CN109650274B - Multipurpose rotary boom machine - Google Patents
Multipurpose rotary boom machine Download PDFInfo
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- CN109650274B CN109650274B CN201811586726.2A CN201811586726A CN109650274B CN 109650274 B CN109650274 B CN 109650274B CN 201811586726 A CN201811586726 A CN 201811586726A CN 109650274 B CN109650274 B CN 109650274B
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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
- B66C25/00—Cranes not provided for in groups B66C17/00 - B66C23/00
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a multipurpose rotary boom machine, which comprises a servo driving device and a telescopic rotating device, wherein the servo driving device comprises a rotary disc and a servo motor, the telescopic rotating device comprises a horizontal telescopic arm, a first hydraulic rod, a second hydraulic rod, a supporting arm, a first ball screw mechanism and a clamp mounting seat, and the rotary disc comprises an inner disc and an outer disc; the servo motor is connected with the outer disc through the speed reducer; the horizontal telescopic arm comprises a horizontal outer pipe and an inner pipe; one end of the first hydraulic rod is arranged on the inner pipe, and the other end of the first hydraulic rod is arranged on the horizontal outer pipe; the supporting arm is hinged to one end, far away from the horizontal outer pipe, of the inner pipe through a first hinge shaft, a first ball screw mechanism is installed on the supporting arm, and a first motor is installed on the supporting arm; one end of the second hydraulic rod is hinged on the inner pipe through a second hinge shaft, and the other end of the second hydraulic rod is hinged on the supporting arm through a third hinge shaft; the fixture mounting seat is mounted on a ball nut of the first ball screw mechanism.
Description
Technical Field
The invention belongs to the technical field of modern logistics cargo handling, and particularly relates to a multipurpose rotary boom machine.
Background
At present, in the field of modern logistics loading and unloading, the loading and unloading equipment is single in form, for example, a dock container needs to adopt a machine capable of bearing large gravity due to large volume and weight, so that loading, unloading and carrying of the container mainly depend on a gantry crane; the bulk cargo such as ore sand is mainly transported by chain transmission and belt transmission because the bulk cargo needs to be collected for smooth and quick transportation; the above-described attaching and detaching tools are narrow in application range, and mainly used in a specific working environment. For goods transported on roads and in logistics storage, a crane and a forklift are generally used for loading and unloading, and although the loading and unloading mode is high in flexibility, the loading and unloading efficiency and the automation level are low.
Along with the great demand of modern logistics on efficiency, the automation level of the loading and unloading link is improved, and further the loading and unloading efficiency is improved, so that the method is an important problem to be solved in the technical field of modern logistics loading and unloading.
Disclosure of Invention
In view of the above-identified deficiencies in the art or needs for improvement, the present invention provides a multi-purpose rotary boom machine that has high loading and unloading efficiency and automation level, high flexibility, and a wide range of applications.
To achieve the above object, according to one aspect of the present invention, there is provided a multipurpose rotary boom machine characterized by comprising a servo drive device and a telescopic rotary device, wherein the servo drive device comprises a rotating disk and a servo motor, the telescopic rotary device comprises a horizontal telescopic arm, a first hydraulic rod, a second hydraulic rod, a support arm, a first ball screw mechanism and a clamp mount, wherein,
the rotating disc comprises an inner disc and an outer disc which is coaxially sleeved on the inner disc and can rotate around the inner disc, and the central lines of the inner disc and the outer disc are both vertically arranged;
the servo motor is connected with the outer disc through a speed reducer so as to drive the outer disc to rotate;
the horizontal telescopic arm comprises a horizontal outer pipe and an inner pipe, one end of the inner pipe extends into the horizontal outer pipe, the horizontal outer pipe is fixedly connected to the outer disc, and one end of the inner pipe extends into the horizontal outer pipe; one end of the inner pipe, which is far away from the horizontal outer pipe, is bent towards the obliquely upper part or the obliquely lower part to form an inclined section, and an included angle between the inclined section and the horizontal section of the inner pipe is an obtuse angle, so that the guide rail of the first ball screw mechanism can be rotated to a horizontal state and a vertical state;
the first hydraulic rod is horizontally arranged, and one end of the first hydraulic rod is installed on the inner pipe, and the other end of the first hydraulic rod is installed on the horizontal outer pipe, so that the inner pipe is driven to move along the longitudinal direction of the horizontal outer pipe;
the supporting arm is hinged to one end, far away from the horizontal outer pipe, of the inner pipe through a first hinge shaft, the longitudinal direction of the first hinge shaft is perpendicular to the longitudinal direction of the horizontal outer pipe, the first ball screw mechanism is mounted on the supporting arm, the longitudinal direction of a guide rail of the first ball screw mechanism is consistent with the longitudinal direction of the supporting arm, and a first motor is mounted on the supporting arm and used for driving a screw of the first ball screw mechanism to rotate;
one end of the second hydraulic rod is hinged to the inner pipe through a second hinge shaft, and the other end of the second hydraulic rod is hinged to the supporting arm through a third hinge shaft so as to drive the supporting arm to rotate;
the first hinge shaft, the second hinge shaft and the third hinge shaft are all horizontally arranged and are parallel to each other;
the fixture mounting seat is mounted on a ball nut of the first ball screw mechanism.
Preferably, the telescopic rotating device further comprises a second ball screw mechanism and a second motor, wherein the fixture mounting base is mounted on the ball nut of the first ball screw mechanism through the second ball screw mechanism, the ball nut of the second ball screw mechanism is fixedly connected with the fixture mounting base, the guide rail of the second ball screw mechanism is fixedly connected with the ball nut of the first ball screw mechanism, and the guide rail of the second ball screw mechanism is provided with the second motor for driving the screw of the second ball screw mechanism to rotate.
Preferably, the jig mount includes a support base and a guide pipe mounted on the support base, and the support base is mounted on a ball nut of the first ball screw mechanism, and the guide pipe is parallel to a guide rail of the first ball screw mechanism.
Preferably, the servo driving device is provided with a plurality of servo driving devices, correspondingly, the telescopic rotating device is also provided with a plurality of servo motors, the rotating disks and the servo motors of the servo driving devices are arranged in a staggered mode and are superposed, and the outer disk of each servo driving device is connected with the horizontal outer tube of the telescopic rotating device.
Preferably, each telescopic rotating device further comprises a second ball screw mechanism and a second motor, wherein the fixture mounting seat is mounted on the ball nut of the first ball screw mechanism through the second ball screw mechanism, the ball nut of the second ball screw mechanism is fixedly connected with the fixture mounting seat, the guide rail of the second ball screw mechanism is fixedly connected with the ball nut of the first ball screw mechanism, and the guide rail of the second ball screw mechanism is provided with the second motor for driving the screw of the second ball screw mechanism to rotate.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1) in consideration of the aspects of loading and unloading efficiency, automation level, flexibility, application range and the like, the servo motor drives the outer disc to rotate and the horizontal telescopic arm to rotate around the axis of the rotating disc, the first hydraulic rod drives the inner tube of the horizontal telescopic arm to stretch and retract, the second hydraulic rod drives the supporting arm to rotate, and the first ball screw can drive the clamp to move, so that a wider goods taking range can be covered;
2) according to the invention, a proper tail end clamp can be arranged on the clamp mounting seat according to the types of goods to be loaded and unloaded, so that the flexibility is strong; and through the motion of the first ball screw on the supporting arm, the first ball nut can drive the goods on the clamp to move along the longitudinal direction of the supporting arm, and the goods can be loaded
3) The invention can be matched with other equipment, for example, can be arranged on a lifting telescopic arm or a support column according to the operation environment, greatly improves the automation level of loading and unloading goods, can be applied to loading and unloading of stations, ports, airports and warehouses, has wide application range and can be suitable for the change of large-range distance and height.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a rotating disk of the present invention;
fig. 3 is a schematic view of a support arm structure according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 3, a multipurpose rotary boom machine comprises a servo driving device and a telescopic rotating device, wherein the servo driving device comprises a rotating disc and a servo motor, the telescopic rotating device comprises a horizontal telescopic boom 3, a first hydraulic rod 4, a second hydraulic rod 5, a supporting arm 6, a first ball screw mechanism and a clamp mounting seat, wherein,
the rotating disc comprises an inner disc and an outer disc which is coaxially sleeved on the inner disc and can rotate around the inner disc, and the central lines of the inner disc and the outer disc are both vertically arranged; the servo motor is connected with the outer disc through a speed reducer so as to drive the outer disc to rotate; the speed reducer can be directly connected with the outer disc through a flange, the outer disc can also be driven to rotate through a transmission mechanism, and the inner disc can be fixed on any fixed object to bear the outer disc; in addition, as a preferable mode, the rotating disc can adopt a bearing piece, the bearing capacity of the bearing piece is large, the outer disc is the outer ring of the bearing piece, the inner disc is the inner ring of the bearing piece, and the speed reducer drives the outer ring of the bearing piece to rotate;
the horizontal telescopic arm 3 comprises a horizontal outer pipe and an inner pipe, one end of the inner pipe extends into the horizontal outer pipe, the horizontal outer pipe is fixedly connected to the outer disc, and one end of the inner pipe extends into the horizontal outer pipe;
the first hydraulic rod 4 is horizontally arranged, and one end thereof is mounted on the inner pipe and the other end thereof is mounted on the horizontal outer pipe for driving the inner pipe to move along the longitudinal direction of the horizontal outer pipe;
the supporting arm 6 is hinged to one end, far away from the horizontal outer pipe, of the inner pipe through a first hinge shaft, the longitudinal direction of the first hinge shaft is perpendicular to the longitudinal direction of the horizontal outer pipe, the supporting arm 6 is provided with the first ball screw mechanism, the first ball screw mechanism is provided with a first guide rail 8, a first screw 9, a first sliding block 13, a first sliding table 18 and a first ball nut, the longitudinal direction of the first guide rail 8 is consistent with the longitudinal direction of the supporting arm 6, and the supporting arm 6 is provided with a first motor 7 for driving the first screw 9 to rotate;
one end of the second hydraulic rod 5 is hinged on the inner pipe through a second hinge shaft, and the other end of the second hydraulic rod is hinged on the supporting arm 6 through a third hinge shaft, so that the supporting arm 6 is driven to rotate;
the first hinge shaft, the second hinge shaft and the third hinge shaft are all horizontally arranged and are parallel to each other;
the clamp mounting seat is mounted on a ball nut of the first ball screw mechanism, a proper clamp can be mounted on the clamp mounting seat according to the type of goods, and the clamp is in signal connection with the control system and can automatically take and place the goods. The jig mount preferably includes a support base and a guide tube 15 mounted on the support base, and the support base is mounted on a ball nut of the first ball screw mechanism, and the guide tube 15 is parallel to the first guide rail 8.
Further, flexible rotary device still includes second ball screw mechanism and second motor 10, wherein, second ball screw mechanism has second guide rail 14, second lead screw 11, second slider 12, second slip table 19 and second ball nut, the anchor clamps mount pad passes through second ball screw mechanism installs on the first ball nut, and second guide rail 14 is parallel with first guide rail 8, second ball nut with anchor clamps mount pad fixed connection, second guide rail 14 with first ball screw mechanism's ball nut fixed connection, install second motor 10 on the second guide rail 14 for the drive second lead screw 11 is rotatory.
Referring to fig. 1, 3, there is shown a two-stage ball screw mechanism, which is divided into a first ball screw mechanism and a second ball screw mechanism, under the drive of the first motor 7, the first lead screw 9 rotates, thereby driving the first ball nut to move, the first ball nut is provided with a first slide block 13, thereby driving the first sliding table 18 arranged on the first sliding block 13 to do linear motion along the longitudinal direction of the supporting arm 6, the second ball screw mechanism is arranged on the first sliding table 18, under the drive of the second motor 10, the second lead screw 11 rotates, thereby driving the second ball nut to move, the second ball nut is provided with a second slide block 12, thereby driving the second sliding table 19 mounted on the second sliding block 12 to make linear motion along the longitudinal direction of the supporting arm 6, since the guide pipe 15 is mounted on the second slide table 19, the guide pipe 15 is linearly moved in the longitudinal direction of the second guide rail 14. The two-stage ball screw mechanism can be operated simultaneously, thereby increasing the speed of the longitudinal movement of the load along the support arm 6.
Furthermore, one end of the inner pipe, which is far away from the horizontal outer pipe, is bent towards the oblique upper part or the oblique lower part to form an inclined section, and an included angle between the inclined section and the horizontal section of the inner pipe is an obtuse angle, so that the first guide rail 8 can be rotated to a horizontal state and a vertical state, and the goods with horizontal or vertical requirements can be conveniently taken and placed according to actual requirements.
Further, each telescopic rotating device further comprises a second ball screw mechanism and a second motor 10, wherein the fixture mounting seat is mounted on the ball nut of the first ball screw mechanism through the second ball screw mechanism, the ball nut of the second ball screw mechanism is fixedly connected with the fixture mounting seat, the second guide rail 14 is fixedly connected with the ball nut of the first ball screw mechanism, and the second motor 10 is mounted on the second guide rail 14 and used for driving the second screw 11 to rotate.
Further, the servo driving device is provided with a plurality of servo driving devices, correspondingly, the telescopic rotating device is also provided with a plurality of telescopic rotating devices, the rotating disks and the servo motors of the servo driving devices are arranged in a staggered mode and are overlapped together, and the outer disk of each servo driving device is connected with the horizontal outer tube of the telescopic rotating device respectively, so that a plurality of clamps can be driven to participate in work together. Referring to fig. 1 and 2, two rotating disks and two servo motors are shown, wherein the two rotating disks are respectively composed of an upper rotating disk 1 and a lower rotating disk 2, the upper rotating disk and the lower rotating disk have the same central shaft, the outer disk of each rotating disk is connected with a horizontal telescopic arm 3, the two servo motors are respectively a first servo motor 16 and a second servo motor 17, and the upper rotating disk 1 and the lower rotating disk 2 are driven to rotate by the first servo motor 16 and the second servo motor 17. When the device is operated, the inner disc and the fixed object are fixed, and the outer disc rotates around the axis of the outer disc under the driving of the servo motor; the inner disk is hollow and can be used for wiring and tubing to simplify the design of the device. Fig. 1 and 2 show two horizontal telescopic arms 3 respectively mounted on an upper layer rotating disc 1 and a lower layer rotating disc 2; the upper layer rotating disc 1 and the lower layer rotating disc 2 respectively rotate to drive the horizontal telescopic arm 3 to rotate; meanwhile, the telescopic length of the horizontal telescopic arm 3 can be controlled by the first hydraulic rod 4 according to the distance for loading and unloading goods.
The horizontal operation range of the rotary suspension arm mechanism can be adjusted according to the horizontal telescopic arm 3; the rotation track of the horizontal telescopic boom 3 forms a circle, and the circular ring interval formed by the maximum telescopic position and the minimum telescopic position is the horizontal operation range of the rotary boom mechanism of the invention.
The power system of the invention is divided into a hydraulic system and a servo motor system, and the control system controls the rotation matching of the two horizontal rotating arms.
The horizontal telescopic arm 3 can horizontally extend and retract according to the loading and unloading distance, and the first ball screw mechanism and/or the second ball screw mechanism can drive the clamp to move according to the height of butted goods, so that the horizontal telescopic arm can be suitable for the change of large-range distance and height, and has strong universality and practicability.
The multipurpose rotary boom machine improves the automation level of cargo loading and unloading, improves the cargo loading and unloading efficiency through the cooperation of other loading and unloading equipment, has stronger adaptability and flexibility, and is suitable for the change of large-range distance and height.
The rotary disc drives the rotary arm to rotate, so that the automatic loading and unloading of cargos are realized, the automation level of loading and unloading cargos is improved, the rotary disc can be matched with other loading and unloading equipment, the efficiency and the speed of loading and unloading cargos are greatly improved, and the popularization of the loading and unloading industry is facilitated.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. A multipurpose rotary arm-lifting machine is characterized by comprising a servo driving device and a telescopic rotating device, wherein the servo driving device comprises a rotary disc and a servo motor, the telescopic rotating device comprises a horizontal telescopic arm, a first hydraulic rod, a second hydraulic rod, a supporting arm, a first ball screw mechanism and a clamp mounting seat, wherein,
the rotating disc comprises an inner disc and an outer disc which is coaxially sleeved on the inner disc and can rotate around the inner disc, and the central lines of the inner disc and the outer disc are both vertically arranged;
the servo motor is connected with the outer disc through a speed reducer so as to drive the outer disc to rotate;
the horizontal telescopic arm comprises a horizontal outer pipe and an inner pipe, one end of the inner pipe extends into the horizontal outer pipe, the horizontal outer pipe is fixedly connected to the outer disc, and one end of the inner pipe extends into the horizontal outer pipe; one end of the inner pipe, which is far away from the horizontal outer pipe, is bent towards the obliquely upper part or the obliquely lower part to form an inclined section, and an included angle between the inclined section and the horizontal section of the inner pipe is an obtuse angle, so that the guide rail of the first ball screw mechanism can be rotated to a horizontal state and a vertical state;
the first hydraulic rod is horizontally arranged, and one end of the first hydraulic rod is installed on the inner pipe, and the other end of the first hydraulic rod is installed on the horizontal outer pipe, so that the inner pipe is driven to move along the longitudinal direction of the horizontal outer pipe;
the supporting arm is hinged to one end, far away from the horizontal outer pipe, of the inner pipe through a first hinge shaft, the longitudinal direction of the first hinge shaft is perpendicular to the longitudinal direction of the horizontal outer pipe, the first ball screw mechanism is mounted on the supporting arm, the longitudinal direction of a guide rail of the first ball screw mechanism is consistent with the longitudinal direction of the supporting arm, and a first motor is mounted on the supporting arm and used for driving a screw of the first ball screw mechanism to rotate;
one end of the second hydraulic rod is hinged to the inner pipe through a second hinge shaft, and the other end of the second hydraulic rod is hinged to the supporting arm through a third hinge shaft so as to drive the supporting arm to rotate;
the first hinge shaft, the second hinge shaft and the third hinge shaft are all horizontally arranged and are parallel to each other;
the fixture mounting seat is mounted on a ball nut of the first ball screw mechanism.
2. A multi-purpose rotary boom machine according to claim 1, wherein said telescopic rotating means further comprises a second ball screw mechanism and a second motor, wherein said clamp mounting base is mounted on the ball nut of said first ball screw mechanism through said second ball screw mechanism, and the ball nut of said second ball screw mechanism is fixedly connected with said clamp mounting base, the guide rail of said second ball screw mechanism is fixedly connected with the ball nut of said first ball screw mechanism, and the guide rail of said second ball screw mechanism is mounted with a second motor for driving the screw of said second ball screw mechanism to rotate.
3. A multi-purpose rotary boom machine according to claim 1, characterized in that said clamp mounting seat comprises a support seat and a guide tube mounted on the support seat, and said support seat is mounted on a ball nut of said first ball screw mechanism, said guide tube being parallel to a guide rail of said first ball screw mechanism.
4. A multi-purpose rotary boom machine according to claim 1, wherein said servo driving means is provided in plurality, and correspondingly said telescopic rotary means is also provided in plurality, and the rotating disks of said servo driving means and the servo motors are alternately arranged and stacked, and the outer disk of each said servo driving means is connected to a horizontal outer tube of said telescopic rotary means.
5. A multi-purpose rotary boom machine according to claim 4, wherein each of said telescopic rotary devices further comprises a second ball screw mechanism and a second motor, wherein said clamp mount is mounted on the ball nut of said first ball screw mechanism through said second ball screw mechanism, and the ball nut of said second ball screw mechanism is fixedly connected with said clamp mount, the guide rail of said second ball screw mechanism is fixedly connected with the ball nut of said first ball screw mechanism, and the guide rail of said second ball screw mechanism is mounted with a second motor for driving the screw of said second ball screw mechanism to rotate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811586726.2A CN109650274B (en) | 2018-12-25 | 2018-12-25 | Multipurpose rotary boom machine |
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| CN201811586726.2A CN109650274B (en) | 2018-12-25 | 2018-12-25 | Multipurpose rotary boom machine |
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| CN109650274A CN109650274A (en) | 2019-04-19 |
| CN109650274B true CN109650274B (en) | 2020-04-24 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4130097A1 (en) * | 1991-09-11 | 1993-03-18 | Johann Rettinger Praezisions A | Automatic pallet and workpiece changing device for machine tools - has slewing jib carrying indexable rotating arms at the end fitted with workholders or clamps |
| CN200978142Y (en) * | 2006-12-08 | 2007-11-21 | 上海名康机械设备有限公司 | Boom with centripetal rotating device and electromagnetic induction positioning device |
| CN101786489A (en) * | 2009-12-21 | 2010-07-28 | 镇江维斯特船用设备有限公司(外商独资) | Telescopic boat davit |
| CN201914722U (en) * | 2011-01-18 | 2011-08-03 | 西安银马实业发展有限公司 | Full circle swinging intelligent palletizer |
| CN103318772A (en) * | 2013-06-25 | 2013-09-25 | 山东力控矿山设备有限公司 | Loading and unloading machine for mining |
| CN106185370A (en) * | 2016-08-18 | 2016-12-07 | 武汉地和智能有限公司 | A kind of harbour automatic loading/unloading conveying device |
-
2018
- 2018-12-25 CN CN201811586726.2A patent/CN109650274B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4130097A1 (en) * | 1991-09-11 | 1993-03-18 | Johann Rettinger Praezisions A | Automatic pallet and workpiece changing device for machine tools - has slewing jib carrying indexable rotating arms at the end fitted with workholders or clamps |
| CN200978142Y (en) * | 2006-12-08 | 2007-11-21 | 上海名康机械设备有限公司 | Boom with centripetal rotating device and electromagnetic induction positioning device |
| CN101786489A (en) * | 2009-12-21 | 2010-07-28 | 镇江维斯特船用设备有限公司(外商独资) | Telescopic boat davit |
| CN201914722U (en) * | 2011-01-18 | 2011-08-03 | 西安银马实业发展有限公司 | Full circle swinging intelligent palletizer |
| CN103318772A (en) * | 2013-06-25 | 2013-09-25 | 山东力控矿山设备有限公司 | Loading and unloading machine for mining |
| CN106185370A (en) * | 2016-08-18 | 2016-12-07 | 武汉地和智能有限公司 | A kind of harbour automatic loading/unloading conveying device |
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| CN109650274A (en) | 2019-04-19 |
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