WO2019041996A1 - Poignée de détection et dispositif de transport - Google Patents

Poignée de détection et dispositif de transport Download PDF

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Publication number
WO2019041996A1
WO2019041996A1 PCT/CN2018/093065 CN2018093065W WO2019041996A1 WO 2019041996 A1 WO2019041996 A1 WO 2019041996A1 CN 2018093065 W CN2018093065 W CN 2018093065W WO 2019041996 A1 WO2019041996 A1 WO 2019041996A1
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WO
WIPO (PCT)
Prior art keywords
load
sensor
group
transmitting portion
load transmitting
Prior art date
Application number
PCT/CN2018/093065
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English (en)
Chinese (zh)
Inventor
孟西闻
蔡昌荣
李满天
贾王强
邓静
李生广
刘国才
王鑫
蒋振宇
李爱镇
Original Assignee
深圳龙海特机器人科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳龙海特机器人科技有限公司 filed Critical 深圳龙海特机器人科技有限公司
Publication of WO2019041996A1 publication Critical patent/WO2019041996A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
    • B66C23/166—Simple cranes with jibs which may be fixed or can slew or luff
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
    • B66C13/54—Operator's stands or cabins
    • B66C13/56—Arrangements of handles or pedals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear

Definitions

  • the invention belongs to the field of mechanical technology, in particular to an inductive handle and a handling device.
  • the handling device is a power-assisting device for carrying heavy objects, which greatly reduces the labor burden of workers and avoids the unexpected risk of human lifting. Therefore, it is increasingly valued and welcomed by people.
  • buttons panel switches which are often easily damaged by mechanical buttons. And the general button panel switch requires two hands to operate, which is very inconvenient.
  • Some panel switches with measurement control need to be set on the hoisting mainframe due to the limitation of the structure.
  • the indirect measurement method causes the measurement path to be too long, the conversion mechanism is numerous, the distortion is easy, and the sensitivity is also low.
  • the present invention provides an inductive handle and handling device that is easy to operate and has extremely high measurement accuracy and sensitivity.
  • An inductive handle having:
  • a housing having a first through portion
  • the holding group configured to receive a driving load input by a user, slidably held by the first through portion, and having a second through portion axially parallel to the first through portion;
  • a load bearing group having a first end, a second end, a load transfer portion connecting the first end and the second end, and a first sensor, wherein the first end is configured to receive a load applied by a weight, The second end is configured to input a carrying load for carrying the weight, the load transmitting portion passes through the first through portion and the second through portion together, and the first sensor is configured as a measuring station The load of the weight;
  • An inductive group having a second sensor configured to measure the driving load and generate a corresponding detection signal for output.
  • the two ends of the second sensor are respectively connected to the holding group and the carrying group by a connecting relationship in which one end is active and one end is fixed.
  • one end of the holding group near the second end is provided with a movable groove, and the movable end of the second sensor is slidably held in the movable groove, the second The fixed end of the sensor is fixedly connected to the carrying group.
  • the movable groove is arranged along a circumferential direction of the first through portion, and the movable groove has a clearance fit relationship with a movable end of the second sensor.
  • the load transmitting portion is slidably held by the second through portion, and the holding group and/or the carrying group has a configuration configured to prevent the load transmitting portion and the grip Hold the separated part of the limit.
  • the second through portion has a first stepped surface and a second stepped surface, and the first stepped surface and the second stepped surface are respectively connected to the load transmitting portion by an elastic element, The load transmitting portion is slidably held between the first step surface and the second step surface.
  • the second through portion and/or the load transmitting portion is provided with a circumferential limiting portion configured to block the holding group and the load The circumferential movement between the transmissions.
  • the first end is fixedly connected to the load transmitting portion, and the first end is connected with a hook configured to hook a heavy object, and the hook passes through the U-shaped hanging ring and the The first end is connected.
  • the load transmitting portion is rotatably held on the second end, and the load transmitting portion and the second end do not move relative to each other along the rotating axial direction of the load transmitting portion
  • the second end is provided with a conductive slip ring.
  • a handling device having a hoisting main body, a swivel folding arm and an inductive handle as described above, the hoisting main body surface being wound with a flexure, the flexure being tensioned on the swivel folding arm and The second end is connected.
  • the utility model has a casing, a holding group, a bearing group and a sensing group, wherein the holding group is receivable for the user to receive the driving load and is slidably held on the casing, the bearing group has a first end, a second end, and a load transmitting portion And the first sensor can carry the weight, the sensing group has the second sensor and can measure the driving load received by the holding group, directly perceive the user's motion intention, can complete the operation with one-hand touch, and has a minimal measurement path The measurement accuracy is ensured, and the handling device is sensitive and rapid, and an inductive handle and a handling device with convenient operation, high measurement accuracy and rapid response are provided.
  • Embodiment 1 is a schematic structural view of an inductive handle provided in Embodiment 1 of the present invention.
  • FIG. 2 is a schematic structural view of the inductive handle according to Embodiment 1 of the present invention after removing a casing;
  • Embodiment 3 is a front cross-sectional view of the inductive handle provided in Embodiment 1 of the present invention.
  • Figure 4 is a partial enlarged view of the induction handle of Figure 3;
  • Embodiment 5 is a partial, left side, cross-sectional view of the inductive handle provided by Embodiment 1 of the present invention.
  • FIG. 6 is a schematic structural view of a grip group of an inductive handle according to Embodiment 1 of the present invention.
  • Figure 7 is a partially enlarged cross-sectional front elevational view of the inductive handle provided in Embodiment 1 of the present invention.
  • Figure 8 is a schematic structural view of a conveying device according to Embodiment 1 of the present invention.
  • Embodiment 9 is a partial front cross-sectional view of the inductive handle provided by Embodiment 2 of the present invention.
  • FIG. 10 is a partial, fragmentary, cross-sectional view of the inductive handle according to Embodiment 2 of the present invention.
  • 10000-handling device 1000-induction handle, 0100-shell, 0110-first penetration, 0200-grip group, 0210-second penetration, 0211-first step, 0212-second step, 0213 - first keyway, 0220-active groove, 0230-holding limit, 0240-elastic element, 0300-bearing set, 0310-first end, 0311-hook, 0312-U type hanging ring, 0320- Second end, 0321-bearing, 0322-fastening nut, 0323-stop washer, 0234-conductive slip ring, 0325-loop, 0330-load transfer part, 0331-second keyway, 0332-limit key, 0333 - Transfer side limit, 0340 - first sensor, 0400 - induction group, 0410 - second sensor, 2000 - hoisting main unit, 3000 - swivel folding arm, 4000 - flexure.
  • the inductive handle and handling device will be described more fully hereinafter with reference to the associated drawings.
  • a preferred embodiment of the inductive handle and handling device is shown in the drawings.
  • the inductive handle and handling device can be implemented in many different forms and is not limited to the embodiments described herein. Rather, the purpose of providing these embodiments is to make the disclosure of the inductive handle and handling device more thorough and comprehensive.
  • the inductive handle 1000 has a housing 0100, a holding group 0200, a carrier group 0300, and a sensing group 0400 configured to sense a user's motion intention to drive the machine to perform a corresponding motion.
  • the inductive handle 1000 can be viewed as a sensor configured to capture the user's intent to move. The structure of each part of the inductive handle 1000 is described in detail as follows.
  • the inductive handle 1000 has a housing 0100 having a first through portion 0110.
  • the housing 0100 has a hollow structure configured to mount and house various types of electrical/electronic components.
  • the surface of the housing 0100 is provided with an operation button, a display screen, an emergency stop switch, etc., for the user to observe and operate.
  • the inductive handle 1000 further has a grip group 0200 configured to receive a driving load input by a user.
  • the grip group 0200 is slidably held by the first penetration portion 0110 and has a second penetration portion 0210 that is axially parallel to the first penetration portion 0110.
  • the grip group 0200 is configured to be held by a user and correspondingly moved under a driving load input by the user.
  • the grip set 0200 can take a variety of configurations for gripping.
  • the grip set 0200 has a rounded surface shape with a better grip feel for ease of user application.
  • first through portion 0110 and the second through portion 0210 have a coaxial relationship.
  • first through portion 0110 and the second through portion 0210 are both through holes.
  • the inductive handle 1000 further has a carrier group 0300.
  • the carrier group 0300 has a first end 0310, a second end 0320, and a load transmitting portion 0330 connecting the first end 0310 and the second end 0320.
  • the first end 0310 is arranged to receive the load applied by the weight, and the second end 0320 is arranged to input the transport load for carrying the heavy object, and the load transmitting portion 0330 passes through the first through portion 0110 and the second through portion 0210 together.
  • the carrier set 0300 is configured to connect a heavy object that needs to be handled with a drive host of the handling device 10000.
  • the first end 0310 is configured to connect a weight, and the weight applies a heavy load to the first end 0310 and is transmitted to the second end 0320 through the load transmitting portion 0330.
  • the second end 0320 is configured to be connected to the driving host of the transport device 10000, and the driving host inputs the transport load to the second end 0320, and is reversely transmitted to the first end 0310 via the load transmitting portion 0330, and finally acts on the weight, thereby achieving heavy Handling of things.
  • the carrier group 0300 is primarily configured to lift heavy loads and the handling load is a lifting load.
  • the load transmitting portion 0330 further has a first sensor 0340 configured to measure the load of the heavy object.
  • the first sensor 0340 outputs the measured value to the driving host to drive the host to accurately feed back the output handling load, ensuring an exact match between the handling load and the weight of the weight.
  • the first sensor 0340 can employ various sensors such as a displacement sensor, a force sensor, and the like.
  • the first sensor 0340 employs a load cell, further preferably a tension pressure sensor, which provides a highly accurate measurement of the weight load.
  • load transfer portion 0330 is coupled to second end 0320 by first sensor 0340.
  • first sensor 0340 the first end 0310, the load transmitting portion 0330, the first sensor 0340, and the second end 0320 are sequentially connected in series, and the load and the feedback output are sequentially transmitted, so that the force transmission and the feedback action are more sensitive and quick.
  • the load transmitting portion 0330 is slidably held by the second penetration portion 0210, and the grip group 0200 and/or the carrier group 0300 has a stopper configured to prevent the load transmitting portion 0330 from being separated from the grip group 0200.
  • the grip group 0200 has a relative movement with the load transmitting portion 0330, and the relative movement includes at least an axial movement along the second penetration portion 0210.
  • the grip group 0200 also has a relative motion between the weight fixed to the first end 0310.
  • the limiting portion may include a holding side limiting portion 0230 and/or a transmitting side limiting portion 0333 configured to limit the sliding stroke of the load transmitting portion 0330 to avoid slipping separation.
  • the second through portion 0210 and/or the load transmitting portion 0330 are provided with a circumferential limiting portion configured to prevent circumferential movement between the grip group 0200 and the load transmitting portion 0330.
  • the circumferential limiting portion may be separately provided to the second penetration portion 0210 or the load transmission portion 0330, or may be disposed on the second penetration portion 0210 and the load transmission portion 0330 in accordance with the configuration.
  • the circumferential limiting portion can adopt various limiting structures, including key connections, limiting protrusions and the like, to prevent circumferential rotation and torsion between the holding group 0200 and the load transmitting portion 0330, and avoid the load transmitting portion.
  • 0330 is over-rotated and causes torsional damage to components.
  • the circumferential stop has a certain clearance to maintain flexibility between the grip group 0200 and the load transfer portion 0330.
  • the circumferential limiting portion is connected by a key.
  • the second penetration portion 0210 has a first key groove 0213
  • the load transmission portion 0330 has a second key groove 0331
  • a limit key 0332 is disposed between the first key groove 0213 and the second key groove 0331.
  • the first key groove 0213, the second key groove 0331, and the limit key 0332 constitute a circumferential limit portion.
  • the second key groove 0331 penetrates the second penetration portion 0210 along the axial direction of the second penetration portion 0210.
  • the limit key 0332 is held in the second key groove 0331 and integrally slides with the load transmitting portion 0330.
  • the limit key 0332 has a matching gap between the first key groove 0213 and the second key groove 0331.
  • the matching gap can ensure a certain degree of radial freedom, axial freedom and rotational freedom between the load transmitting portion 0330 and the holding group 0200, so as to maintain a certain flexibility between the two to avoid jamming.
  • the first key groove 0213 applies a limit action to the load transmitting portion 0330 via the limit key 0332, thereby preventing the load transmitting portion 0330 from rotating excessively and causing torsional damage to the component (particularly the second sensor 0410).
  • the first end 0310 is fixedly coupled to the load transmitting portion 0330. Further preferably, the first end 0310 is connected with a hook 0311 configured to hook a weight, and the hook 0311 is connected to the first end 0310 via the U-shaped loop 0312.
  • first end 0310 and the load transfer portion 0330 are fixed by a pin connection with integral motion characteristics therebetween.
  • the hook 0311 is hinged to the first end 0310 by a U-shaped loop 0312 and is configured to hang a heavy object.
  • the first end 0310 can also be provided with other mechanisms configured to connect the weight.
  • the load transmitting portion 0330 is rotatably held on the second end 0320, and the load transmitting portion 0330 and the second end 0320 do not move relative to each other along the rotational axis of the load transmitting portion 0330.
  • a bearing 0321 is sleeved between the load transmitting portion 0330 and the second end 0320, and the bearing 0321 is locked by the fastening nut 0322 and the stopper washer 0323 and the second end 0320 to make the load transmitting portion 0330 is rotatably held on the bearing 0321.
  • the second end 0320 is provided with a conductive slip ring 0324.
  • the conductive slip ring 0324 is also called a collector ring, or a rotating joint, a rotating electrical interface, a slip ring, a collecting ring, a return ring, a coil, a commutator, an adapter, and is an image and data for realizing two relative rotating mechanisms. Precision power transmission device for signal and power transmission.
  • the conductive slip ring 0324 can ensure that the cable between the load transmitting portion 0330 and the second end 0320 is not twisted and broken, and the signal transmission is good.
  • the inductive handle 1000 also has an inductive group 0400, and the inductive group 0400 has a second sensor 0410 configured to measure a driving load and generate a corresponding detection signal for output.
  • the second sensor 0410 can quickly acquire the driving load input by the user and output it to the driving host.
  • the driving host outputs corresponding feedback force according to this, so that the weight obtains the corresponding displacement or movement speed, and realizes the handling of the heavy object.
  • the driving load is configured to control the lifting or lowering of the weight in the vertical direction
  • the second sensor 0410 obtains the driving load and outputs the driving force to the driving host, and the driving host feeds back the corresponding lifting or lowering force. To make the weight increase or decrease.
  • the two ends of the second sensor 0410 are respectively connected to the holding group 0200 and the carrying group 0300 in a connection relationship in which one end is active and one end is fixed.
  • one of the grip group 0200 and the carrier group 0300 is movably coupled to the second sensor 0410 for relative motion, and the other is fixedly coupled to the second sensor 0410.
  • the second sensor 0410 still has a certain adaptive adjustment space, so as not to be stuck or broken.
  • one end of the grip set 0200 proximate the second end 0320 is provided with a movable recess 0220.
  • the movable end of the second sensor 0410 is slidably held in the movable recess 0220, and the fixed end of the second sensor 0410 is fixedly connected to the carrying group 0300.
  • the movable groove 0220 is arranged along the circumferential direction of the first through portion 0110, and the movable groove 0220 has a clearance fit relationship with the movable end of the second sensor 0410.
  • the sliding track of the movable groove 0220 is arranged along the circumferential direction of the first through portion 0110 so that the movable end of the second sensor 0410 can have a certain degree of rotational freedom along the sliding track.
  • the second sensor 0410 can have a certain adjustment space to avoid a slight rotation between the load transmitting portion 0330 and the holding group 0200. Torsion and break.
  • the second sensor 0410 can be directly embedded in the inductive handle 1000, or specifically embedded in the housing 0100, to avoid exposure and damage.
  • the second sensor 0410 can take various sensor forms, such as a displacement sensor, a force sensor, and the like.
  • the second sensor 0410 is preferably a displacement sensor, which is further described below based on this.
  • the displacement sensor indirectly measures the magnitude of the driving load by measuring the displacement of the holding group 0200 under the driving load.
  • the displacement sensor includes a contact displacement sensor and a non-contact displacement sensor.
  • the displacement sensor is a contact displacement sensor, and the contact displacement sensor is connected to the holding group 0200 and the carrier group 0300 through two ends by a movable relationship at one end and a fixed connection at one end.
  • the second through portion 0210 has a first stepped surface 0211 and a second stepped surface 0212.
  • the first stepped surface 0211 and the second stepped surface 0212 pass through the elastic element 0240 and the load transmitting portion 0330, respectively.
  • the connection, load transmitting portion 0330 is slidably held between the first stepped surface 0211 and the second stepped surface 0212.
  • the elastic member 0240 has an elastic deformation capability configured to achieve centering and resetting of the grip group 0200 and the load transmitting portion 0330.
  • the elastic member 0240 may be in the form of a spring, a spring, or the like.
  • the centering means that the load transmitting portion 0330 is located at the center of the second penetration portion 0210. Further, the sliding stroke of the load transmitting portion 0330 is located between the first stepped surface 0211 and the second stepped surface 0212, so that the motion controllability of the load transmitting portion 0330 is better.
  • the handling device 10000 has a hoisting main body 2000, a rotating folding arm 3000 and the above-mentioned induction handle 1000.
  • the hoisting main body 2000 is wound with a flexible member 4000 on the surface thereof, and the flexible member 4000 is tensioned on the rotating folding arm 3000 and the second End 0320 is connected.
  • the flexure 4000 can be in the form of a drive train, a drive belt, a drive line, and the like.
  • the flexure 4000 is a wire rope.
  • the second end 0320 is provided with a collar 0325, and the flexible member 4000 is wound around the collar 0325.
  • the turning arm 3000 rotates under the driving load, and the horizontal position of the weight changes.
  • the sensing handle 1000 senses the measured displacement and outputs a detection signal to the hoisting host 2000.
  • the hoisting main body 2000 retracts the flexure 4000 and applies a lifting load to the weight to change the vertical position of the weight.
  • the sensing group 0400 can measure the displacement of the holding group 0200 under the driving load, and the control system can calculate the driving load size, and adjust the hoisting speed of the hoisting host 2000 accordingly, thereby achieving precise control of the lifting speed.
  • the second sensor 0410 Since the second sensor 0410 is directly disposed on the sensing handle 1000, it belongs to the direct measurement mode, which can eliminate the interference of the switching mechanism gap and damping caused by the indirect measurement mode, and the data transmission path is short, thereby avoiding interference distortion during data transmission.
  • the function of ensuring the user's intention of motion is accurate and sensitive.
  • the second sensor 0410 of the present embodiment takes the form of a force sensor. Accordingly, the second penetration portion 0210 has a different structure.
  • the second sensor 0410 is a force sensor, which can directly measure the value of the driving load and convert it into an electrical signal and output it to the driving host.
  • the driving host outputs the feedback force according to the data of the driving load, so that the weight obtains the corresponding displacement or moving speed, and realizes the handling of the heavy object.
  • the second through portion 0210 remains integrally penetrated and has a clearance fit with the load transmitting portion 0330 so as to have a relative motion between the holding group 0200 and the carrying group 0300, providing a motion basis for acquiring the driving load of the user.
  • the force sensor has excellent sensitivity and quickly senses the driving load.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)
  • Manipulator (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)

Abstract

La présente invention concerne une poignée de détection, pourvue : d'un boîtier (0100), pourvu d'une première partie traversante (0110) ; d'un ensemble de retenue (0200), utilisé pour recevoir une charge d'entraînement entrée par un utilisateur, retenu à coulissement au niveau de la première partie traversante (0110), et pourvu d'une seconde partie traversante (0210) qui est axialement parallèle à la première partie traversante (0110) ; un ensemble palier (0300), pourvu d'une première extrémité (0310), d'une seconde extrémité (0320), d'une partie de transmission de charge (0330) reliée à la première extrémité (0310) et à la seconde extrémité (0320), et d'un premier capteur (0340), la première extrémité (0310) étant utilisée pour recevoir une charge appliquée par des objets lourds, la seconde extrémité (0320) étant utilisée pour entrer une charge de transport permettant de transporter les objets lourds, la partie de transmission de charge (0330) pénétrant dans la première partie traversante (0110) et dans la seconde partie traversante (0210), et le premier capteur (0340) étant utilisé pour mesurer la charge des objets lourds ; un ensemble de détection (0400), pourvu d'un second capteur (0410) permettant de mesurer la charge d'entraînement, et utilisé pour générer et émettre des signaux de détection correspondants. L'invention concerne également un dispositif de transport pourvu d'une unité principale de treuil, d'un bras de pliage rotatif et de la poignée de détection. La poignée de détection et le dispositif de transport ont comme avantages d'être pratiques à utiliser, de permettre l'obtention de mesures à une précision extrêmement élevée et de répondre rapidement.
PCT/CN2018/093065 2017-09-01 2018-06-27 Poignée de détection et dispositif de transport WO2019041996A1 (fr)

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CN201710777465.1 2017-09-01
CN201710777465.1A CN107381373B (zh) 2017-09-01 2017-09-01 感应手柄与搬运装置

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CN107381373B (zh) * 2017-09-01 2019-06-14 深圳龙海特机器人科技有限公司 感应手柄与搬运装置
CN109095352A (zh) * 2018-10-25 2018-12-28 安徽信息工程学院 起吊手柄
CN109573856B (zh) * 2019-01-25 2020-04-14 浙江杰特工贸股份有限公司 一种智能起吊装置
CN110054103A (zh) * 2019-04-24 2019-07-26 浙江杰特工贸股份有限公司 一种智能提升装置的控制系统及其控制方法
CN109956406A (zh) * 2019-04-24 2019-07-02 浙江杰特工贸股份有限公司 一种智能电动提升装置
CN111634836A (zh) * 2020-06-10 2020-09-08 合肥工业大学 一种助力提升设备操作手柄

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