CN214870559U - Cable climbing robot - Google Patents
Cable climbing robot Download PDFInfo
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- CN214870559U CN214870559U CN202120079454.8U CN202120079454U CN214870559U CN 214870559 U CN214870559 U CN 214870559U CN 202120079454 U CN202120079454 U CN 202120079454U CN 214870559 U CN214870559 U CN 214870559U
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Abstract
The utility model provides a climbing cable robot relates to cable wire detection device technical field. The device comprises a telescopic device and two clamping devices, wherein the two clamping devices are both arranged on the telescopic device; the clamping device comprises a first clamping mechanism, a second clamping mechanism, a first magnetic suction mechanism and a second magnetic suction mechanism; the first clamping mechanism is connected with the second clamping mechanism and forms an accommodating hole for accommodating the steel cable; the first magnetic attraction mechanism is arranged on the first clamping mechanism, and the second magnetic attraction mechanism is arranged on the second clamping mechanism. The utility model discloses utilize two magnetism to inhale magnetism of mechanism or remove magnetism and inhale and drive two fixture actions, and then realize the centre gripping of cable wire or remove the centre gripping, when the walking, one of them clamping device keeps the centre gripping, and another clamping device removes the centre gripping, realizes being close to or keeping away from of two clamping device through the telescoping device to realize climbing the walking of cable robot on the cable wire, simple structure, whole weight is low, and can not harm the cable wire.
Description
Technical Field
The utility model belongs to the technical field of cable wire detection device technique and specifically relates to a climbing cable robot is related to.
Background
In the detection of the steel cable, a climbing device is required to be installed on the steel cable, and the detection image or data of the whole steel cable is acquired by walking the climbing device on the steel cable and combining a detection instrument on the climbing device.
The existing cable climbing equipment generally comprises a roller walking part and a clamping part, wherein the roller walking part needs the clamping part to provide certain clamping force no matter walking or fixing, so that the structure of the clamping part is complex, the weight and the size are large, and the surface layer of a steel cable is easily damaged by the roller in the walking process.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a cable climbing robot to it is complicated to solve current cable climbing equipment structure, and weight and volume are great, damage the problem of cable wire easily.
In order to solve the technical problem, the utility model provides an at first provide a climbing cable robot, concrete technical scheme is as follows:
a cable climbing robot comprises a telescopic device and two clamping devices, wherein the two clamping devices are both arranged on the telescopic device, and the telescopic device is used for driving the two clamping devices to relatively approach or move away; the clamping device comprises a first clamping mechanism, a second clamping mechanism, a first magnetic suction mechanism and a second magnetic suction mechanism; the first clamping mechanism is connected with the second clamping mechanism and forms an accommodating hole for accommodating a steel cable; the first magnetic attraction mechanism is installed on the first clamping mechanism, the second magnetic attraction mechanism is installed on the second clamping mechanism, and after the first magnetic attraction mechanism and the second magnetic attraction mechanism are electrified, the first clamping mechanism and the second clamping mechanism are attracted to drive the first clamping mechanism and the second clamping mechanism to be close to each other so as to clamp the steel cable.
Further, the first clamping mechanism comprises a first clamping piece, and the second clamping mechanism comprises a second clamping piece; the first clamping piece comprises a first clamping part and first connecting parts positioned at two ends of the first clamping part, the second clamping piece comprises a second clamping part and second connecting parts positioned at two ends of the second clamping part, the two first connecting parts and the two second connecting parts are movably connected in a one-to-one correspondence mode through two connecting pieces, and the first clamping part and the second clamping part form the accommodating hole; the first magnetic attraction mechanism is arranged on the first connecting portion, and the second magnetic attraction mechanism is arranged on the second connecting portion.
Furthermore, the connecting piece comprises a first limiting part, a rod body and a second limiting part which are connected in sequence; the rod body is inserted in the first connecting portion and the second connecting portion, the first limiting portion is in limiting fit with the first connecting portion, and the second limiting portion is in limiting fit with the second connecting portion.
Furthermore, a return spring is further arranged between the first connecting portion and the second connecting portion, the first magnetic attraction mechanism and the second magnetic attraction mechanism release magnetic attraction, and the return spring drives the first connecting portion and the second connecting portion to be away from each other.
Furthermore, the first clamping mechanism further comprises an adjusting knob, and the adjusting knob comprises a screwing part, a screw rod part and a pressing part which are sequentially connected; the screwing part is positioned outside the accommodating hole; the screw rod part is inserted on the first clamping part and is in threaded connection with the first clamping part; the pressing part is located in the accommodating hole and used for pressing the steel cable in the accommodating hole.
Furthermore, the first magnetic attraction mechanism comprises two first magnetic patches and two first electromagnets, the two first magnetic patches are installed on the two first connecting portions in a one-to-one correspondence manner, and the two first electromagnets are installed on the first magnetic patches in a one-to-one correspondence manner.
Furthermore, the second magnetic attraction mechanism comprises a second electromagnet, two second magnetic patches and a connecting rod; the second electromagnet is positioned in the accommodating hole and comprises an arc sheet and straight sheets connected to two opposite ends of the arc sheet, the two second magnetic patches are correspondingly arranged on the two second connecting parts one by one, and the two straight sheets are correspondingly arranged on the second magnetic patches one by one; one end of the connecting rod penetrates through the first clamping part and is connected with the arc sheet, and the other end of the connecting rod is connected with the telescopic device.
Furthermore, the telescopic device comprises two linear reciprocating mechanisms, each linear reciprocating mechanism comprises a moving part and a fixed part, and the two moving parts of the two linear reciprocating mechanisms are connected with the two clamping devices in a one-to-one correspondence manner.
Furthermore, the telescopic device comprises a linear reciprocating mechanism, the linear reciprocating mechanism comprises a moving part and a fixing part, the moving part is connected with one of the two clamping devices, and the fixing part is connected with the other of the two clamping devices.
Further, still include casing and image acquisition device, telescoping device with image acquisition device all installs on the casing.
According to the utility model provides a cable climbing robot, utilize the magnetism of first magnetism to inhale mechanism and second magnetism to inhale the magnetism of mechanism or remove magnetism and inhale and drive first fixture and the action of second fixture, make first fixture and second fixture be close to each other or keep away from, and then realize the centre gripping to the cable wire or remove the centre gripping, when walking, one of them clamping device keeps the centre gripping, another clamping device removes the centre gripping, realize being close to or keeping away from of two clamping device through the telescoping device, thereby realize the walking of cable climbing robot on the cable wire, and is simple in structure, whole weight has been reduced, and can avoid walking in-process damage cable wire, the cable wire quality has been ensured.
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 diagram of a cable climbing robot according to an embodiment of the present invention;
fig. 2 is a schematic view illustrating the cooperation between the installation of the cable climbing robot and a steel cable according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a telescoping device and a clamping device of a cable climbing robot according to an embodiment of the present invention.
Icon:
1-a telescopic device; 11-a linear reciprocating mechanism; 111-a motion part; 112-a fixed part;
2-a clamping device; 21-a first clamping mechanism; 211-a first grip tab; 2111-first clamping portion; 2112-first connection; 212-an adjustment knob; 2121-a screw-on portion; 2122-screw section; 2323-pressing part; 22-a second clamping mechanism; 221-a second clamping piece; 2211-second clamp; 2212-second connecting portion; 23-a first magnetic attraction mechanism; 24-a second magnetic attraction mechanism; 241-a connecting rod; 242-arc piece; 243-straight piece; 25-a receiving hole; 26-a connector; 261-a first limiting part; 262-a second limiting part;
3-a shell; 4-a power supply; 5-an image acquisition device; 6-steel cable.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the 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 "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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.
Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Based on the description in the background art, the existing climbing rope equipment adopts a roller walking mode, no matter walking or fixing, clamping force needs to be applied to the roller, so that the number of components of a clamping part is large, the weight and the size are large, and the roller and the surface of the steel cable 6 are easy to rub, so that the surface is damaged. In view of the above, the present embodiment provides a cable climbing robot, which aims to solve the above drawbacks through improvements of cable climbing manner and structure.
Specifically, referring to fig. 1, 2 and 3, the cable climbing robot of the present embodiment includes a telescopic device 1, two clamping devices 2, a housing 3, a power source 4, an image capturing device 5 and other functional components, wherein, the telescopic device 1 of the embodiment and the image acquisition device 5 of the embodiment are both arranged on the shell 3, the telescopic device 1 is arranged on the upper part of the shell 3, an image acquiring device 5 is installed at one end of the lower side of the housing 3, and image information of the surface of the wire rope 6 is acquired by the image acquiring device 5, and further analyzed by a data processing device (not shown in the drawings) or the like to find out whether the surface of the wire rope 6 is good or not, in addition, the analysis process can also be combined with detection technologies such as ultrasonic waves, X-rays and the like to judge the internal condition of the steel cable 6, therefore, the rope climbing robot of the present embodiment may further include a detection device (not shown in the figure); the power source 4 of the present embodiment supplies power to the power consuming components such as the holding device 2 and the image capturing device 5, and the power source 4 may be a battery or the like.
Two clamping device 2 of this embodiment are all installed on telescoping device 1, telescoping device 1 is used for driving two clamping device 2 and is close to relatively or keeps away from, and two clamping device 2 of this embodiment can switch under contact centre gripping and clamping status, at the walking in-process, two clamping device 2 states of this embodiment are opposite, need a clamping device 2 to be in clamping status promptly, another clamping device 2 is in contact clamping status, so that telescoping device 1 drives two clamping device 2 and is close to each other or keep away from, in order to realize the walking of climbing cable robot on cable 6.
Different from the existing clamping structure and roller traveling structure, the clamping device 2 of the present embodiment includes a first clamping mechanism 21, a second clamping mechanism 22, a first magnetic attraction mechanism 23 and a second magnetic attraction mechanism 24; wherein, the first clamping mechanism 21 and the second clamping mechanism 22 of the embodiment are connected and form a containing hole 25 for containing the steel cable 6; the first magnetic attraction mechanism 23 of this embodiment is installed on the first clamping mechanism 21, the second magnetic attraction mechanism 24 is installed on the second clamping mechanism 22, and after the power is turned on, the magnetic attraction of the first magnetic attraction mechanism 23 and the second magnetic attraction mechanism 24 drives the first clamping mechanism 21 and the second clamping mechanism 22 to approach each other so as to clamp the steel cable 6.
According to the structure, the first clamping mechanism 21 and the second clamping mechanism 22 are driven to move by utilizing the magnetic attraction or the release of the magnetic attraction of the first magnetic attraction mechanism 23 and the second magnetic attraction mechanism 24, so that the first clamping mechanism 21 and the second clamping mechanism 22 are close to or far away from each other, and then the steel cable 6 is clamped or released, when the robot travels, one clamping device 2 keeps clamping, the other clamping device 2 releases clamping, the telescopic device 1 is used for realizing the close or the remote of the two clamping devices 2, thereby the traveling of the cable climbing robot on the steel cable 6 is realized, the structure is simple, the whole weight is reduced, the steel cable 6 can be prevented from being damaged in the traveling process, and the quality of the steel cable 6 is ensured.
Referring to fig. 3 again, the first clamping mechanism 21 of the present embodiment includes a first clamping piece 211, and the second clamping mechanism 22 includes a second clamping piece 221; in a specific operation, the first clamping piece 211 is located on the upper side of the steel cable 6, the second clamping piece 221 is located on the lower side of the steel cable 6, the two clamping pieces are approximately symmetrical with respect to the steel cable 6, and the two clamping pieces have the same or similar structures.
The first clamping piece 211 of the present embodiment includes a first clamping portion 2111 and first connecting portions 2112 at two ends of the first clamping portion 2111, the second clamping piece 221 of the present embodiment includes a second clamping portion 2211 and second connecting portions 2212 at two ends of the second clamping portion 2211, the two first connecting portions 2112 and the two second connecting portions 2212 are movably connected in one-to-one correspondence by two connecting pieces 26, and the first clamping portion 2111 and the second clamping portion 2211 form an accommodating hole 25; the first magnetic attraction mechanism 23 is mounted on the first connection portion 2112, and the second magnetic attraction mechanism 24 is mounted on the second connection portion 2212.
Specifically, the connecting member 26 of this embodiment is a rod-shaped structure, the connecting member 26 includes a first limiting portion 261, a rod (not shown in the figure) and a second limiting portion 262, which are connected in sequence, the radial dimension of the first limiting portion 261 and the second limiting portion 262 is greater than the radial dimension of the rod, the first connecting portion 2112 and the second connecting portion 2212 of this embodiment are both provided with a jack (not shown in the figure), the rod is inserted into the first connecting portion 2112 and the second connecting portion 2212 through the jack, and the rod and the jack can be in clearance fit, so that the first connecting portion 2112 and the second connecting portion 2212 move along the rod, the first limiting portion 261 of this embodiment is located above the first connecting portion 2112 and in limited fit with the first connecting portion 2112, and the second limiting portion 262 of this embodiment is located below the second connecting portion 2212 of this embodiment and in limited fit with the second connecting portion 2212. When the first and second magnetic attraction mechanisms 23 and 24 of the present embodiment attract each other, the first and second clamping pieces 211 and 221 approach each other, so that the first and second connection portions 2112 and 2212 approach each other along the connection bar 241.
In order to attract the magnetic force contacting the first magnetic attraction mechanism 23 and the second magnetic attraction mechanism 24, the first holding piece 211 and the second holding piece 221 of the present embodiment can be rapidly reset to avoid affecting the walking, a return spring (not shown in the figure) is further disposed between the first connection portion 2112 and the second connection portion 2212 in the present embodiment, the first magnetic attraction mechanism 23 and the second magnetic attraction mechanism 24 are in a magnetic attraction state, the first holding piece 211 and the second holding piece 221 of the present embodiment compress the return spring, and after the magnetic attraction of the first magnetic attraction mechanism 23 and the second magnetic attraction mechanism 24 is released, the return spring drives the first connection portion 2112 and the second connection portion 2212 to be away from each other by the elastic restoring force of the return spring.
In addition, in order to improve the clamping stability of the clamping device 2 of the present embodiment and the adaptability to the cables 6 with different sizes, the first clamping mechanism 21 of the present embodiment further includes an adjusting knob 212, the adjusting knob 212 of the present embodiment includes a screw part 2121, a screw part 2122 and a pressing part 2323 integrally connected and formed in sequence, wherein the screw part 2121 of the present embodiment is located outside the accommodating hole 25; the screw portion 2122 of the present embodiment is inserted into the first clamping portion 2111, and is screwed with the first clamping portion 2111; the hold-down 2323 is located in the accommodating hole 25 and serves to press the wire rope 6 in the accommodating hole 25. The position of the pressing portion 2323 is adjusted by screwing the screw portion 2121 of the present embodiment, so as to press the wire rope 6 and adjust the pressing range.
In order to ensure the stability of the first magnetic attraction mechanism 23 installed on the clamping device 2, the first magnetic attraction mechanism 23 of this embodiment includes two first magnetic patches (not shown in the figure) and two first electromagnets, the two first magnetic patches are installed on the two first connecting portions 2112 in a one-to-one correspondence, the two first electromagnets are installed on the first magnetic patches in a one-to-one correspondence, the first electromagnets are installed and fixed through the first magnetic patches, and the first electromagnets are ensured to be installed firmly and reliably.
The second magnetic attraction mechanism 24 of the present embodiment is different from the first magnetic attraction mechanism 23 in that the second magnetic attraction mechanism 24 of the present embodiment includes a second electromagnet, two second magnetic patches (not shown in the figure) and a connecting rod 241; the second electromagnet of the present embodiment is located in the accommodating hole 25, and the second electromagnet includes an arc piece 242 and straight pieces 243 connected to two opposite ends of the arc piece 242, two second magnetic patches are correspondingly installed on the two second connecting portions 2212 one by one, and the two straight pieces 243 are correspondingly installed on the second magnetic patches one by one, so that the second electromagnet is firmly and reliably installed through the second magnetic patches; one end of the connecting rod 241 of the present embodiment passes through the first clamping portion 2111 and is connected to the arc piece 242, and the other end of the connecting rod 241 is connected to the expansion device 1.
Referring to fig. 3, the telescopic device 1 of the present embodiment has various structural forms, for example, the telescopic device 1 includes two linear reciprocating mechanisms 11 shown in the figure, the linear reciprocating mechanism 11 includes a moving portion 111 and a fixing portion 112, the two moving portions 111 of the two linear reciprocating mechanisms 11 are connected to the two clamping devices 2 in a one-to-one correspondence manner, that is, one clamping device 2 is driven to move by one linear reciprocating mechanism 11, and the linear reciprocating mechanism 11 may be a screw rod, an electric rod, or other existing structures capable of achieving linear reciprocating motion.
Besides, the telescopic device 1 of the present embodiment may only include one linear reciprocating mechanism 11, the linear reciprocating mechanism 11 includes a moving portion 111 and a fixing portion 112, the moving portion 111 is connected to one of the two clamping devices 2, and the fixing portion 112 is connected to the other of the two clamping devices 2, that is, the two clamping devices 2 are driven to move relatively by one linear reciprocating mechanism 11.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. The cable climbing robot is characterized by comprising a telescopic device and two clamping devices, wherein the two clamping devices are both arranged on the telescopic device, and the telescopic device is used for driving the two clamping devices to relatively approach or move away;
the clamping device comprises a first clamping mechanism, a second clamping mechanism, a first magnetic suction mechanism and a second magnetic suction mechanism;
the first clamping mechanism is connected with the second clamping mechanism and forms an accommodating hole for accommodating a steel cable;
the first magnetic attraction mechanism is installed on the first clamping mechanism, the second magnetic attraction mechanism is installed on the second clamping mechanism, and after the first magnetic attraction mechanism and the second magnetic attraction mechanism are electrified, the first clamping mechanism and the second clamping mechanism are attracted to drive the first clamping mechanism and the second clamping mechanism to be close to each other so as to clamp the steel cable.
2. The cable climbing robot of claim 1, wherein the first gripper mechanism comprises a first gripping tab and the second gripper mechanism comprises a second gripping tab;
the first clamping piece comprises a first clamping part and first connecting parts positioned at two ends of the first clamping part, the second clamping piece comprises a second clamping part and second connecting parts positioned at two ends of the second clamping part, the two first connecting parts and the two second connecting parts are movably connected in a one-to-one correspondence mode through two connecting pieces, and the first clamping part and the second clamping part form the accommodating hole;
the first magnetic attraction mechanism is arranged on the first connecting portion, and the second magnetic attraction mechanism is arranged on the second connecting portion.
3. The cable climbing robot according to claim 2, wherein the connecting member comprises a first limiting portion, a rod body and a second limiting portion which are connected in sequence;
the rod body is inserted in the first connecting portion and the second connecting portion, the first limiting portion is in limiting fit with the first connecting portion, and the second limiting portion is in limiting fit with the second connecting portion.
4. The cable climbing robot according to claim 2, wherein a return spring is further disposed between the first connecting portion and the second connecting portion, the first magnetic attraction mechanism and the second magnetic attraction mechanism release magnetic attraction, and the return spring drives the first connecting portion and the second connecting portion to move away from each other.
5. The cable climbing robot according to claim 2, wherein the first clamping mechanism further comprises an adjusting knob, and the adjusting knob comprises a screwing part, a screw part and a pressing part which are connected in sequence;
the screwing part is positioned outside the accommodating hole;
the screw rod part is inserted on the first clamping part and is in threaded connection with the first clamping part;
the pressing part is located in the accommodating hole and used for pressing the steel cable in the accommodating hole.
6. The cable climbing robot according to claim 2, wherein the first magnetic attraction mechanism comprises two first magnetic patches and two first electromagnets, the two first magnetic patches are correspondingly mounted on the two first connecting portions one by one, and the two first electromagnets are correspondingly mounted on the first magnetic patches one by one.
7. The cable climbing robot according to claim 6, wherein the second magnetic attraction mechanism comprises a second electromagnet, two second magnetic patches and a connecting rod;
the second electromagnet is positioned in the accommodating hole and comprises an arc sheet and straight sheets connected to two opposite ends of the arc sheet, the two second magnetic patches are correspondingly arranged on the two second connecting parts one by one, and the two straight sheets are correspondingly arranged on the second magnetic patches one by one;
one end of the connecting rod penetrates through the first clamping part and is connected with the arc sheet, and the other end of the connecting rod is connected with the telescopic device.
8. The cable climbing robot according to any one of claims 1 to 7, wherein the telescoping device comprises two linear reciprocating mechanisms, each linear reciprocating mechanism comprises a moving part and a fixed part, and the two moving parts of the two linear reciprocating mechanisms are connected with the two clamping devices in a one-to-one correspondence manner.
9. A cable climbing robot according to any one of claims 1-7, wherein the telescopic device comprises a linear reciprocating mechanism comprising a moving part and a fixed part, the moving part being connected to one of the two gripping devices and the fixed part being connected to the other of the two gripping devices.
10. The cable climbing robot according to any one of claims 1 to 6, further comprising a housing and an image capturing device, both the telescoping device and the image capturing device being mounted on the housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120079454.8U CN214870559U (en) | 2021-01-12 | 2021-01-12 | Cable climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120079454.8U CN214870559U (en) | 2021-01-12 | 2021-01-12 | Cable climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214870559U true CN214870559U (en) | 2021-11-26 |
Family
ID=78864961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120079454.8U Active CN214870559U (en) | 2021-01-12 | 2021-01-12 | Cable climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214870559U (en) |
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2021
- 2021-01-12 CN CN202120079454.8U patent/CN214870559U/en active Active
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