CN110385702B - Door beam type metallurgical saw blade automatic overturning manipulator - Google Patents
Door beam type metallurgical saw blade automatic overturning manipulator Download PDFInfo
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- CN110385702B CN110385702B CN201910664140.1A CN201910664140A CN110385702B CN 110385702 B CN110385702 B CN 110385702B CN 201910664140 A CN201910664140 A CN 201910664140A CN 110385702 B CN110385702 B CN 110385702B
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- 230000007306 turnover Effects 0.000 claims abstract description 67
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 238000001179 sorption measurement Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 25
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 2
- 238000007599 discharging Methods 0.000 abstract description 3
- 238000003754 machining Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000009940 knitting Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Sawing (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an automatic overturning manipulator for a door beam type metallurgical saw blade. The device comprises a door-shaped frame, a first layer of travelling mechanism responsible for X-direction movement, a second layer of travelling mechanism responsible for Y-direction movement, a lifting mechanism responsible for Z-direction movement, a turnover mechanism and an electromagnetic adsorption mechanism; the one-layer travelling mechanism drives the transverse travelling gear to travel on the transverse toothed rail through the transverse speed reducing motor, so that the one-layer travelling vehicle is driven to move on the transverse light rail along the X direction; the two-layer travelling mechanism drives the longitudinal travelling gear to travel on the longitudinal toothed rail through the cooperation of the bevel gears, so that the two-layer travelling vehicle is driven to move on the longitudinal toothed rail along the Y direction; the lifting mechanism drives the sliding screw rod to rotate through the lifting gear motor, so that the sliding nut is driven to move up and down along the Z direction; the turnover mechanism drives the turnover platform to rotate through a turnover motor; the electromagnetic adsorption mechanism grabs and releases the metallurgical saw blade through the electromagnetic chuck. The invention can realize automatic feeding and discharging and overturning of the metallurgical saw blade in four degrees of freedom.
Description
Technical Field
The invention relates to metallurgical saw blade mechanical equipment, in particular to a door beam type metallurgical saw blade automatic overturning manipulator.
Background
With the increase of the variety and quantity of iron and steel products, the size of metallurgical saw blades to be cut is also increasing. Due to the characteristics of large diameter, large weight and the like of the metallurgical saw blade, manual carrying and overturning are inconvenient, more labor is consumed, labor intensity is high, and production efficiency is low.
Disclosure of Invention
The invention aims to solve the problems, and provides the door beam type metallurgical saw blade automatic overturning mechanical arm which can realize movement and overturning among various stations in the metallurgical saw blade machining process.
The invention solves the problems, and adopts the following technical scheme:
a door beam type metallurgical saw blade automatic overturning mechanical arm comprises a door frame, a first layer of travelling mechanism responsible for X-direction movement, a second layer of travelling mechanism responsible for Y-direction movement, a lifting mechanism responsible for Z-direction movement, an overturning mechanism and an electromagnetic adsorption mechanism;
the door-shaped frame is respectively provided with a transverse light rail and a transverse toothed rail for supporting a layer of travelling mechanism;
the first-layer travelling mechanism comprises a first-layer travelling vehicle arranged on a transverse light rail, transverse speed reducing motors are respectively arranged on cross beams at two sides of the first-layer travelling vehicle, transverse travelling gears matched with the transverse toothed rails are arranged on output shafts of the transverse speed reducing motors, and the transverse travelling gears are driven to travel on the transverse toothed rails through the transverse speed reducing motors, so that the first-layer travelling vehicle is driven to move on the transverse light rail along the X direction, and longitudinal light rails and longitudinal toothed rails are respectively arranged on longitudinal beams at two sides of the first-layer travelling vehicle;
the two-layer travelling mechanism comprises a two-layer travelling car arranged on a longitudinal light rail, a longitudinal driving motor, a speed reducer, a transverse transmission shaft and a vertical shaft are respectively arranged on a frame panel of the two-layer travelling car, the longitudinal driving motor and the speed reducer are used for driving the transverse transmission shaft to rotate, bevel gears are respectively arranged at the shaft ends of the transverse transmission shaft and the upper ends of the vertical shafts, longitudinal travelling gears matched with the longitudinal toothed rail are arranged at the lower ends of the vertical shafts, and the transmission shaft drives the longitudinal travelling gears to travel on the longitudinal toothed rail through the cooperation of the bevel gears, so that the two-layer travelling car is driven to move on the longitudinal toothed rail along the Y direction;
the lifting mechanism comprises a lifting gear motor arranged on the frame panel, a sliding screw rod vertically arranged downwards is connected to the shaft end of an output shaft of the lifting gear motor, a sliding nut is sleeved on the sliding screw rod, and the sliding screw rod is driven to rotate by the lifting gear motor, so that the sliding nut is driven to move up and down along the Z direction;
the turnover mechanism comprises a turnover motor, a turnover pinion, a turnover large gear and a turnover platform, wherein the turnover motor, the turnover pinion, the turnover large gear and the turnover platform are arranged on the sliding nut, the turnover pinion is arranged on an output shaft of the turnover motor, the turnover platform is hinged to the turnover motor, the turnover large gear is arranged on the turnover platform, and the turnover pinion is driven to be meshed with the turnover large gear through the turnover motor for transmission, so that the turnover platform is driven to rotate;
the electromagnetic adsorption mechanism comprises an electromagnetic chuck which is arranged on the lower end surface of the overturning platform and used for grabbing and placing the metallurgical saw blade.
Compared with the prior art, the invention adopting the technical scheme has the outstanding characteristics that:
(1) the automatic feeding and discharging and overturning of the metallurgical saw blade on four degrees of freedom can be realized, the productivity is liberated, and the processing efficiency and the processing quality are improved.
(2) Simple structure, convenient operation, the suitability is strong.
Preferably, the invention further adopts the technical scheme that:
the sliding nut is sleeved with a sleeve, and the upper end of the sleeve is fixed on the frame panel.
Four electromagnetic chucks are uniformly arranged, and the model number is XDA-50-27.
The two-side output shaft ends of the longitudinal driving motor and the speed reducer are respectively connected with one ends of two transverse transmission shafts through a shaft coupling, the transverse transmission shafts are fixedly arranged on a frame panel of the two-layer traveling vehicle through bearing seats, bevel gears are respectively fixedly arranged at the other ends of the two transverse transmission shafts, and the vertical shafts penetrate through the frame panel and are arranged on the frame panel through bearings.
The lower extreme of slide nut is provided with upset motor support, upset motor fixed mounting on upset motor support, is provided with the swing arm on the upset platform, and the upper end of swing arm articulates the lower extreme at the upset motor through the pivot, still is provided with the gear wheel support on the upset platform, and the center pin of upset gear wheel passes through lock nut to be fixed on the gear wheel support.
Drawings
FIG. 1 is a schematic perspective view of an embodiment of the present invention;
FIG. 2 is a schematic view of a partial enlarged structure of FIG. 1A;
FIG. 3 is a schematic view of the structure of FIG. 1B in a partially enlarged form;
FIG. 4 is a schematic view of the structure of FIG. 1C in a partially enlarged form;
FIG. 5 is a schematic diagram of a front view of an embodiment of the present invention;
FIG. 6 is a schematic view of the enlarged partial structure of D in FIG. 5;
FIG. 7 is a schematic view of the enlarged partial structure of E in FIG. 5;
FIG. 8 is a schematic view of the enlarged partial structure of F in FIG. 5;
FIG. 9 is a schematic view of a partial enlarged structure of G in FIG. 8;
FIG. 10 is a schematic side view of an embodiment of the present invention;
FIG. 11 is a schematic view of the structure of H in FIG. 10 in a partially enlarged manner;
FIG. 12 is a schematic view of the enlarged partial structure of I in FIG. 10;
FIG. 13 is a schematic top view of an embodiment of the present invention;
in the figure: a gate frame 1; a transverse rack 2; a transverse light rail 3; a longitudinal rack 4; a longitudinal light rail 5; a layer of traveling vehicles 6; a two-layer traveling vehicle 7; a transverse speed reducing motor 8; a transverse traveling gear 9; a longitudinal drive motor and speed reducer 10; a transverse transmission shaft 11; a bearing block 12; bevel gears 13; a longitudinal running gear 14; a lifting gear motor 15; a sleeve 16; a turnover motor support 17; a turnover motor 18; a flipping stage 19; a large gear support 20; a turnover gearwheel 21; a vertical shaft 22; a slip nut 23; flipping pinion 24; an electromagnetic chuck 25; a sliding screw 26; a coupling 27.
The invention is further described below in connection with the following examples which are provided for the purpose of better understanding of the present invention and are, therefore, not to be construed as limiting the scope of the invention.
Referring to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 and 13, the door beam type automatic overturning manipulator for the metallurgical saw blade comprises a door frame 1, a first layer of travelling mechanism responsible for X-direction movement, a second layer of travelling mechanism responsible for Y-direction movement, a lifting mechanism responsible for Z-direction movement, an overturning mechanism and an electromagnetic adsorption mechanism, and can realize four-degree-of-freedom movement and overturning of the metallurgical saw blade.
The door-type frame 1 is respectively provided with a transverse light rail 3 and a transverse toothed rail 2 for supporting a layer of travelling mechanism.
The one deck running gear is including arranging the one deck walking car 6 on the horizontal light rail 3, one deck walking car 6 is because the span is great, select for use the mode of drive respectively, be provided with horizontal gear motor 8 on the both sides crossbeam of one deck walking car 6 respectively, be provided with on the output shaft of horizontal gear motor 8 with horizontal rack 2 complex horizontal travelling gear 9, drive horizontal travelling gear 9 through horizontal gear motor 8 and walk on horizontal rack 2, thereby drive one deck walking car 6 and follow X direction motion on horizontal light rail 3, be provided with vertical light rail 5 and vertical rack 4 on the both sides longeron of one deck walking car 6 respectively, horizontal gear motor 8 adopts step motor to pass through rack and pinion drive mechanism, the warp knitting process realizes the location of one deck walking car 6, easy to assemble overhauls.
The two-layer travelling mechanism comprises a two-layer travelling car 7 arranged on a longitudinal light rail 5, the two-layer travelling car 7 adopts a centralized driving mode because of the characteristic of small span, a longitudinal driving motor and a speed reducer 10, a transverse transmission shaft 11 and a vertical shaft 22 are respectively arranged on a frame panel of the two-layer travelling car 7, the longitudinal driving motor and the speed reducer 10 are used for driving the transverse transmission shaft 11 to rotate, the transverse transmission shaft 11 is fixed on the frame panel through a bearing seat 12, bevel gears 13 are respectively arranged at the shaft ends of the transverse transmission shaft 11 and the upper end of the vertical shaft 22, longitudinal travelling gears 14 matched with the longitudinal toothed rail 4 are arranged at the lower end of the vertical shaft 22, and the transverse transmission shaft 11 drives the longitudinal travelling gears 14 to travel on the longitudinal toothed rail 4 through the cooperation of the bevel gears 13 which are meshed with each other, so as to drive the two-layer travelling car 7 to move along the Y direction on the longitudinal toothed rail 5.
The lifting mechanism comprises a lifting gear motor 15 arranged on a frame panel, a sliding screw rod 26 which is vertically arranged downwards is connected to the end of an output shaft of the lifting gear motor 15, a sliding nut 23 is sleeved on the sliding screw rod 26, the sliding screw rod 26 is driven to rotate through the lifting gear motor 15, so that the sliding nut 23 is driven to move up and down along the Z direction, the lifting mechanism adopts the sliding screw rod 26, and the lifting mechanism is simple in manufacture, low in cost and capable of realizing low-speed motion, accurate positioning and self-locking.
The turnover mechanism comprises a turnover motor 18, a turnover pinion 24, a turnover large gear 21 and a turnover platform 19 which are arranged on a sliding nut 23, wherein the turnover pinion 24 is arranged on an output shaft of the turnover motor 18, the turnover platform 19 is hinged on the turnover motor 18, the turnover large gear 21 is arranged on the turnover platform 19, and the turnover pinion 24 is driven to be meshed with the turnover large gear 21 through the turnover motor 18, so that the turnover platform 19 is driven to rotate.
The electromagnetic adsorption mechanism comprises an electromagnetic chuck 25 which is arranged on the lower end surface of the overturning platform 19 and is used for grabbing and placing the metallurgical saw blade, so that the function of adsorbing the saw blade is realized.
The sliding nut 23 is sleeved with the sleeve 16, and the upper end of the sleeve 16 is fixed on the frame panel.
Four electromagnetic chucks 25 are uniformly arranged, the model is XDA-50-27, the adsorption force of 500N multiplied by 4 is realized, and the mass of the adsorbable saw blade is calculated to be 130kg.
The output shaft ends at two sides of the longitudinal driving motor and the speed reducer 10 are respectively connected with one ends of two transverse transmission shafts 11 through a coupler 27, the transverse transmission shafts 11 are fixedly arranged on a frame panel of the two-layer traveling vehicle 7 through bearing blocks 12, bevel gears 13 are respectively fixedly arranged at the other ends of the two transverse transmission shafts 11, and a vertical shaft 22 penetrates through the frame panel and is arranged on the frame panel through a bearing.
The lower extreme of slip nut 23 is provided with upset motor support 17, and upset motor 18 fixed mounting is on upset motor support 17, is provided with the swing arm on the upset platform 19, and the upper end of swing arm articulates the lower extreme at upset motor 18 through the pivot, still is provided with gear wheel support 20 on the upset platform 19, and the center pin of upset gear wheel 21 is fixed on gear wheel support 20 through lock nut.
When the metallurgical saw blade is in the working area of the door-shaped frame 1 of the turnover manipulator, the turnover motor 18 drives the turnover pinion 24 to realize 90-degree rotation of the turnover large gear 21 and the turnover platform 19, so that the electromagnetic chuck 25 on the turnover platform 19 is vertical to one side end surface of the adsorbed metallurgical saw blade; the transverse speed reducing motors 8 on two sides of the walking vehicle 6 drive the transverse walking gears 9 to move in the X direction on the transverse toothed rail 2, and drive the overturning platform 19 to accurately position one side end surface of the metallurgical saw blade in the X direction; the two-layer travelling crane 7 is driven by a longitudinal driving motor and a speed reducer 10 through a bevel gear 13 to drive a longitudinal travelling gear 14 to move on a longitudinal rack 4, so as to drive a turnover platform 19 to accurately position one side end surface of a metallurgical saw blade in the Y direction; then, the lifting gear motor 15, the sliding screw rod 26 and the sliding nut 23 are matched to drive the overturning platform to move in the Z direction, so that the overturning platform is in full contact with one side end surface of the metallurgical saw blade, and the metallurgical saw blade is adsorbed by electrifying the electromagnetic chuck.
Lifting gear motor 15 and sliding screw 26 and sliding nut 23 cooperation drive upset platform 19 to mention in the Z direction, make metallurgical saw bit leave the storage position, through the removal of one deck walking car 6 and two-layer walking car 7 in X, Y orientation, make metallurgical saw bit reach target position top, upset motor 18 drives upset pinion 24 and realizes overturning gear wheel 21 and 90 degrees rotations of upset platform 19, make metallurgical saw bit be on a parallel with the horizontal plane, lifting gear motor 15 and sliding screw 26 and sliding nut 23 cooperation drive upset platform 19 fall in the Z direction, make metallurgical saw bit reach target position, electromagnetic chuck 25 outage falls the metallurgical saw bit.
The first-layer traveling vehicle 6 and the second-layer traveling vehicle 7 are both of a gear-rack structure, so that the driving load capacity is high, accurate positioning can be realized, the length of the rack is not limited, and higher running speed can be achieved.
The device can realize automatic feeding and discharging and overturning of the metallurgical saw blade on four degrees of freedom, liberates productivity, improves machining efficiency and machining quality, and is simple in structure, convenient to operate and high in applicability.
The foregoing description of the preferred embodiments of the invention is not intended to limit the scope of the claims, but rather to cover all equivalent modifications within the scope of the present invention as defined by the appended claims.
Claims (3)
1. A door beam type metallurgical saw blade automatic overturning mechanical arm comprises a door frame, a first layer of travelling mechanism responsible for X-direction movement, a second layer of travelling mechanism responsible for Y-direction movement, a lifting mechanism responsible for Z-direction movement, an overturning mechanism and an electromagnetic adsorption mechanism; the method is characterized in that:
the door-shaped frame is respectively provided with a transverse light rail and a transverse toothed rail for supporting a layer of travelling mechanism;
the first-layer travelling mechanism comprises a first-layer travelling vehicle arranged on a transverse light rail, transverse speed reducing motors are respectively arranged on cross beams at two sides of the first-layer travelling vehicle, transverse travelling gears matched with the transverse toothed rails are arranged on output shafts of the transverse speed reducing motors, and the transverse travelling gears are driven to travel on the transverse toothed rails through the transverse speed reducing motors, so that the first-layer travelling vehicle is driven to move on the transverse light rail along the X direction, and longitudinal light rails and longitudinal toothed rails are respectively arranged on longitudinal beams at two sides of the first-layer travelling vehicle;
the two-layer travelling mechanism comprises a two-layer travelling car arranged on a longitudinal light rail, a longitudinal driving motor, a speed reducer, a transverse transmission shaft and a vertical shaft are respectively arranged on a frame panel of the two-layer travelling car, the longitudinal driving motor and the speed reducer are used for driving the transverse transmission shaft to rotate, bevel gears are respectively arranged at the shaft ends of the transverse transmission shaft and the upper ends of the vertical shafts, longitudinal travelling gears matched with the longitudinal toothed rail are arranged at the lower ends of the vertical shafts, and the transmission shaft drives the longitudinal travelling gears to travel on the longitudinal toothed rail through the cooperation of the bevel gears, so that the two-layer travelling car is driven to move on the longitudinal toothed rail along the Y direction;
the lifting mechanism comprises a lifting gear motor arranged on the frame panel, a sliding screw rod vertically arranged downwards is connected to the shaft end of an output shaft of the lifting gear motor, a sliding nut is sleeved on the sliding screw rod, and the sliding screw rod is driven to rotate by the lifting gear motor, so that the sliding nut is driven to move up and down along the Z direction;
the turnover mechanism comprises a turnover motor, a turnover pinion, a turnover large gear and a turnover platform, wherein the turnover motor, the turnover pinion, the turnover large gear and the turnover platform are arranged on the sliding nut, the turnover pinion is arranged on an output shaft of the turnover motor, the turnover platform is hinged to the turnover motor, the turnover large gear is arranged on the turnover platform, and the turnover pinion is driven to be meshed with the turnover large gear through the turnover motor for transmission, so that the turnover platform is driven to rotate;
the electromagnetic adsorption mechanism comprises an electromagnetic chuck which is arranged on the lower end surface of the overturning platform and is used for grabbing and placing a metallurgical saw blade;
the two output shaft ends of the longitudinal driving motor and the speed reducer are respectively connected with one ends of two transverse transmission shafts through a shaft coupling, the transverse transmission shafts are fixedly arranged on a frame panel of the two-layer traveling vehicle through bearing seats, bevel gears are respectively fixedly arranged at the other ends of the two transverse transmission shafts, and a vertical shaft penetrates through the frame panel and is arranged on the frame panel through a bearing;
the lower extreme of slide nut is provided with upset motor support, upset motor fixed mounting on upset motor support, is provided with the swing arm on the upset platform, and the upper end of swing arm articulates the lower extreme at the upset motor through the pivot, still is provided with the gear wheel support on the upset platform, and the center pin of upset gear wheel passes through lock nut to be fixed on the gear wheel support.
2. The door beam type metallurgical saw blade automatic turning manipulator of claim 1, wherein: the sliding nut is sleeved with a sleeve, and the upper end of the sleeve is fixed on the frame panel.
3. The door beam type metallurgical saw blade automatic turning manipulator of claim 1, wherein: four electromagnetic chucks are uniformly arranged, and the model number is XDA-50-27.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664140.1A CN110385702B (en) | 2019-07-23 | 2019-07-23 | Door beam type metallurgical saw blade automatic overturning manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664140.1A CN110385702B (en) | 2019-07-23 | 2019-07-23 | Door beam type metallurgical saw blade automatic overturning manipulator |
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| Publication Number | Publication Date |
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| CN110385702A CN110385702A (en) | 2019-10-29 |
| CN110385702B true CN110385702B (en) | 2024-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910664140.1A Active CN110385702B (en) | 2019-07-23 | 2019-07-23 | Door beam type metallurgical saw blade automatic overturning manipulator |
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| CN206317074U (en) * | 2016-11-18 | 2017-07-11 | 山东爱而生智能科技有限公司 | A kind of x-axis walking mechanism and the manipulator that can be moved along x-axis speed change |
| CN206666073U (en) * | 2017-04-25 | 2017-11-24 | 上海振华重工(集团)股份有限公司 | A kind of board tipping arrangement |
| WO2019061668A1 (en) * | 2017-09-29 | 2019-04-04 | 安徽理工大学 | Rotatable non-simultaneous multi-finger gripper for casting robot |
| CN108756377A (en) * | 2018-06-29 | 2018-11-06 | 浙江理工大学 | A kind of three axis movable parking device of combined type |
| CN109129545A (en) * | 2018-08-21 | 2019-01-04 | 合肥工业大学 | A kind of cylindrical coordinate type automatic loading and unloading manipulator |
| CN109706020A (en) * | 2019-01-27 | 2019-05-03 | 湖北天永智能装备有限公司 | Wine brewing material moving turnover device |
| CN109848751A (en) * | 2019-04-04 | 2019-06-07 | 山东管理学院 | Loading and unloading movement system for sheet metal cutting production line |
| CN210307817U (en) * | 2019-07-23 | 2020-04-14 | 唐山学院 | Door beam type automatic turnover mechanical arm for metallurgical saw blade |
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