CN216208139U - Push-pull dynamometer for mask tension test - Google Patents
Push-pull dynamometer for mask tension test Download PDFInfo
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- CN216208139U CN216208139U CN202122440571.5U CN202122440571U CN216208139U CN 216208139 U CN216208139 U CN 216208139U CN 202122440571 U CN202122440571 U CN 202122440571U CN 216208139 U CN216208139 U CN 216208139U
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- 239000010959 steel Substances 0.000 claims description 16
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- 230000001681 protective effect Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 3
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- 238000000034 method Methods 0.000 abstract description 7
- 238000013461 design Methods 0.000 abstract description 4
- 238000009434 installation Methods 0.000 abstract description 2
- 238000001125 extrusion Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
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Abstract
The utility model discloses a push-pull dynamometer for mask tension test, which comprises a base and a push-pull dynamometer body arranged above the base, wherein two sides of the top of the base are fixedly connected with supporting rods, the top ends of the two supporting rods are fixedly connected with a same top plate, an electric telescopic rod is embedded in the top of the top plate, a same moving plate is slidably sleeved on the two supporting rods, the push-pull dynamometer body is fastened at the bottom of the moving plate through threads, the bottom end of an output shaft of the electric telescopic rod is fixedly connected with the top of the moving plate, an installation groove is formed in the top of the base, and two clamping plates are arranged above the base. The mask clamping device is reasonable in design, facilitates rapid clamping and fixing of the mask and tensile force testing operation, facilitates adjustment of the elastic force of the spring according to the use condition, can offset the part with weakened elastic fatigue and elastic force of the spring, prolongs the service life of the spring and the clamping stability of the mask, reduces the risk of slippage of the mask in the testing process, and meets the use requirements.
Description
Technical Field
The utility model relates to the technical field of push-pull force meters, in particular to a push-pull force meter for testing the tension of a mask.
Background
The push-pull dynamometer is a mechanical measuring instrument for testing thrust and tension, and is suitable for testing push-pull load force of industries such as electronic appliances, light industry textiles, building hardware, lighters and ignition devices, fire-fighting equipment, pen making, lock making, fishing gear, power machinery, scientific research institutions and the like;
the existing push-pull dynamometer is low in clamping stability, the defect that the size of spring elasticity on a clamp is not convenient to adjust exists, the clamping purpose is achieved mostly through the clamp and the spring elasticity on the clamp in the using process, but the push-pull dynamometer is used for a long time, the phenomenon that the spring elasticity is weakened easily occurs, the clamping stability is further influenced, the phenomenon that a mask slips easily occurs in the process of tension testing, the using requirement cannot be met, and therefore the push-pull dynamometer for the mask tension testing is provided for solving the problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the defects in the prior art and provides a push-pull dynamometer for testing the tension of a mask.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a push-pull force meter for testing the tension of a mask comprises a base and a push-pull force meter body arranged above the base, wherein two sides of the top of the base are fixedly connected with supporting rods, the top ends of the two supporting rods are fixedly connected with a top plate, the top of the top plate is embedded with an electric telescopic rod, two supporting rods are slidably sleeved with a movable plate, the push-pull force meter body is fastened at the bottom of the movable plate through threads, the bottom end of an output shaft of the electric telescopic rod is fixedly connected with the top of the movable plate, the top of the base is provided with a mounting groove, two clamping plates are arranged above the base, a positioning rod is fixedly arranged between the inner walls of two sides of the mounting groove, an elastic pressing mechanism is sleeved on the positioning rod in a sliding manner, the bottom of the elastic pressing mechanism is fixedly connected with the bottoms of the two clamping plates, the right side of the clamping plate on the right side of the two clamping plates is fixedly connected with a pull ring, and two pressure adjusting blocks are sleeved on the positioning rod in a sliding manner, one side that two pressure regulating blocks are close to each other all with the both sides fixed connection of elasticity pressure solid mechanism, the rectangular channel has all been seted up to the bottom both sides of base, rotate between the one side inner wall that two rectangular channels kept away from each other and install same screw thread actuating mechanism, one side that two pressure regulating blocks kept away from each other all with screw thread actuating mechanism fixed connection, screw thread actuating mechanism's right side extends to the right side and the fixedly connected with knob of base.
Preferably, the elastic pressing and fixing mechanism comprises a sliding sleeve fixedly installed at the bottom of the clamping plate, a moving block is fixedly connected between the inner wall of the top of the sliding sleeve and the inner wall of the bottom of the sliding sleeve, a first through hole is formed in the top of the positioning rod, the moving block sliding sleeve is arranged in the first through hole, one side, far away from each other, of the two sliding sleeves is fixedly connected with springs between one sides, close to the two pressure regulating blocks, of the two pressure regulating blocks, the springs are movably arranged on the positioning rod in a sleeved mode, a fixed pulley is rotatably installed between the inner wall of the front side of the first through hole and the inner wall of the rear side of the first through hole, a flexible steel rope is fixedly connected to the left side of the moving block, located in the two moving blocks, one end of the flexible steel rope bypasses the left side of the fixed pulley and is fixedly connected with the left side of the moving block on the right side, and the movable block on the left side is movably arranged on the flexible steel rope.
Preferably, the screw thread actuating mechanism includes two screw rods, the one end that two screw rods kept away from each other is rotated respectively and is installed on the one side inner wall that two rectangular channels kept away from each other, the one end that two screw rods are close to each other welds mutually, the screw thread of two screw rods is turned to on the contrary, the base rotates the cover and is established on two screw rods, the right-hand member that two screw rods are located the screw rod on right side extend to the right side of base and with the left side fixed connection of knob, the threaded sleeve is equipped with the carriage release lever on the screw rod, the equal fixedly connected with rectangular rod in one side that two carriage release levers are close to each other, the one end that two rectangular rods are close to each other all extends to the mounting groove in, one side that two pressure regulating blocks were kept away from each other respectively with the one end fixed connection that two rectangular rods kept away from each other.
Preferably, the anti-skid rubber is fixedly bonded on one side, close to each other, of each of the two clamping plates, and one side, close to each other, of each of the two protective rubber is in movable contact with each other.
Preferably, a first rectangular hole is formed in one side of the pressure regulating block, and the inner wall of the first rectangular hole is connected with the outer side of the positioning rod in a sliding mode.
Preferably, one side of the moving rod is provided with a threaded hole, and the threaded hole is in threaded connection with the corresponding screw.
Preferably, the same circular hole is formed in the inner wall, close to each other, of the two rectangular grooves, the two first bearings are fixedly sleeved in the circular hole, and the inner sides of the inner rings of the first bearings are fixedly connected with the outer sides of the corresponding screw rods.
Preferably, the inner wall of one side, far away from each other, of each rectangular groove is provided with a rotating groove, a second bearing is fixedly sleeved in each rotating groove, and the inner side of the inner ring of each second bearing is fixedly connected with the outer side of the corresponding screw rod.
Compared with the prior art, the utility model has the beneficial effects that:
through the base, the push-pull dynamometer body, the support rod, the electric telescopic rod, the movable plate, the clamping plates, the mounting groove, the positioning rod, the sliding sleeve, the movable block, the flexible steel rope, the first through hole, the pressure regulating block, the spring, the rectangular groove, the screw rod, the movable rod and the rectangular rod are matched, the pull ring is pulled rightwards to drive the clamping plate on the right side to move rightwards, the clamping plate on the right side drives the sliding sleeve on the right side to slide rightwards on the positioning rod, the sliding sleeve on the right side drives the movable block on the right side to pull the flexible steel rope, so that the flexible steel rope pulls the movable block on the left side to move leftwards, the movable block on the left side drives the clamping plate on the left side to move leftwards through the sliding sleeve on the left side, the sliding sleeve moves to compress the corresponding spring, the two clamping plates drive the two anti-slip rubber sheets to move in the direction away from each other, at the moment, the mask to be tested can be placed between the two clamping plates, and then the pull force on the pull ring is released, the elasticity of the two springs in a compressed state drives the two clamping plates and the two anti-skid rubber sheets to mutually approach to clamp and fix the mask through the two sliding sleeves, at the moment, a rope belt on the mask can be hung on a hook on the push-pull force meter body, the electric telescopic rod is started reversely to drive the push-pull force meter body to move upwards through the movable plate to pull the rope belt, and the push-pull force meter body can measure the tension of the pull-pull force meter body;
when the elasticity size of spring is adjusted to needs, the knob is rotated to the forward direction and two screw rods are driven and are rotated, two screw rods are rotated and are driven two movable rods to move to the direction that is close to each other, the movable rods drive the pressure regulating block through the corresponding rectangular rod to compress the spring, so that the pressure regulating block sequentially passes through the spring and the sliding sleeve to give an extrusion force to the clamping plate, the part that the elastic fatigue elasticity of the spring is weakened can be offset through the elasticity of the regulating spring, and the stable clamping of the mask is realized.
The mask clamping device is reasonable in design, facilitates rapid clamping and fixing of the mask and tensile force testing operation, facilitates adjustment of the elastic force of the spring according to the use condition, can offset the part with weakened elastic fatigue and elastic force of the spring, prolongs the service life of the spring and the clamping stability of the mask, reduces the risk of slippage of the mask in the testing process, and meets the use requirements.
Drawings
FIG. 1 is a schematic structural diagram of a push-pull dynamometer for testing a mask tension according to the present invention;
fig. 2 is an enlarged sectional view of a portion a of fig. 1.
In the figure: 100 bases, 101 push-pull dynamometer bodies, 1 supporting rod, 2 electric telescopic rods, 3 moving plates, 4 clamping plates, 5 mounting grooves, 6 positioning rods, 7 sliding sleeves, 8 moving blocks, 9 flexible steel ropes, 10 first through holes, 11 pressure adjusting blocks, 12 springs, 13 rectangular grooves, 14 screw rods, 15 moving rods and 16 rectangular rods.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-2, a push-pull dynamometer for testing a mask tension, comprising a base 100 and a push-pull dynamometer body 101 disposed above the base 100, wherein two sides of the top of the base 100 are fixedly connected with support rods 1, the top ends of the two support rods 1 are fixedly connected with a same top plate, the top of the top plate is embedded with an electric telescopic rod 2, the two support rods 1 are slidably sleeved with a same movable plate 3, the push-pull dynamometer body 101 is fastened at the bottom of the movable plate 3 through threads, the bottom end of an output shaft of the electric telescopic rod 2 is fixedly connected with the top of the movable plate 3, the top of the base 100 is provided with a mounting groove 5, two clamp plates 4 are disposed above the base 100, a positioning rod 6 is fixedly mounted between inner walls at two sides of the mounting groove 5, an elastic press-fixing mechanism is slidably sleeved on the positioning rod 6, the bottom of the elastic press-fixing mechanism is fixedly connected with the bottoms of the two clamp plates 4, and a pull ring is fixedly connected to the right side of the two clamp plates 4 on the right side, two pressure adjusting blocks 11 are slidably sleeved on the positioning rod 6, one sides, close to each other, of the two pressure adjusting blocks 11 are fixedly connected with two sides of the elastic pressing and fixing mechanism, rectangular grooves 13 are formed in two sides of the bottom of the base 100, the same thread driving mechanism is rotatably installed between the inner walls of the sides, far away from each other, of the two rectangular grooves 13, one sides, far away from each other, of the two pressure adjusting blocks 11 are fixedly connected with the thread driving mechanism, and the right side of the thread driving mechanism extends to the right side of the base 100 and is fixedly connected with a knob;
the elastic pressing and fixing mechanism comprises a sliding sleeve 7 fixedly installed at the bottom of the clamping plate 4, a moving block 8 is fixedly connected between the inner wall of the top of the sliding sleeve 7 and the inner wall of the bottom of the sliding sleeve 7, a first through hole 10 is formed in the top of the positioning rod 6, the moving block 8 is slidably sleeved in the first through hole 10, a spring 12 is fixedly connected between one side, far away from each other, of the two sliding sleeves 7 and one side, close to each other, of the two pressure regulating blocks 11, the spring 12 is movably sleeved on the positioning rod 6, a fixed pulley is rotatably installed between the inner wall of the front side and the inner wall of the rear side of the first through hole 10, a flexible steel rope 9 is fixedly connected to the left side of the moving block 8, located on the left side, of the two moving blocks 8, one end of the flexible steel rope 9 bypasses the left side of the fixed pulley and is fixedly connected with the left side of the moving block 8 on the right side, and the moving block 8 on the left side is movably sleeved on the flexible steel rope 9;
the thread driving mechanism comprises two screw rods 14, one ends of the two screw rods 14, which are far away from each other, are respectively rotatably installed on the inner wall of one side, which is far away from each other, of two rectangular grooves 13, the ends, which are close to each other, of the two screw rods 14 are welded, the thread turning directions of the two screw rods 14 are opposite, the base 100 is rotatably sleeved on the two screw rods 14, the right ends of the screw rods 14, which are positioned on the right side, of the two screw rods 14 extend to the right side of the base 100 and are fixedly connected with the left side of a knob, moving rods 15 are sleeved on the screw rods 14 in a threaded manner, one sides, which are close to each other, of the two moving rods 15 are fixedly connected with rectangular rods 16, one ends, which are close to each other, of the two rectangular rods 16 extend into the installation groove 5, one sides, which are far away from each other, of the two pressure regulating blocks 11 are respectively and are fixedly connected with one ends, which are far away from each other, the two rectangular rods 16, the utility model has reasonable design, is convenient for rapidly fixing a mask clamping and carrying out a tension test operation, and is convenient for regulating the elasticity of the spring 12 according to use condition, the part that can offset the tired elasticity of spring 12 elasticity weak improves spring 12's life and to the clamping stability of gauze mask, reduces the risk of gauze mask slippage in the testing process, satisfies the user demand.
In the utility model, anti-skid rubber is bonded and fixed on one side of each of two clamping plates 4 which are close to each other, one side of each of two protective rubber is in movable contact with one side of each of the two protective rubber, one side of a pressure regulating block 11 is provided with a first rectangular hole, the inner wall of the first rectangular hole is in sliding connection with the outer side of a positioning rod 6, one side of a movable rod 15 is provided with a threaded hole, the threaded hole is in threaded connection with a corresponding screw 14, the inner wall of one side of each of two rectangular grooves 13 which are close to each other is provided with a same circular hole, two first bearings are fixedly sleeved in the circular holes, the inner sides of the inner rings of the first bearings are fixedly connected with the outer sides of the corresponding screws 14, the inner walls of one sides of the two rectangular grooves 13 which are far away from each other are provided with rotating grooves, a second bearing is fixedly sleeved in each rotating groove, and the inner sides of the inner rings of the second bearings are fixedly connected with the outer sides of the corresponding screws 14, the mask tensile test device is reasonable in design and is convenient for rapidly clamping and fixing the mask and performing tensile test operation, and be convenient for adjust the elasticity size of spring 12 according to the in service behavior, can offset the part that the tired elasticity of spring 12 elasticity is weakened, improve the life of spring 12 and to the centre gripping stability of gauze mask, reduce the risk of gauze mask slippage in the testing process, satisfy the user demand.
The working principle is as follows: when the mask is used, when the mask needs to be clamped, the pull ring is pulled rightwards to drive the right splint 4 to move rightwards, the right splint 4 drives the right sliding sleeve 7 to slide rightwards on the positioning rod 6, the right sliding sleeve 7 drives the right moving block 8 to slide rightwards in the first through hole 10, the right moving block 8 pulls the flexible steel rope 9 rightwards, so that the flexible steel rope 9 slides on the left side of the fixed pulley, the flexible steel rope 9 pulls the left moving block 8 to move leftwards, the left moving block 8 drives the left sliding sleeve 7 to move leftwards, the left sliding sleeve 7 drives the left splint 4 to move leftwards, the corresponding spring 12 is compressed while the sliding sleeve 7 moves, the two splints 4 drive the two anti-skid rubber sheets to move towards directions away from each other, at the moment, the mask to be tested can be placed between the two splints 4, and then the pulling force on the pull ring is released, at the moment, the elasticity of the two springs 12 in a compressed state drives the two sliding sleeves 7 to move towards the mutually approaching direction, the two sliding sleeves 7 drive the two clamping plates 4 to move towards the mutually approaching direction, the two clamping plates 4 drive the two anti-skid rubber sheets to clamp and fix the mask towards the mutually approaching direction, at the moment, the rope belt on the mask can be hung on a hook on the push-pull dynamometer body 101, the electric telescopic rod 2 is reversely started, the output shaft of the electric telescopic rod 2 drives the movable plate 3 to slide upwards on the two supporting rods 1, the movable plate 3 drives the push-pull dynamometer body 101 to move upwards, the rope belt is pulled while the push-pull dynamometer body 101 moves upwards, and the pull-pull dynamometer body 101 can measure the tension of the rope belt;
when the mask is used for a long time, the phenomenon that the elastic force of the spring 12 is weakened easily occurs, and then the phenomenon that the mask slips from the middle of the two clamping plates 4 easily occurs in the process at the moment, so that the test operation is influenced, when the elastic force of the spring 12 needs to be adjusted, the knob is rotated in the forward direction, the knob drives the two screw rods 14 to rotate, under the action of the threaded holes formed in the moving rods 15, the two screw rods 14 rotate to drive the two moving rods 15 to move towards the mutually approaching direction, the moving rods 15 drive the corresponding rectangular rods 16 to move, the two rectangular rods 16 drive the two pressure adjusting blocks 11 to move towards the mutually approaching direction on the positioning rods 6, the corresponding spring 12 is compressed while the pressure adjusting blocks 11 move, the initial compression degree of the two springs 12 can be adjusted, so that the pressure adjusting blocks 11 generate an extrusion force on the sliding sleeve 7 through the springs 12, and the sliding sleeve 7 extrudes the corresponding clamping plates 4, make and to give 4 extrusion forces of splint all the time, and then realize the stable centre gripping to the gauze mask, through the elasticity of adjusting spring 12, can offset the part that 12 elasticity fatigue elasticity weakens of spring, reduce the phenomenon of the gauze mask slippage because of 12 elasticity weakens of spring cause to realization that can be stable is fixed to the centre gripping of gauze mask.
In the description of the present application, it should be further noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may include, for example, a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, a connection through an intermediate medium, and a connection between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to specific circumstances.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.
Claims (8)
1. A push-pull dynamometer for testing the tension of a mask comprises a base (100) and a push-pull dynamometer body (101) arranged above the base (100), and is characterized in that two sides of the top of the base (100) are fixedly connected with supporting rods (1), the top ends of the two supporting rods (1) are fixedly connected with a same top plate, an electric telescopic rod (2) is embedded in the top of the top plate, a same moving plate (3) is sleeved on the two supporting rods (1) in a sliding mode, the push-pull dynamometer body (101) is fastened at the bottom of the moving plate (3) in a threaded mode, the bottom end of an output shaft of the electric telescopic rod (2) is fixedly connected with the top of the moving plate (3), a mounting groove (5) is formed in the top of the base (100), two clamping plates (4) are arranged above the base (100), a positioning rod (6) is fixedly arranged between the inner walls of two sides of the mounting groove (5), and an elastic compression mechanism is sleeved on the positioning rod (6) in a sliding mode, bottom and the bottom fixed connection of two splint (4) of solid mechanism are pressed to elasticity, the right side fixedly connected with pull ring of splint (4) that lie in the right side in two splint (4), sliding sleeve is equipped with two and transfers briquetting (11) on locating lever (6), two transfer briquetting (11) one side of being close to each other all with the both sides fixed connection of solid mechanism is pressed to elasticity, rectangular channel (13) have all been seted up to the bottom both sides of base (100), rotate between the one side inner wall of keeping away from each other two rectangular channels (13) and install same screw thread actuating mechanism, two transfer briquetting (11) one side of keeping away from each other all with screw thread actuating mechanism fixed connection, screw thread actuating mechanism's right side extends to the right side and the fixedly connected with knob of base (100).
2. The push-pull dynamometer for testing the mask tension according to claim 1, wherein the elastic pressing mechanism includes a sliding sleeve (7) fixedly installed at the bottom of the clamping plate (4), a moving block (8) is fixedly connected between the inner wall of the top and the inner wall of the bottom of the sliding sleeve (7), a first through hole (10) is formed in the top of the positioning rod (6), the moving block (8) is slidably sleeved in the first through hole (10), a spring (12) is fixedly connected between one side of the two sliding sleeves (7) far away from each other and one side of the two pressure adjusting blocks (11) close to each other, the spring (12) is movably sleeved on the positioning rod (6), a fixed pulley is rotatably installed between the inner wall of the front side and the inner wall of the rear side of the first through hole (10), and a flexible steel cable (9) is fixedly connected to the left side of the moving block (8) on the left side in the two moving blocks (8), one end of a flexible steel rope (9) winds around the left side of the fixed pulley and is fixedly connected with the left side of the moving block (8) on the right side, and the moving block (8) on the left side is movably sleeved on the flexible steel rope (9).
3. The push-pull dynamometer for testing the mask tension according to claim 1, wherein the thread driving mechanism comprises two screws (14), ends of the two screws (14) far away from each other are respectively rotatably mounted on inner walls of sides of the two rectangular grooves (13) far away from each other, ends of the two screws (14) near each other are welded, thread directions of the two screws (14) are opposite, the base (100) is rotatably sleeved on the two screws (14), right ends of the screws (14) on the right side of the two screws (14) extend to the right side of the base (100) and are fixedly connected with the left side of the knob, the screws (14) are respectively provided with a moving rod (15) in a threaded manner, one side of the two moving rods (15) near each other is fixedly connected with a rectangular rod (16), one end of the two rectangular rods (16) near each other extends into the mounting groove (5), one sides of the two pressure regulating blocks (11) which are far away from each other are fixedly connected with one ends of the two rectangular rods (16) which are far away from each other respectively.
4. The push-pull dynamometer for testing the mask tension according to claim 1, wherein the anti-skid rubber is fixedly bonded to the side, close to each other, of each of the two clamping plates (4), and the side, close to each other, of each of the two protective rubber is in movable contact with each other.
5. The push-pull dynamometer for testing mask tension according to claim 1, wherein a first rectangular hole is formed in one side of the pressure adjusting block (11), and an inner wall of the first rectangular hole is slidably connected with an outer side of the positioning rod (6).
6. The push-pull dynamometer for mask tension test according to claim 3, wherein one side of the moving rod (15) is provided with a threaded hole, and the threaded hole is in threaded connection with the corresponding screw rod (14).
7. The push-pull dynamometer for testing mask tension according to claim 3, wherein the same circular hole is formed in the inner wall of one side of each of the two rectangular grooves (13) close to each other, two first bearings are fixedly sleeved in the circular hole, and the inner sides of the inner rings of the first bearings are fixedly connected with the outer sides of the corresponding screw rods (14).
8. The push-pull dynamometer for testing mask tension according to claim 3, wherein the two rectangular grooves (13) have rotating grooves on their inner walls at the sides away from each other, and a second bearing is fixedly sleeved in the rotating grooves, and the inner side of the inner ring of the second bearing is fixedly connected to the outer side of the corresponding screw rod (14).
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CN202122440571.5U CN216208139U (en) | 2021-10-11 | 2021-10-11 | Push-pull dynamometer for mask tension test |
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CN202122440571.5U CN216208139U (en) | 2021-10-11 | 2021-10-11 | Push-pull dynamometer for mask tension test |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN117885139A (en) * | 2024-03-18 | 2024-04-16 | 沈阳乐泊科技有限公司 | Manipulator test platform |
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2021
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN117885139A (en) * | 2024-03-18 | 2024-04-16 | 沈阳乐泊科技有限公司 | Manipulator test platform |
CN117885139B (en) * | 2024-03-18 | 2024-05-28 | 沈阳乐泊科技有限公司 | Manipulator test platform |
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Granted publication date: 20220405 |