged on the carrying driving mechanism;
the conveying driving mechanism comprises an X-axis driving mechanism for driving the mechanical claw 1 to move in the X-axis direction, a Y-axis driving mechanism for driving the mechanical claw 1 to move in the Y-axis direction, and a Z-axis driving mechanism for driving the mechanical claw 1 to move in the Z-axis direction;
the X-axis driving mechanism comprises an X-axis linear module 4, a frame plate 5 for mounting the X-axis linear module 4 and an X-axis driving motor, the Y-axis driving mechanism comprises a Y-axis linear module 6 and a Y-axis driving motor, and the Z-axis driving mechanism comprises a Z-axis linear module 7 and a Z-axis driving motor; the connecting plate 3 is mounted on a slide block of the Z-axis linear module 7, a main body of the Z-axis linear module 7 is mounted on a slide block of the Y-axis linear module 6, a main body of the Y-axis linear module 6 is mounted on a slide block of the X-axis linear module 4, and the X-axis linear module 4 is mounted on a frame plate 5; the X-axis driving motor is connected with the X-axis linear module 4 through a transmission mechanism, the Y-axis driving motor is connected with the Y-axis linear module 6 through a transmission mechanism, and the Z-axis driving motor is connected with the Z-axis linear module 7 through a transmission mechanism;
the connecting plate 3 comprises an upper connecting plate part 3-1 and a lower connecting plate part 3-2, and the width of the lower connecting plate part 3-2 is larger than that of the upper connecting plate part 3-1, so that a T-shaped structure is formed; the upper portion 3-1 of the connecting plate is connected to a sliding block of the Z-axis linear module 7, and the finger cylinder 2 is mounted on the lower portion 3-2 of the connecting plate.
The grabbing driving mechanism with the structure is arranged, the finger cylinder 2 starts the action of closing the clamping jaw, and the mechanical jaw 1 arranged on the clamping jaw is closed, so that the function of clamping the central venous catheter is realized; the finger cylinder 2 starts the action of opening the clamping jaw, so that the mechanical jaw 1 arranged on the clamping jaw is opened, and the function of loosening the central venous catheter is realized; the mechanical claw 1 can be opened or closed through the opening or closing action of the finger cylinder 2, so that the functions of taking and discharging materials can be conveniently completed.
The carrying driving mechanism is arranged, and the mechanical claw 1 can switch back and forth between the blanking station and the material receiving frame under the driving action of the X-axis driving mechanism and the Y-axis driving mechanism; under the driving action of the Z-axis driving mechanism, the mechanical claw 1 can move up and down, so that the Z-axis driving mechanism drives the mechanical claw 1 to complete the movement of taking materials downwards and carrying materials upwards at a discharging station; above the material receiving frame, a Z-axis driving mechanism drives the mechanical claw 1 to complete the movement of downward material discharging and upward resetting;
the X-axis driving motor rotates to enable the sliding block of the X-axis linear module 4 to move along the X-axis direction, and the main body of the Y-axis linear module 6 arranged on the sliding block of the X-axis linear module 4 moves along the X-axis direction, so that the Y-axis driving mechanism can realize the movement in the X-axis direction; the main body of the Z-axis linear module 7 is installed on the slide block of the Y-axis linear module 6, so that the Z-axis driving mechanism realizes the movement in the X-axis direction; the mechanical claw 1 is arranged on the finger cylinder 2, and a connecting plate 3 for mounting the finger cylinder 2 is mounted on a sliding block of the Z-axis linear module 7, so that the mechanical claw 1 can move in the X-axis direction; similarly, the Y-axis driving motor rotates to move the slider of the Y-axis linear module 6 along the Y-axis direction, so as to finally realize the movement of the gripper 1 along the Y-axis direction, and the Z-axis driving motor rotates to move the slider of the Z-axis linear module 7 along the Z-axis direction, so as to finally realize the movement of the gripper 1 along the Z-axis direction;
when the Z-axis driving motor rotates, the slide block of the Z-axis linear module 7 moves up and down along the direction of the Z axis, and the connecting plate 3 moves up and down along with the slide block of the Z-axis linear module 7 because the upper part 3-1 of the connecting plate is connected to the slide block of the Z-axis linear module 7; the finger cylinders 2 are all installed on the lower portion 3-2 of the connecting plate, and the mechanical claw 1 moves up and down along with the movement of the connecting plate 3, so that the functions of material discharging and material taking are achieved.
Referring to fig. 1-2, the mechanical claw 1 comprises two single-sided claws 1-1, the single-sided claw 1-1 comprises a mounting part and a clamping part, and a semicircular clamping position matched with a central venous catheter is arranged on the clamping part; the single-side claw 1-1 is installed on the clamping jaw of the finger cylinder 2 through an installation part. The mechanical claw 1 with the structure is arranged, when the finger cylinder 2 acts to open the clamping claw, the two single-side claws 1-1 arranged on the clamping claw through the mounting parts are opened along with the clamping claw; when the finger cylinder 2 acts to close the clamping jaw, the two single-side jaws 1-1 arranged on the clamping jaw are closed along with the action and move oppositely, so that the clamping function is realized; when the central venous catheter is clamped, the central venous catheter is clasped by the semicircular clamping positions on the two unilateral claws 1-1, so that the central venous catheter is clamped, and the function of grabbing materials is realized.
Referring to fig. 1-2, the finger cylinder 2 is provided with a plurality of finger cylinders 2, and the plurality of finger cylinders 2 are arranged at equal intervals on the lower part 3-2 of the connecting plate. Through setting up a plurality of finger cylinders 2, like this, when grabbing the material, a plurality of gripper 1 of 2 drive of a plurality of finger cylinders snatch to can snatch a plurality of central venous catheters simultaneously, further improve the efficiency of unloading.
Referring to fig. 1-2, the frame plate 5 is further provided with a sliding connection mechanism for connecting the Y-axis driving mechanism, the sliding connection mechanism includes a connection block 10, a slide rail 8 arranged along the X-axis direction, and a slide block 9 matched with the slide rail 8, the top of the connection block 10 is connected with the bottom of the slide block 9, and the bottom of the connection block 10 is connected with the main body of the Y-axis linear module 6. Set up above-mentioned sliding connection mechanism, the main part of Y axis nature module 6 both had been connected with the slider of X axis nature module 4, connected on frame plate 5 through sliding connection mechanism again, and Y axis nature module 6's connection is more stable, has improved the stability and the security of system.
In this embodiment, the material receiving frame includes a qualified product receiving frame for collecting the central venous catheter qualified by pad printing and a non-qualified product receiving frame for collecting the central venous catheter unqualified by pad printing. And the material receiving frame is arranged, after the central venous catheter transfer printing is finished, the central venous catheter with qualified transfer printing is distinguished from the central venous catheter with unqualified transfer printing, and the central venous catheter with qualified transfer printing is ensured to finally flow to the market.
Referring to fig. 1-2, the transfer printing device further comprises a detection module for detecting the transfer printing effect, wherein the detection module comprises a CCD detection camera 11 and a camera support for mounting the CCD detection camera 11. The detection module is arranged, the CCD detection camera 11 obtains visual information of the central venous catheter on the blanking station, pad printing information on the central venous catheter is obtained, whether the pad printing effect is qualified or not is judged, the detection result is fed back to the blanking driving mechanism, the blanking driving mechanism carries the central venous catheter which is qualified in pad printing to the qualified product receiving frame according to the detection result, and carries the central venous catheter which is unqualified in pad printing to the unqualified product receiving frame.
Referring to fig. 1-2, the camera support includes a vertical plate 12 and a connecting bottom plate 13, one end of the connecting bottom plate 13 is connected to the vertical plate 12, and the other end is mounted on the connecting plate 3; the CCD detection camera 11 is installed on the vertical plate 12. Through setting up above-mentioned camera support, connecting plate 13 is installed on connecting plate 3, camera support installation promptly snatchs actuating mechanism on, CCD detects camera 11 and follows gripper 1 motion, when snatching actuating mechanism and grabbing the material, CCD detects camera 11 and detects the bat printing effect of the central ductus venosus after the bat printing simultaneously, judge whether qualified the bat printing of central ductus venosus is qualified, and feed back the testing result to transport actuating mechanism, transport actuating mechanism is according to the testing result, carry qualified product material frame with the qualified central ductus venosus of bat printing, carry unqualified central ductus venosus of bat printing to unqualified product material frame.
Referring to fig. 1-2, the working principle of the central venous catheter feeding manipulator is as follows:
after the transfer printing is finished, the central venous catheter comes to the position of a blanking station, and the blanking process is to take the central venous catheter off from a chassis provided with a central vein and carry the central venous catheter into a blanking frame; the specific process is as follows: firstly, starting a carrying driving mechanism to drive a mechanical claw 1 to move, so that the mechanical claw 1 reaches a position above an underframe; next, the carrying driving mechanism continues to operate, so that the mechanical claw 1 moves downwards to reach the position near the central venous catheter; then, the grabbing driving mechanism acts to open the mechanical claw 1, and at the moment, the carrying driving mechanism continues to act downwards to enable the central venous catheter to be positioned in the mechanical claw 1; then, the grabbing driving mechanism acts to close the mechanical claw 1 and clamp the central venous catheter; next, the conveying driving mechanism acts to convey the mechanical claw 1 and the central venous catheter on the mechanical claw 1 into the collecting frame, the grabbing driving mechanism acts to open the mechanical claw 1, so that the central venous catheter is placed into the collecting frame, and the discharging function of the central venous catheter is completed. In the blanking process, the blanking driving mechanism automatically finishes the actions of grabbing, carrying and putting of the central venous catheter, the degree of automation is high, and the blanking device greatly improves the working efficiency compared with the traditional manual blanking method.
The above is the preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (7)
1. The central venous catheter discharging mechanical arm is characterized by comprising a mechanical claw for grabbing a central venous catheter, a material receiving frame for collecting the central venous catheter subjected to pad printing and a discharging driving mechanism for driving the mechanical claw to move; the blanking driving mechanism comprises a grabbing driving mechanism and a carrying driving mechanism, wherein the grabbing driving mechanism is used for driving the mechanical claw to complete grabbing action, the carrying driving mechanism is used for driving the mechanical claw to complete carrying action, and the grabbing driving mechanism is arranged on the carrying driving mechanism;
the grabbing driving mechanism comprises a finger cylinder, the mechanical claw is arranged on a clamping jaw of the finger cylinder, the finger cylinder is arranged on a connecting plate, and the connecting plate is arranged on the carrying driving mechanism;
the conveying driving mechanism comprises an X-axis driving mechanism for driving the mechanical claw to move in the X-axis direction, a Y-axis driving mechanism for driving the mechanical claw to move in the Y-axis direction, and a Z-axis driving mechanism for driving the mechanical claw to move in the Z-axis direction;
the X-axis driving mechanism comprises an X-axis linear module, a frame plate used for mounting the X-axis linear module and an X-axis driving motor, the Y-axis driving mechanism comprises a Y-axis linear module and a Y-axis driving motor, and the Z-axis driving mechanism comprises a Z-axis linear module and a Z-axis driving motor; the connecting plate is mounted on a sliding block of the Z-axis linear module, a main body of the Z-axis linear module is mounted on a sliding block of the Y-axis linear module, a main body of the Y-axis linear module is mounted on a sliding block of the X-axis linear module, and the X-axis linear module is mounted on a frame plate; the X-axis driving motor is connected with the X-axis linear module through a transmission mechanism, the Y-axis driving motor is connected with the Y-axis linear module through a transmission mechanism, and the Z-axis driving motor is connected with the Z-axis linear module through a transmission mechanism;
the connecting plate comprises an upper connecting plate part and a lower connecting plate part, and the width of the lower connecting plate part is larger than that of the upper connecting plate part, so that a T-shaped structure is formed; the upper portion of the connecting plate is connected to the sliding block of the Z-axis linear module, and the finger cylinder is installed on the lower portion of the connecting plate.
2. The central venous catheter blanking manipulator of claim 1, wherein the mechanical claw comprises two single-sided claws, each single-sided claw comprises an installation part and a clamping part, and a semicircular clamping position matched with the central venous catheter is arranged on each clamping part; the unilateral claw is installed through the installation department on the clamping jaw of finger cylinder.
3. The central venous catheter blanking manipulator as claimed in claim 1, wherein the number of the finger cylinders is multiple, and the finger cylinders are installed at equal intervals on the lower portion of the connecting plate.
4. The central venous catheter blanking manipulator of any one of claims 1-3, wherein the frame plate is further provided with a sliding connection mechanism for connecting the Y-axis driving mechanism, the sliding connection mechanism comprises a connecting block, a sliding rail arranged along the X-axis direction and a sliding block matched with the sliding rail, the top of the connecting block is connected with the bottom of the sliding block, and the bottom of the connecting block is connected with the main body of the Y-axis linear module.
5. The central venous catheter blanking manipulator of claim 1, wherein the material collecting frames comprise a qualified product collecting frame for collecting central venous catheters qualified by pad printing and a non-qualified product collecting frame for collecting central venous catheters unqualified by pad printing.
6. The central venous catheter blanking manipulator of claim 1, further comprising a detection module for detecting pad printing effects, wherein the detection module comprises a CCD detection camera and a camera bracket for mounting the CCD detection camera.
7. The central venous catheter blanking manipulator of claim 6, wherein the camera support comprises a vertical plate and a connecting bottom plate, one end of the connecting bottom plate is connected with the vertical plate, and the other end of the connecting bottom plate is mounted on the connecting plate; the CCD detection camera is arranged on the vertical plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121965966.0U CN214242830U (en) | 2021-08-20 | 2021-08-20 | Central venous catheter unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121965966.0U CN214242830U (en) | 2021-08-20 | 2021-08-20 | Central venous catheter unloading manipulator |
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| Publication Number | Publication Date |
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| CN214242830U true CN214242830U (en) | 2021-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121965966.0U Active CN214242830U (en) | 2021-08-20 | 2021-08-20 | Central venous catheter unloading manipulator |
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| CN (1) | CN214242830U (en) |
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2021
- 2021-08-20 CN CN202121965966.0U patent/CN214242830U/en active Active
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