CN220484456U - Tank body processing system based on AGV (automatic guided vehicle) transportation - Google Patents
Tank body processing system based on AGV (automatic guided vehicle) transportation Download PDFInfo
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- CN220484456U CN220484456U CN202321855480.0U CN202321855480U CN220484456U CN 220484456 U CN220484456 U CN 220484456U CN 202321855480 U CN202321855480 U CN 202321855480U CN 220484456 U CN220484456 U CN 220484456U
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- tank body
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- frame
- processing system
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- 230000007246 mechanism Effects 0.000 claims abstract description 95
- 238000009434 installation Methods 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 claims 1
- 238000010276 construction Methods 0.000 claims 1
- 238000005096 rolling process Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D51/00—Making hollow objects
- B21D51/16—Making hollow objects characterised by the use of the objects
- B21D51/26—Making hollow objects characterised by the use of the objects cans or tins; Closing same in a permanent manner
- B21D51/2692—Manipulating, e.g. feeding and positioning devices; Control systems
Abstract
The utility model discloses a tank body processing system based on AGV transportation, which comprises a transport AGV, a plurality of roller frame mechanisms and left and right tracks, wherein the roller frame mechanisms move on the left and right tracks, the roller frame mechanisms are divided into two rows, the transport AGV is used for transporting a tank body to an area between the two rows of roller frame mechanisms, the tank body is placed on the roller frame mechanisms, and the roller frame mechanisms are used for driving the tank body to rotate. When the AGV is used for transportation, firstly, an AGV body runs to the bottom of a tank body placing station, the lifting platform is lifted by using a power mechanism, so that the tank body is lifted, and then the tank body is clamped by using a clamping mechanism; after the tank body is placed, the power mechanism is retracted after the tank body is driven out of the placement station, the jacking mechanism integrally falls down, and the tank body is placed on the upper end face of the AGV body and then continues to drive. Utilize this application to have improved jar body transportation and processing's efficiency greatly, improved the operational safety.
Description
Technical Field
The utility model relates to the technical field of tank processing devices, in particular to a tank processing system based on AGV (automatic guided vehicle) transportation.
Background
Currently, in large-size tank processing workshops, transportation and operation are inconvenient due to the large size of the tank, thereby seriously affecting the processing efficiency. Along with the development and progress of technology, AGV has been widely used in various application scenarios due to its advantages, and in order to apply the AGV in the can processing process, it is necessary to improve the existing AGV structure and other auxiliary mechanisms in order to solve the problem that the can processing efficiency is low in the prior art.
Disclosure of Invention
In order to improve the efficiency to jar body processing, the aim at of this application provides a jar body processing system based on AGV transportation.
In order to achieve the purpose of the utility model, the technical scheme provided by the utility model is as follows:
tank body processing system based on AGV transportation, including carrying AGV and roller frame mechanism, controlling the track, roller frame mechanism is in control track is gone up and is removed, roller frame mechanism is a plurality of, and a plurality of roller frame mechanisms divide into two and set up, carry AGV to be used for carrying the tank body to two and be listed as the regional between the roller frame mechanism, and will the tank body is placed on a plurality of roller frame mechanisms, roller frame mechanism is used for the drive the tank body is rotatory.
The automatic lifting device comprises a conveying AGV body, wherein an installation groove is formed in the upper end face of the AGV body, a lifting platform is installed in the installation groove, the lifting platform is driven to ascend or descend through a power mechanism installed in the installation groove, and a clamping mechanism used for clamping a tank body is installed on the lifting platform.
The power mechanism comprises a plurality of groups of jacking hydraulic cylinders, any jacking hydraulic cylinder is longitudinally arranged, the bottom end of the jacking hydraulic cylinder is installed in the installation groove, and the piston rod is connected with the jacking platform.
The jacking hydraulic cylinders are four groups and are respectively arranged on four corners of the jacking platform.
The lifting hydraulic cylinder is characterized in that one side of each lifting hydraulic cylinder is provided with a guide mechanism, each guide mechanism comprises a guide shaft and a guide shaft mounting seat, the upper end of each guide shaft is connected with the lifting platform, the lower end of each guide shaft is inserted into each guide shaft mounting seat and is in sliding connection with each guide shaft mounting seat, and each guide shaft mounting seat is mounted in each mounting groove.
The roller frame mechanism comprises a left-right moving rail wheel, a U-shaped bottom support frame, a front-back moving frame, a roller mounting frame, rollers, roller driving motors, electric push rods and left-right walking driving motors, wherein the left-right moving rail wheel used for moving on left-right rails is respectively arranged at four corners of the lower end of the U-shaped bottom support frame, the left-right walking driving motors are arranged on the U-shaped bottom support frame, and the left-right walking driving motors drive the left-right moving rail wheel to move on the left-right rails; the utility model discloses a car, including U type end support frame, guide rail, gyro wheel drive motor, electric putter is all set up along guide rail length direction to the guide rail wheel mechanism that moves in the guide rail of fore-and-aft direction in the guide rail lower extreme was provided with to U type end support frame upper end both sides, fore-and-aft movement frame lower extreme is provided with the guide rail wheel mechanism of fore-and-aft movement, every electric putter's piston rod with the fore-and-aft movement frame is connected, is used for driving the drive motor of gyro wheel and gyro wheel mounting bracket are provided with on the fore-and-aft movement frame, install the gyro wheel that is used for driving the jar body rotation on the gyro wheel mounting bracket, the gyro wheel drive motor drive the gyro wheel is rotatory.
Wherein, the front and back guide rail is a U-shaped guide rail.
The left-right walking driving motor comprises a left-right walking driving motor, a left-right moving rail wheel and a right-left moving rail wheel, wherein the left-right walking driving motor is characterized in that a first sprocket is arranged on an output shaft of the left-right walking driving motor, a second sprocket is arranged on an axle of the left-right moving rail wheel, and the first sprocket and the second sprocket are connected through a first chain in a transmission mode.
The output shaft of the roller driving motor is provided with a third sprocket, the wheel shaft of the roller is provided with a fourth sprocket, and the third sprocket and the fourth sprocket are in transmission connection through a second chain.
The guide rail wheel mechanism comprises two guide rail wheel rods with the same structure, two ends of each guide rail wheel rod are respectively and rotatably connected with one guide rail wheel, and the guide rail wheels on the corresponding sides roll in the front and rear guide rails.
Compared with the prior art, the utility model has the beneficial effects that:
when the AGV is used for transportation, firstly, an AGV body runs to the bottom of a tank body placing station, the lifting platform is lifted by using a power mechanism, so that the tank body is lifted, and then the tank body is clamped by using a clamping mechanism;
the roller frame mechanism adjusts the left, right, front and back positions of the roller frame mechanism so that the roller frame mechanism can adapt to the model and the size of the tank body; when the tank body is driven to the roller frame mechanism area, the tank body is driven to rotate by the rollers of the bidirectional adjustable roller frame mechanism by being driven between the two rows of the roller frame mechanisms, so that the tank body is processed.
The device can be suitable for processing the tank bodies of a plurality of models, the left-right moving rail wheel is driven to rotate by the left-right moving driving motor and move on the left-right rail, so that the transverse position of the mechanism is adjusted, the front-back moving frame is driven to move forwards and backwards by the electric push rod, and the front-back position of the mechanism is adjusted;
the AGV places the jar body on roller frame mechanism, then, after going out and placing the station, power mechanism is retracted, and climbing mechanism is whole to fall down, places the jar body behind the AGV automobile body up end, continues to travel.
Utilize this application to have improved jar body transportation and processing's efficiency greatly, improved the operational safety nature, be convenient for in industry popularization and use.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present application;
FIG. 2 is a schematic view of the transport AGV of the present application without lift up;
FIG. 3 is a schematic diagram of an embodiment of a transport AGV of the present application in a lift-up configuration;
FIG. 4 is a schematic view of the mounting structure of the lift cylinder in an embodiment of the AGV of the present application;
FIG. 5 is a schematic view of the structure of the gripper unit in an embodiment of the transport AGV of the present application;
FIG. 6 is a schematic view of a conveyor canister utilizing the AGV of the present application;
in fig. 1 to 6, a tank 101, a roller frame mechanism 102, left and right rails 103, a conveying AGV104, an AGV body 201, an outer support block 202, a fixed arc surface support block 203, a holding block 204, a lifting platform 205, a lifting arc surface support block 206, a lifting hydraulic cylinder 207, a guide mechanism 208, a holding hydraulic cylinder 209, and a rotating shaft 210.
FIG. 7 is a schematic structural view of an embodiment of a roller frame mechanism according to the present application;
FIG. 8 is a first schematic view of the upper part of the roller frame mechanism according to the embodiment of the present application;
FIG. 9 is a second schematic view of the upper part of the roller frame mechanism according to the embodiment of the present application;
FIG. 10 is a schematic view of a lower part of the roller frame mechanism according to the embodiment of the present application;
FIG. 11 is a schematic view of the application state of the roller frame mechanism in the present application;
in fig. 7 to 11, the rail wheel 1, the u-shaped bottom support frame 2, the front-back moving frame 3, the roller mounting frame 4, the roller 5, the roller driving motor 6, the electric push rod 7, the u-shaped guide rail 8 and the left-right walking driving motor 9 are moved left and right.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is evident that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
As shown in fig. 1-6, the utility model provides a jar body processing system based on AGV transportation, including carrying AGV104 and roller frame mechanism 102, controlling track 103, roller frame mechanism 102 is in control track 103 is gone up and is removed, roller frame mechanism 102 is a plurality of, and a plurality of roller frame mechanisms 102 divide into two and set up, carry AGV104 is used for carrying jar body 101 to two and is listed as the regional place between the roller frame mechanism 102 to will the jar body is placed on a plurality of roller frame mechanisms 102, roller frame mechanism is used for the drive the jar body is rotatory.
The conveying AGV104 comprises an AGV body 201, an installation groove is formed in the upper end face of the AGV body 201, a jacking platform 205 is installed in the installation groove, the jacking platform 205 is driven to ascend or descend through a power mechanism installed in the installation groove, and a clamping mechanism used for clamping the tank body is installed on the jacking platform 205.
The tank body is a round tank.
In a preferred embodiment, the power mechanism includes a plurality of groups of jacking hydraulic cylinders 207, each jacking hydraulic cylinder 207 is longitudinally arranged, the bottom end of each jacking hydraulic cylinder 207 is installed in the installation groove, and a piston rod is connected with the jacking platform 205. Preferably, the jacking cylinders 207 may be arranged in four groups, each mounted on four corners of the jacking platform 205. The structure is stable in jacking and good in effect.
In a preferred embodiment, a guiding mechanism 208 is mounted on one side of each of the jacking cylinders 207. It should be noted that, the guiding mechanism 208 may be configured by a known technique, or may be configured by a guiding shaft and a guiding shaft mounting seat, where an upper end of the guiding shaft is connected to the jacking platform 205, a lower end of the guiding shaft is inserted into the guiding shaft mounting seat and is slidably connected to the guiding shaft mounting seat, and the guiding shaft mounting seat is mounted in the mounting groove. By utilizing the guide mechanism, the lifting of the power mechanism can be smoothly realized, and the lifting and transportation safety is improved.
In a preferred embodiment, the clamping mechanism comprises four clamping units, wherein the four clamping units are axially symmetrically arranged, and two clamping units are arranged on each side.
It should be noted that, the holding and clamping unit can adopt the structure of the known technology, also can adopt the structure in this application, including holding clamp block 204 and holding clamp hydraulic cylinder 209, jacking platform 205 is provided with four upper end open-ended installation cavities, and every holding and clamping unit sets up respectively in an installation cavity, the inboard one end of holding clamp block 204 is articulated with the lateral wall of installation cavity through pivot 210, the terminal surface is provided with articulated ear piece under holding clamp block 204's the outside one end, the terminal surface is provided with articulated ear piece down under the installation cavity, holding clamp hydraulic cylinder 209 lower extreme with articulated ear piece is articulated to be connected down, holding clamp hydraulic cylinder 209's piston rod upper end and articulated ear piece are articulated to be connected, and the piston rod through holding clamp hydraulic cylinder 209 stretches out and draws back, drives holding clamp block 204 is rotatory around the pin joint (i.e. pivot 210).
In a preferred embodiment, a supporting block 206 for supporting the tank body with a lifting arc surface is disposed in the middle of the upper end surface of the lifting platform 205, and the upper end surface of the supporting block 206 with a lifting arc surface is a concave arc surface. In addition, be provided with two sections fixed arcwall face supporting shoe 203 on the AGV automobile body 201 up end, two sections fixed arcwall face supporting shoe 203 with jacking arcwall face supporting shoe 206 aligns the concatenation and becomes a linear type cambered surface supporting shoe, fixed arcwall face supporting shoe 203 is the same with jacking arcwall face supporting shoe 206 structure. By utilizing the structure, the tank body can be better supported.
As shown in fig. 6, a schematic diagram of a state of transporting a round can using the present application is shown, and the clamping block 204 is in a slant clamping state during transportation. After the whole jacking mechanism falls down, the round can is placed on the cambered surface supporting block and the clamping block 204 on the upper end surface of the AGV body 201.
As shown in fig. 7-11, an embodiment of the roller frame mechanism 102 of the present application is shown. The roller frame mechanism 102 provided by the embodiment comprises a left-right moving rail wheel 1, a U-shaped bottom supporting frame 2, a front-back moving frame 3, a roller mounting frame 4, rollers 5, a roller driving motor 6, an electric push rod 7 and a left-right walking driving motor 9, wherein the left-right moving rail wheel 1 for moving on left-right rails is respectively arranged at four corners of the lower end of the U-shaped bottom supporting frame 2, the left-right walking driving motor 9 is arranged on the U-shaped bottom supporting frame 2, and the left-right walking driving motor 9 drives the left-right moving rail wheel 1 to move on the left-right rails; the utility model discloses a jar, including U type end support frame 2, the support frame 3 is provided with the guide rail wheel mechanism that moves in the guide rail of fore-and-aft direction, every in the guide rail upper end of fore-and-aft direction all sets up an electric putter along guide rail length direction, electric putter's piston rod with the frame 3 is connected to the fore-and-aft direction, is used for driving the frame 3 removal of fore-and-aft direction, be provided with gyro wheel driving motor 6 and gyro wheel mounting bracket 4 on the frame 3 of fore-and-aft direction, install the gyro wheel 5 that is used for driving jar body rotation on the gyro wheel mounting bracket 4, gyro wheel driving motor 6 drives gyro wheel 5 is rotatory.
The front and rear guide rails are U-shaped guide rails 8, and openings of the two U-shaped guide rails 8 are arranged oppositely.
The output shaft of the left-right walking driving motor 9 is provided with a first sprocket, the wheel shaft of the left-right moving rail wheel 1 is provided with a second sprocket, and the first sprocket and the second sprocket are in transmission connection through a first chain.
The output shaft of the roller driving motor 6 is provided with a third sprocket, the wheel shaft of the roller is provided with a fourth sprocket, and the third sprocket and the fourth sprocket are in transmission connection through a second chain.
The guide rail wheel mechanism comprises two guide rail wheel rods with the same structure, two ends of each guide rail wheel rod are respectively and rotatably connected with one guide rail wheel, and the guide rail wheels on the corresponding sides roll in the front and rear guide rails.
When the AGV is used for transportation, firstly, an AGV body runs to the bottom of a tank body placing station, the lifting platform is lifted by using a power mechanism, so that the tank body is lifted, and then the tank body is clamped by using a clamping mechanism;
the roller frame mechanism adjusts the left, right, front and back positions of the roller frame mechanism so that the roller frame mechanism can adapt to the model and the size of the tank body; when the AGV runs to the roller frame mechanism area, the AGV runs to the space between the two rows of roller frame mechanisms, the RFID card arranged at the part is read by the card reader to position, the tank body is placed on the roller of the bidirectional adjustable roller frame mechanism, and the tank body is driven to rotate by the roller, so that the tank body is processed.
The device can be suitable for processing the tank bodies of a plurality of models, the left-right moving rail wheel is driven to rotate by the left-right moving driving motor and move on the left-right rail, so that the transverse position of the mechanism is adjusted, the front-back moving frame is driven to move forwards and backwards by the electric push rod, and the front-back position of the mechanism is adjusted;
after the AGV places the tank body on the roller frame mechanism, the tank body runs out of the placing station, the power mechanism retracts, the jacking mechanism integrally falls down, and the tank body is placed on the upper end face of the AGV body and then runs continuously.
Utilize this application to have improved jar body transportation and processing's efficiency greatly, improved the operational safety nature, be convenient for in industry popularization and use.
Finally, it should be noted that: the above-described embodiments are provided for illustration and description of the present utility model only and are not intended to limit the utility model to the embodiments described. In addition, it will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present utility model, which fall within the scope of the claimed utility model.
Claims (10)
1. Tank body processing system based on AGV transportation, a serial communication port, including carrying AGV (104) and roller frame mechanism (102), controlling track (103), roller frame mechanism (102) are in control track (103) are gone up and are removed, roller frame mechanism (102) are a plurality of, and a plurality of roller frame mechanism (102) divide into two and set up, carry AGV (104) are used for carrying the area that is located between tank body (101) to two roller frame mechanisms (102), and will the tank body is placed on a plurality of roller frame mechanisms (102), roller frame mechanism is used for the drive the tank body is rotatory.
2. The tank processing system based on the AGV transportation according to claim 1, wherein the transport AGV (104) comprises an AGV body (201), an installation groove is formed in the upper end face of the AGV body (201), a jacking platform (205) is installed in the installation groove, the jacking platform (205) is driven to ascend or descend through a power mechanism installed in the installation groove, and a clamping mechanism for clamping the tank is installed on the jacking platform (205).
3. The tank processing system based on AGV transportation according to claim 2, wherein the power mechanism comprises a plurality of groups of jacking hydraulic cylinders (207), wherein any jacking hydraulic cylinder (207) is longitudinally arranged, the bottom end of the jacking hydraulic cylinder is installed in the installation groove, and a piston rod is connected with the jacking platform (205).
4. The AGV transport-based can processing system of claim 3, wherein the jacking cylinders (207) are four groups each mounted on four corners of the jacking platform (205).
5. The tank processing system based on the AGV transport according to claim 3, wherein a guide mechanism (208) is respectively installed on one side of any one of the jacking cylinders (207), the guide mechanism (208) comprises a guide shaft and a guide shaft mounting seat, the upper end of the guide shaft is connected with the jacking platform (205), the lower end of the guide shaft is inserted into the guide shaft mounting seat and is slidably connected with the guide shaft mounting seat, and the guide shaft mounting seat is installed in the mounting groove.
6. The tank processing system based on AGV transportation according to claim 1, wherein the roller frame mechanism (102) comprises a left-right moving rail wheel (1), a U-shaped bottom supporting frame (2), a front-back moving frame (3), a roller mounting frame (4), rollers (5), a roller driving motor (6), an electric push rod (7) and a left-right walking driving motor (9), wherein the left-right moving rail wheel (1) for moving on a left-right rail is respectively arranged at four corners of the lower end of the U-shaped bottom supporting frame (2), the left-right walking driving motor (9) is arranged on the U-shaped bottom supporting frame (2), and the left-right walking driving motor (9) drives the left-right moving rail wheel (1) to move on the left-right rail; the utility model discloses a novel tank body cleaning device, including U type end support frame (2) upper end, including U type end support frame (2), roller mounting frame (3), including U type end support frame (2), U type end support frame (2) upper end both sides are provided with two fore-and-aft guide rails, fore-and-aft movable frame (3) lower extreme is provided with the guide rail wheel mechanism that removes in fore-and-aft guide rail, every fore-and-aft guide rail upper end all sets up an electric putter along guide rail length direction, electric putter's piston rod with fore-and-aft movable frame (3) are connected, are used for driving fore-and-aft movable frame (3) removal, be provided with roller driving motor (6) and roller mounting frame (4) on roller mounting frame (4) install and be used for driving rotatory gyro wheel (5).
7. The AGV transport-based can processing system of claim 6, wherein the forward and rearward rails are U-shaped rails.
8. The tank processing system based on the AGV transport according to claim 6, wherein the output shaft of the left and right travel drive motor (9) is provided with a first sprocket, the wheel shaft of the left and right travel rail wheel (1) is provided with a second sprocket, and the first sprocket and the second sprocket are connected by a first chain transmission.
9. The tank processing system based on AGV transport according to claim 6, wherein the output shaft of the roller drive motor (6) is provided with a third sprocket, the axle of the roller is provided with a fourth sprocket, and the third sprocket and the fourth sprocket are in driving connection by a second chain.
10. The AGV transport-based can processing system of claim 6, wherein the rail wheel mechanism comprises two rail wheel bars of identical construction, each of the two ends of each rail wheel bar being rotatably connected to a rail wheel, the rail wheels on the respective sides rolling in the front-to-rear rails.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211243760.6A CN115301845A (en) | 2022-10-12 | 2022-10-12 | Tank body machining system based on AGV transportation |
| CN2022112437606 | 2022-10-12 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220484456U true CN220484456U (en) | 2024-02-13 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211243760.6A Pending CN115301845A (en) | 2022-10-12 | 2022-10-12 | Tank body machining system based on AGV transportation |
| CN202321855480.0U Active CN220484456U (en) | 2022-10-12 | 2023-07-14 | Tank body processing system based on AGV (automatic guided vehicle) transportation |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211243760.6A Pending CN115301845A (en) | 2022-10-12 | 2022-10-12 | Tank body machining system based on AGV transportation |
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| CN (2) | CN115301845A (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH468244A (en) * | 1966-12-06 | 1969-02-15 | Messer Griesheim Gmbh | Device for supporting and aligning workpieces, in particular plastic pipes to be welded |
| CN2589146Y (en) * | 2002-12-31 | 2003-12-03 | 北京宣武华光焊接工艺成套装备联营公司 | Multicomponent rolling wheel gallow |
| CN204913029U (en) * | 2015-04-20 | 2015-12-30 | 骏马石油装备制造有限公司 | Heating furnace longitudinal joint weldment work station |
| US20200018424A1 (en) * | 2018-07-10 | 2020-01-16 | Comalander Fabrication and Services, LLC | Pipe Support System, And Method Of Use |
| CN114178742A (en) * | 2020-09-14 | 2022-03-15 | 中集安瑞环科技股份有限公司 | Tank assembly platform |
| CN113427181B (en) * | 2021-07-16 | 2023-01-17 | 深圳市皓辉能源科技有限公司 | Large-scale pipeline welding method |
| CN114084567B (en) * | 2021-12-21 | 2024-04-16 | 珠海格力智能装备有限公司 | AGV mobile vehicle |
| CN217177681U (en) * | 2021-12-30 | 2022-08-12 | 北京市市政一建设工程有限责任公司 | Fixing device for embedded pressure pipe in high fill section |
-
2022
- 2022-10-12 CN CN202211243760.6A patent/CN115301845A/en active Pending
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2023
- 2023-07-14 CN CN202321855480.0U patent/CN220484456U/en active Active
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| CN115301845A (en) | 2022-11-08 |
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