CN203021651U - Seamless steel tube core rod surface strengthening device - Google Patents
Seamless steel tube core rod surface strengthening device Download PDFInfo
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- CN203021651U CN203021651U CN 201320008415 CN201320008415U CN203021651U CN 203021651 U CN203021651 U CN 203021651U CN 201320008415 CN201320008415 CN 201320008415 CN 201320008415 U CN201320008415 U CN 201320008415U CN 203021651 U CN203021651 U CN 203021651U
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- lathe
- coating
- bracing frame
- core rod
- surface strengthening
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Abstract
The utility model relates to a seamless steel tube core rod surface strengthening device which is characterized being formed by combining three parts, namely a core rod rotating machine tool, a surface coating prefabrication machine tool and a laser surface strengthening machine tool in parallel, wherein the core rod rotating machine tool is in the middle; and a coating prefabrication device is arranged on one side of the core rod rotating machine tool, and a laser surface strengthening device is arranged on the other side of the core rod rotating machine tool. The seamless steel tube core rod surface strengthening device is designed according to the requirements of high-performance high-speed powder spraying and high-energy laser high velocity air fuel (HVAF) or high velocity oxygen fuel (HVOF) heating process and the characteristics of the core rod manufacturing and repairing process, and has the advantages of compact structure, reasonable arrangement and the like; the high-temperature resistance, wear resistance and impact resistance of the core rod used by the seamless steel tube can be improved, the service life of the core rod can be prolonged, the production cost is effectively reduced, the profits of enterprises are improved, the trouble that the environment is polluted by electroplating and the electroplating effluent cannot be treated is avoided, and the device is environment-friendly and easily reaches the standard. The device is mainly used for surface strengthening treatment of seamless steel tube core rods and can be also used for surface strengthening treatment of other slender axles, rollers and similar parts.
Description
Technical field
The utility model belongs to metal heating processing technology equipment, particularly seamless steel pipe mandrel surface strengthening device.
Background technology
The weldless steel tube core rod of seamless is that the steel pipe rolling process participates in one of important process instrument that is out of shape, plug is a kind of length-to-diameter ratio greater than 50 extra-long rod element, be generally 10.6-15.5m, the hot strength of plug matrix and skin-material, wear resistance, surface hardness, smooth finish, durability work-ing life etc., to quality, the qualification rate of the internal surface of steel pipe, final product quality and production cost play vital effect.
Plug is on active service under the effect of the high rolling pressure of high temperature and very large frictional force.The operation of rolling, the mandrel surface temperature sharply raises, and is cooling at special-purpose cooling stations fast.After plug repeatedly is on active service, surface oxidation, fatigue cracking, sticking erosion, corrode, distortion, the defective such as crack gradually, subside, wear and tear, come off, interact when having influence on tube quality when defibrator process undermines various defectives, plug can not continue to use and become old plug.Because defective is darker, after the old plug transformation of the way, external diameter diminishes, and can not return to original specification, and plug can not take full advantage of, and even causes the ultimate failure of plug.
Traditional plug manufacturing process is: plug forges to be machined to and involves the modified qualified plug of semi-finishing → processing front portion and rear portion connecting thread → precision work mandrel surface → the be polished to front size of plating → enterprising electroplating of online lathe (comprising preheating) → will electroplate that carries out after qualified of magnetic-particle inspection → heat-treat near workpiece size → carry out linearity rectifications → roughing (the Ra6.3) → front surface of detecting a flaw cleaning → ultrasonic and carry out polishing → be up to the standards → put in storage.This manufacture method is used till today always.
When mandrel surface fatigue produces flexural deformation, crackle gradually, the defective such as wear and tear, come off, repair during to tube quality when defective effect.
Manufacturing and the renovation technique of tradition plug:
1, check the plug damage intensity, classify, correct plug, surface working and defect detecting test.
2, to slowly intensification preheating before the plug cleaning defective that needs resizing to repair, flaw detection, built-up welding, in the enterprising windrow weldering of plug specific equipment, eliminate welding stress.Semi-finishing, flaw detection are qualified, precision work, and then polishing, specific equipment chromium plating 0.20mm left and right is ground to monolateral 0.08～0.12mm, polishing, check.
3, plug cleaning defective, surface working and defect detecting test that specification repairs are fallen in needs qualified, precision work, then polishing, special-purpose chrome plating equipment chromium plating chromium plating 0.25mm left and right is ground to monolateral 0.08～0.15mm, polishing, check and hands over inspection.
The deficiency of traditional reparation manufacturing process: the supporting complexity of plug prosthetic appliance, process links is many, the processing and manufacturing operation multicycle is long, and Quality Control Links easily goes wrong; Electrolytic coating is very thin, and thick in peeling, bonding strength is low, and thermotolerance only 300～450 ℃ can not guarantee higher temperature, the composition of coating can not be adjusted, electrolytic coating wear resistance, shock resistance, high thermal resistance are all poor.Electroplate contaminate environment.
At present, along with the surface Hardening Treatment technological development of mechanical component, the spraying of high-performance high velocity powder and high energy laser HVAF or (HVOF) application of heating process can improve the plug manufacturing and repair the mandrel surface performance, for this reason, need research and development seamless steel pipe mandrel surface strengthening device.
Summary of the invention
The purpose of this utility model is to overcome the shortcoming of prior art, and the spraying of a kind of application high-performance high velocity powder and high energy laser HVAF or (HVOF) the seamless steel pipe mandrel surface strengthening device of heating process are provided.With the surface quality of raising plug, and the product of raising weldless steel tube is considered.
The technical solution of the utility model is:
The seamless steel pipe mandrel surface strengthening device is characterized in that: combined side by side with laser surface intensified lathe 3 three parts by Mandrel Rotating lathe 1, the prefabricated lathe 2 of top coat; The centre is the Mandrel Rotating lathe, and the coating fabricated device is arranged on one side of Mandrel Rotating lathe, and the other side is arranged laser surface intensified device.
Described Mandrel Rotating lathe comprises Mandrel Rotating selective headstock assembly 1-1, Mandrel Rotating lathe bed 1-2, chuck 1-3, tailstock tool and spring center 1-4, plug bracing frame 1-5; Described Mandrel Rotating selective headstock assembly is installed tailstock tool and spring center at an end of Mandrel Rotating lathe bed on the other end of Mandrel Rotating lathe bed; Described plug bracing frame has several;
Described plug bracing frame 1-5 comprises two roller devices 1-51, roller and adjusts bracing frame 1-52, folding leading screw 1-53 and nut 1-54, folding reducing motor 1-55, bracing frame permanent seat 1-56 and pressing plate 1-57, guidepost 1-58 and orienting sleeve 1-59, elevating screw 1-510, worm type of reduction gearing 1-511, lifting motor 1-512; Described two roller devices are contained in roller and adjust on the slideway of bracing frame, loading nut under two roller devices, and fill respectively on the left-right rotary screw thread of folding leading screw; Folding leading screw tape spool be housed in roller adjust bracing frame in, folding leading screw one end is connected with the folding reducing motor;
Described two guideposts of lower installation of adjusting bracing frame at described roller, and elevating screw; Two guideposts are contained in the pilot hole of pressing plate of tape guide cover; Bracing frame permanent seat and pressing plate are arranged on the Mandrel Rotating lathe bed of Mandrel Rotating lathe;
Described elevating screw is connected with worm type of reduction gearing, and the worm and gear elevator is contained on the bracing frame permanent seat, and the output shaft of worm and gear elevator connects lifting motor.
The prefabricated lathe of described top coat comprises the prefabricated selective headstock assembly of coating 2-1, the prefabricated lathe bed 2-2 of coating, machine tool guideway 2-3, two machine slide device 2-4, slide carriage motor and transmission system 2-5, intermediate frequency induction heating device 2-6, spray gun fixed support 2-7 and coating gun system 2-8; Described two machine slide devices are arranged on respectively the prefabricated lathe bed of coating, and can move along machine tool guideway by selective headstock assembly and two machine slide devices of slide carriage transmission system drives; Above two machine slide devices, wherein: a dress intermediate frequency induction heating device, the coating spray gun of another dress spray gun fixed support and coating gun system.
Described intermediate frequency induction heating device comprises Frequency Induction Heating circle 2-61, Medium frequency induction transformer 2-62, removal cable drag chain and medium frequency heating power source device; The Frequency Induction Heating circle is arranged on the machine slide device together with the Medium frequency induction transformer; Or with the Medium frequency induction transformer at elsewhere, as head or the afterbody of the prefabricated lathe bed of coating, the Frequency Induction Heating circle only is installed on the machine slide device.
Described laser surface intensified lathe comprises the running gear 3-2 of the 3-1 of robot and mounting robot; The laser melting coating surface strengthening laser apparatus 3-3 of the upper configuration of robots arm; Described running gear comprises slide track seat 3-21, slide rail tooth bar 3-22, platform 3-23, transmission mechanism 3-24, and the removal cable drag chain part 3-4 of running gear; Described robot is arranged on platform, and platform is arranged on slide track seat; Described slide rail tooth bar is arranged on slide track seat, fills transmission mechanism on platform; Wherein: the transmission mechanism of laser surface intensified lathe comprises the driving gear of installing on robot mobile motor, worm reducer and worm reducer output shaft; The driving gear of actuator drives and the engagement of slide rail tooth bar rotates, and moves with the slide rail of moving platform and Robot slide track seat.
Characteristics of the present utility model and beneficial effect are:
According to the spraying of high-performance high velocity powder and high energy laser HVAF or (HVOF) heating process requirement, and the characteristics of the manufacturing of plug and renovation technique are designed, have compact construction, the advantages such as connection and reasonable arrangement; Can improve high thermal resistance, wear resistance and the shock resistance of the plug of weldless steel tube use, effectively reduce production costs the work-ing life that can improve plug, improve enterprise profit.Do not electroplate simultaneously contaminate environment, process the trouble of electroplating effluent, environmental protection is easily up to standard.
The utility model is mainly used in the surface Hardening Treatment of seamless steel pipe mandrel, also can be used for the surface Hardening Treatment of the like parts such as other thin and long shafts, roll.
Description of drawings
Fig. 1 is plot plan of the present utility model;
Fig. 2 is sectional view of the present utility model;
Fig. 3 is the front view of Mandrel Rotating lathe;
Fig. 4 is the sectional view of plug bracing frame in the Mandrel Rotating lathe;
Fig. 5 is the vertical view of plug bracing frame in the Mandrel Rotating lathe;
Fig. 6 is the front view of the prefabricated lathe of top coat;
Fig. 7 is the sectional view of the intermediate frequency induction heating device of the prefabricated lathe of top coat;
Fig. 8 is the sectional view of the coating gun system of the prefabricated lathe of top coat;
Fig. 9 is the sectional view of the laser surface intensified lathe of figure.
Figure 10 is the running gear partial enlarged drawing of the laser surface intensified lathe of figure.
Embodiment
The utility model is further described by embodiment below in conjunction with accompanying drawing.
As depicted in figs. 1 and 2, plot plan of the present utility model; The seamless steel pipe mandrel surface strengthening device is combined with laser surface intensified lathe 3 three parts side by side by Mandrel Rotating lathe 1, the prefabricated lathe 2 of top coat.The centre is the Mandrel Rotating lathe, and the coating fabricated device is arranged on one side of Mandrel Rotating lathe, and the other side is arranged laser surface intensified device.
1, Mandrel Rotating lathe
As Fig. 2, Fig. 3 and shown in Figure 4, described Mandrel Rotating lathe is similar to lathe bed and the selective headstock of engine lathe, and it comprises Mandrel Rotating selective headstock assembly 1-1, Mandrel Rotating lathe bed 1-2, chuck 1-3, tailstock tool and spring center 1-4, plug bracing frame 1-5; Described Mandrel Rotating selective headstock assembly 1-1 installs tailstock tool and spring center 1-4 at the end of Mandrel Rotating lathe bed 1-2 on the other end of Mandrel Rotating lathe bed 1-2; Described plug bracing frame 1-5 has several, is used for guaranteeing that the rotation of plug is steady, and plug bracing frame 1-5 usage quantity is according to plug and the length of different diameter, and it is affected by gravity the downwarp degree that produces and determines; Wherein: described Mandrel Rotating selective headstock assembly 1-1 comprises main shaft, driving motor and belt wheel 1-6, and Mandrel Rotating motor 1-7.
Described plug bracing frame 1-5 comprises two roller devices 1-51, roller and adjusts bracing frame 1-52, folding leading screw 1-53 and nut 1-54, folding reducing motor 1-55, bracing frame permanent seat 1-56 and pressing plate 1-57, guidepost 1-58 and orienting sleeve 1-59, elevating screw 1-510, worm type of reduction gearing 1-511, lifting motor 1-512; Described two roller devices 1-51 are contained in roller and adjust on the slideway of bracing frame 1-52, loading nut 1-54 under two roller devices 1-51, and fill respectively on the left-right rotary screw thread of folding leading screw 1-53; Folding leading screw 1-53 tape spool be housed in roller adjust bracing frame 1-52 in, folding leading screw 1-53 one end is connected with folding reducing motor 1-55;
Adjust two guidepost 1-58 of lower installation of bracing frame 1-52 at described roller, and elevating screw 1-60; Two guidepost 1-58 are contained in the pilot hole of pressing plate 1-57 of tape guide cover 1-59; Bracing frame permanent seat 1-56 and pressing plate 1-57 are arranged on the Mandrel Rotating lathe bed 1-2 of Mandrel Rotating lathe; Described elevating screw 1-510 is connected with worm type of reduction gearing 1-511, and worm and gear elevator 1-511 is contained on bracing frame permanent seat 1-56, and the output shaft of worm and gear elevator 1-511 connects lifting motor 1-512;
Described absolute value encoder is loaded in the transmission even of folding leading screw 1-53, as is loaded on an end of folding leading screw, perhaps is loaded on the axle of folding reducing motor 1-55; Described inductosyn 1-64 be loaded on roller adjust bracing frame 1-52 under, for detection of the adjustment height of roller.
2, the prefabricated lathe of top coat
As Fig. 6, Fig. 7 and shown in Figure 8, the prefabricated lathe of described top coat also is similar to lathe bed and the selective headstock of engine lathe, and it comprises the prefabricated selective headstock assembly of coating 2-1, the prefabricated lathe bed 2-2 of coating, machine tool guideway 2-3, two machine slide device 2-4, slide carriage motor and transmission system 2-5, intermediate frequency induction heating device 2-6, spray gun fixed support 2-7 and coating gun system 2-8; Described two machine slide device 2-4 are arranged on respectively the prefabricated lathe bed 2-2 of coating, and can move along machine tool guideway 2-3 by selective headstock assembly 2-1 and two machine slide device 2-4 of slide carriage transmission system 2-5 driving; Above two machine slide device 2-4, wherein: a dress intermediate frequency induction heating device 2-6, the coating spray gun of another dress spray gun fixed support 2-7 and coating gun system 2-8; Wherein:
Described coating gun system comprises coating spray gun, gas piping, powder feeder and Controlling System; Described intermediate frequency induction heating device 2-6 comprises Frequency Induction Heating circle 2-61, Medium frequency induction transformer 2-62, removal cable drag chain 2-62 and medium frequency heating power source device 2-62; Frequency Induction Heating circle 2-61 and Medium frequency induction transformer 2-62 can together be arranged on machine slide device 2-4; Also can be with the Medium frequency induction transformer at elsewhere, head or the afterbody of lathe bed 2-2 as prefabricated in coating are only installed Frequency Induction Heating circle 2-61 on machine slide device 2-4.
3, laser surface intensified lathe
As shown in Figure 9 and Figure 10, described laser surface intensified lathe comprises the running gear 3-2 of the 3-1 of robot and mounting robot; The laser melting coating surface strengthening laser apparatus 3-3 of the upper configuration of robots arm; Described running gear comprises slide track seat 3-21, slide rail tooth bar 3-22, platform 3-23, transmission mechanism 3-24, and the removal cable drag chain part 3-4 of running gear; The described 3-1 of robot is arranged on platform 3-23, and platform 3-23 is arranged on slide track seat 3-21; Described slide rail tooth bar 3-22 is arranged on slide track seat 3-21, the upper dress of platform 3-23 transmission mechanism 3-24; Wherein: the transmission mechanism 3-24 of laser surface intensified lathe comprises the driving gear of installing on robot mobile motor, worm reducer and worm reducer output shaft; The driving gear that transmission mechanism 3-24 drives with slide rail tooth bar 3-22 engagement rotates, and moves along the slide rail of slide track seat 3-21 with moving platform 3-23 and the 3-1 of robot.
Mandrel Rotating motor 1-7 in Mandrel Rotating lathe in the utility model and slide carriage motor, folding reducing motor 1-55 in plug bracing frame 1-5 and lifting motor 1-62, and the robot mobile motor all adopts alternating-current variable frequency motor and programmable logic controller to carry out speed control.And absolute value encoder, inductosyn and travel control switch are installed are carried out robot, intermediate frequency induction heating device 2-6 and coating spray gun, reach the restriction control that roller is adjusted the shift positions such as bracing frame 1-52.
The utility model principle of work:
At first, core rod workpiece 4 is arranged on the lathe bed 1-2 of Mandrel Rotating lathe by chuck 1-3, tailstock tool and the spring center 1-4 of Mandrel Rotating lathe 1; Secondly by the coating gun system of the prefabricated lathe of top coat with the metal-powder high-velocity spray on core rod workpiece 4; Then the intermediate frequency induction heating device by the prefabricated lathe of top coat carries out preheating; At last by the laser Flashmelt of the laser melting coating surface strengthening laser apparatus of laser surface intensified lathe, can guarantee like this security of the material preheater such as hot-work die steel and laser Flashmelt, can improve the efficient of laser Flashmelt.
Claims (5)
1. the seamless steel pipe mandrel surface strengthening device, is characterized in that: combined side by side with laser surface intensified lathe (3) three parts by Mandrel Rotating lathe (1), the prefabricated lathe of top coat (2); The centre is the Mandrel Rotating lathe, and the coating fabricated device is arranged on one side of Mandrel Rotating lathe, and the other side is arranged laser surface intensified device.
2. according to seamless steel pipe mandrel surface strengthening device claimed in claim 1, it is characterized in that: described Mandrel Rotating lathe comprises Mandrel Rotating selective headstock assembly (1-1), Mandrel Rotating lathe bed (1-2), chuck (1-3), tailstock tool and spring center (1-4), plug bracing frame (1-5); Described Mandrel Rotating selective headstock assembly is installed tailstock tool and spring center at an end of Mandrel Rotating lathe bed on the other end of Mandrel Rotating lathe bed; Described plug bracing frame has several; Wherein:
Described plug bracing frame comprises two roller devices (1-51), roller is adjusted bracing frame (1-52), folding leading screw (1-53) and nut (1-54), folding reducing motor (1-55), bracing frame permanent seat (1-56) and pressing plate (1-57), guidepost (1-58) and orienting sleeve (1-59), elevating screw (1-510), worm type of reduction gearing (1-511), lifting motor (1-512); Described two roller devices are contained in roller and adjust on the slideway of bracing frame, loading nut under two roller devices, and fill respectively on the left-right rotary screw thread of folding leading screw; Folding leading screw tape spool be housed in roller adjust bracing frame in, folding leading screw one end is connected with the folding reducing motor;
Adjust two guideposts of lower installation of bracing frame at described roller, and elevating screw; Two guideposts are contained in the pilot hole of pressing plate of tape guide cover; Bracing frame permanent seat and pressing plate are arranged on the Mandrel Rotating lathe bed of Mandrel Rotating lathe;
Described elevating screw is connected with worm type of reduction gearing, and the worm and gear elevator is contained on the bracing frame permanent seat, and the output shaft of worm and gear elevator connects lifting motor.
3. according to seamless steel pipe mandrel surface strengthening device claimed in claim 1, it is characterized in that: the prefabricated lathe of described top coat comprises the prefabricated selective headstock assembly of coating (2-1), the prefabricated lathe bed of coating (2-2), machine tool guideway (2-3), two machine slide devices (2-4), slide carriage motor and transmission system (2-5), intermediate frequency induction heating device (2-6), spray gun fixed support (2-7) and coating gun system (2-8); Described two machine slide devices are arranged on respectively the prefabricated lathe bed of coating, and can move along machine tool guideway by selective headstock assembly and two machine slide devices of slide carriage transmission system drives; Above two machine slide devices, wherein: a dress intermediate frequency induction heating device, the coating spray gun of another dress spray gun fixed support and coating gun system.
4. according to seamless steel pipe mandrel surface strengthening device claimed in claim 1, it is characterized in that: described intermediate frequency induction heating device comprises Frequency Induction Heating circle (2-61), Medium frequency induction transformer (2-62), removal cable drag chain and medium frequency heating power source device; The Frequency Induction Heating circle is arranged on the machine slide device together with the Medium frequency induction transformer; Or with the Medium frequency induction transformer at elsewhere, as head or the afterbody of the prefabricated lathe bed of coating, the Frequency Induction Heating circle only is installed on the machine slide device.
5. according to seamless steel pipe mandrel surface strengthening device claimed in claim 1, it is characterized in that: described laser surface intensified lathe comprises the running gear (3-2) of robot (3-1) and mounting robot; The laser melting coating surface strengthening laser apparatus (3-3) of the upper configuration of robots arm; Described running gear comprises slide track seat (3-21), slide rail tooth bar (3-22), platform (3-23), transmission mechanism (3-24), removal cable drag chain part (3-4); Described robot is arranged on platform, and platform is arranged on slide track seat; Described slide rail tooth bar is arranged on slide track seat, fills transmission mechanism on platform; Wherein: the transmission mechanism of laser surface intensified lathe comprises the driving gear of installing on robot mobile motor, worm reducer and worm reducer output shaft; The driving gear of actuator drives and the engagement of slide rail tooth bar rotates, and moves with the slide rail of moving platform and Robot slide track seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320008415 CN203021651U (en) | 2013-01-08 | 2013-01-08 | Seamless steel tube core rod surface strengthening device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320008415 CN203021651U (en) | 2013-01-08 | 2013-01-08 | Seamless steel tube core rod surface strengthening device |
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| Publication Number | Publication Date |
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| CN203021651U true CN203021651U (en) | 2013-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201320008415 Expired - Lifetime CN203021651U (en) | 2013-01-08 | 2013-01-08 | Seamless steel tube core rod surface strengthening device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104561997A (en) * | 2015-01-16 | 2015-04-29 | 江苏永年激光成形技术有限公司 | LCD machine tool applicable to integrated molding of nuclear power main pipeline table |
| CN106521101A (en) * | 2016-10-10 | 2017-03-22 | 深圳领威科技有限公司 | Method for promoting depression resistance of template surface and template surface strengthening equipment |
| CN106521483A (en) * | 2016-10-10 | 2017-03-22 | 力劲机械（深圳）有限公司 | Method for improving sinking resistance ability of mold plate surface and mold plate surface strengthening device |
| WO2020124578A1 (en) * | 2018-12-21 | 2020-06-25 | 安徽马钢表面技术股份有限公司 | Automatic production line and process for laminar roller manufacturing |
| CN111374769A (en) * | 2018-12-29 | 2020-07-07 | 深圳市达科为智能医学有限公司 | Lifting mobile platform for medical manipulator |
-
2013
- 2013-01-08 CN CN 201320008415 patent/CN203021651U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104561997A (en) * | 2015-01-16 | 2015-04-29 | 江苏永年激光成形技术有限公司 | LCD machine tool applicable to integrated molding of nuclear power main pipeline table |
| CN104561997B (en) * | 2015-01-16 | 2018-04-27 | 江苏永年激光成形技术有限公司 | Suitable for the LCD lathes of main nuclear power pipeline pipe platform integral forming |
| CN106521101A (en) * | 2016-10-10 | 2017-03-22 | 深圳领威科技有限公司 | Method for promoting depression resistance of template surface and template surface strengthening equipment |
| CN106521483A (en) * | 2016-10-10 | 2017-03-22 | 力劲机械（深圳）有限公司 | Method for improving sinking resistance ability of mold plate surface and mold plate surface strengthening device |
| WO2020124578A1 (en) * | 2018-12-21 | 2020-06-25 | 安徽马钢表面技术股份有限公司 | Automatic production line and process for laminar roller manufacturing |
| CN111374769A (en) * | 2018-12-29 | 2020-07-07 | 深圳市达科为智能医学有限公司 | Lifting mobile platform for medical manipulator |
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| C14 | Grant of patent or utility model | ||
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| CX01 | Expiry of patent term |
Granted publication date: 20130626 |