CN206286305U - A kind of haulage equipment and the cleaning device with the haulage equipment - Google Patents
A kind of haulage equipment and the cleaning device with the haulage equipment Download PDFInfo
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- CN206286305U CN206286305U CN201621246560.6U CN201621246560U CN206286305U CN 206286305 U CN206286305 U CN 206286305U CN 201621246560 U CN201621246560 U CN 201621246560U CN 206286305 U CN206286305 U CN 206286305U
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- rope
- arm
- haulage equipment
- pulley
- mechanical arm
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Abstract
The utility model discloses a kind of haulage equipment, including：Frock for lifting cleaning machine on plate, frock is connected with mechanical arm；For the mechanical arm being controlled to cleaning machine on plate；It is connected with frock, mechanical arm respectively with the relative position information of target location, the control system according to the joint motions of relative position information control machinery arm, control system is carried for obtaining current location.Haulage equipment provided by the utility model is used for the mobile control to cleaning machine on plate; improve the automation characteristic and positional accuracy of photovoltaic straddle cleaning; facilitate the operation of cleaning process; can be greatly saved artificial operation and cost input, and the damage that photovoltaic panel causes from artificial misoperation can be protected.The invention also discloses a kind of cleaning device including above-mentioned haulage equipment.
Description
Technical field
The utility model is related to technical field of mechanical design, more specifically to a kind of haulage equipment.Additionally, this reality
A kind of cleaning device including above-mentioned haulage equipment is further related to new.
Background technology
Dirt can be produced during due to using in photovoltaic panel, photovoltaic plate surface can be caused to produce heat conduction difference, ultimately cause " heat
Spot ", damages photovoltaic module；Dirt also results in the reduction of photovoltaic panel surface transmission rate, so as to influence the light of photovoltaic panel assembly array
Heat conversion, that is, reduce generating efficiency.Therefore in order to ensure that generating efficiency does not decline, it is to avoid photovoltaic module is damaged, photovoltaic panel is clear
It is necessary to wash.
The chassis of current existing ground washing car is identical with mini-excavator, and arm of the mechanical arm configuration also to digging machine is similar,
Two track drive is advanced；Clean and completed by the round brush of mechanical arm tail end, can be sprayed water in cleaning process.In live applicable cases,
The travel speed of ground washing car is slower, and cleaning operation is complicated, higher to operating personnel's requirement, and automaticity is low, and satisfies the need
The requirement in face is higher.There is the discrepancy in elevation on road surface if hollow, particularly both sides crawler belt corresponding ground, and car body can be caused to sidewinder.Ground
The chassis of cleaning Vehicle is similar with excavator, equipped with driver's cabin, cleaning task is carried out by pilot steering, it is desirable to have excavator driving is passed through
The personnel for testing.
In sum, how a kind of carrying technology of high degree of automation is provided, be current those skilled in the art urgently
The problem of solution.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of haulage equipment, the method for carrying high degree of automation, can
To reduce the cost of labor of operation, and enable to position precisely reliable.
Another object of the present utility model is to provide a kind of cleaning device including above-mentioned haulage equipment.
To achieve these goals, the utility model provides following technical scheme：
A kind of haulage equipment, including：
Frock for lifting cleaning machine on plate, the frock is connected with mechanical arm；
For the mechanical arm being controlled to cleaning machine on the plate；
Controlled with the relative position information of carrying target location, according to the relative position information for obtaining current location
The control system of the joint motions of the mechanical arm, the control system is connected with the frock, the mechanical arm respectively.
Preferably, the mechanical arm is the mechanical arm with least two frees degree, and institute is fixed in the end of the mechanical arm
State frock.
Preferably, the mechanical arm includes being provided with the rotary table of angular transducer, and the rotary table is provided with the
One arm, is provided with the second arm on first arm, the 3rd arm is provided with second arm；First arm and second arm
Link position, second arm and the link position of the 3rd arm be provided with angle for measuring joint angles adjustment
Sensor.
Preferably, the frock include the support of the connection mechanical arm, rope, the guide rail on the support,
Wind spring, rope reel and the mobile pulley on the guide rail；The wind spring is fixed on the support and is slided with the movement
Wheel connection；One end of the rope is used for cleaning machine on connecting plate, and the other end of the rope bypasses the mobile pulley and consolidates
Due to the rope reel；The rope is by during the pulling force of cleaning machine, the mobile pulley is to away from the wind spring on the plate
Direction is moved, the restoring force of the wind spring less than cleaning machine on the plate to the pulling force of the rope, the rope reel with drive
Motivation is connected.
Preferably, one end that the wind spring is not provided with the guide rail is provided with two fixed pulleys, the rope it is another
End bypasses first fixed pulley, the mobile pulley and second fixed pulley and is fixed on the rope that holds and rolls up successively
Cylinder.
Preferably, leading block is provided between the wind spring and the rope reel, the leading block is positioned at institute
The rope stated between wind spring and the rope reel is oriented to.
Preferably, the leading block include laterally steering pulley and longitudinally guiding pulley, the laterally steering pulley and
The guide direction of the longitudinally guiding pulley is conllinear.
Preferably, the two ends of the support are respectively provided with the guide rail, and two guide rails and are respectively provided with the shifting
Movable pulley, distinguishes rope described in winding on the mobile pulley, two ropes are respectively used to connect cleaning machine on the plate
Diverse location.
A kind of cleaning machine body on cleaning device, including haulage equipment and plate, the haulage equipment is above-mentioned any one
Described haulage equipment.
Haulage equipment provided by the utility model is used for the mobile control to cleaning machine on plate, improves photovoltaic straddle clear
The automation characteristic and positional accuracy washed, facilitate the operation of cleaning process, compared with prior art, can be greatly saved people
Work is operated and cost input, and can protect the damage that photovoltaic panel causes from artificial misoperation.The utility model is also provided
A kind of cleaning device including above-mentioned haulage equipment.
Brief description of the drawings
In order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is embodiment of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawings can be obtained according to the accompanying drawing for providing.
Fig. 1 is the structural representation of the specific embodiment of haulage equipment provided by the utility model；
Fig. 2 be haulage equipment provided by the utility model specific embodiment in frock structural representation；
Fig. 3 be haulage equipment provided by the utility model specific embodiment in frock top view；
Fig. 4 be haulage equipment provided by the utility model specific embodiment in frock partial top view；
Fig. 5 be haulage equipment provided by the utility model specific embodiment in mechanical arm front view.
In figure 1 above -5：
1 is frock, 11 is tooling bracket, 12 is motor reducer, 13 is rope stretching anchor point, 14 is rope reel, 15 is vertical
To leading block, 16 be laterally steering pulley, 17 be mobile pulley, 18 be angle pulley, 19 be line slideway, 10 be tension force roll up
Spring, 2 be mechanical arm, 21 revolution driving devices, 22 be the first arm, 23 be the second arm, 24 be the 3rd arm, 25 be the first driving cylinder, 26
For the second driving cylinder, 27 be the 3rd driving cylinder, 28 be motor, 29 be angular transducer, 3 be detection means.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
Core of the present utility model is to provide a kind of haulage equipment, the haulage equipment high degree of automation, can reduce behaviour
The cost of labor of work, and enable to position precisely reliable.Another core of the present utility model is to provide one kind includes above-mentioned removing
The cleaning device of fortune equipment.
Fig. 1 to 5 is refer to, Fig. 1 is the structural representation of the specific embodiment of haulage equipment provided by the utility model；
Fig. 2 be haulage equipment provided by the utility model specific embodiment in frock structural representation；Fig. 3 is the utility model
The top view of frock in the specific embodiment of the haulage equipment for being provided；Fig. 4 is haulage equipment provided by the utility model
The partial top view of frock in specific embodiment；Fig. 5 be haulage equipment provided by the utility model specific embodiment in machine
The front view of tool arm.
A kind of haulage equipment provided by the utility model, including：Frock 1, mechanical arm 2 and control system.Frock 1 is used for
Cleaning machine on lifting plate, frock is connected with mechanical arm 2；Mechanical arm 2 is used to move cleaning machine on plate by self structure
Dynamic control；Control system is for obtaining the relative position information of current location and carrying target location, according to relative position information
The joint motions of control machinery arm 2, control system is connected with frock, mechanical arm 2 respectively.The joint motions of control machinery arm 2
Concrete mode can according to relative position information obtain or calculating machine arm 2 each joint linear amount of movement, and according to line
Property amount of movement control corresponding joint motions.
It should be noted that above-mentioned frock can be the framework of rectangle rack or other structures, serving equipment is internally provided with,
For lifting cleaning machine on plate.The present embodiment does not limit its concrete structure.Mechanical arm 2 can be the connecting rod machine of any structure
Structure, mechanical arm 2 is fixedly connected with frock, for the movement by controlling frock, realizes the mobile control to cleaning machine on plate.Control
System processed can include controller and induction installation.
The application method of said apparatus is as follows：
Control system obtains the current location of frock and the relative position information for carrying target location.Control system is according to phase
To the linear amount of movement in each joint of positional information calculating machine arm.Control system controls corresponding joint according to linear amount of movement
Motion；When frock is adjusted when target location is carried, control system control machinery arm stop motion.Control system control frock is put
Cleaning machine on lower or picking up board.
Haulage equipment provided by the utility model is used for the mobile control to cleaning machine on plate, improves photovoltaic straddle clear
The automation characteristic and positional accuracy washed, facilitate the operation of cleaning process, compared with prior art, can be greatly saved people
Work is operated and cost input, and can protect the damage that photovoltaic panel causes from artificial misoperation.
On the basis of above-mentioned any one embodiment, mechanical arm 2 is the mechanical arm 2 with least two frees degree,
The end that frock is fixed on the end of mechanical arm 2, i.e. mechanical arm is used for fixing tool.
Optionally, mechanical arm 2 can include at least three linking arms, the rotational angle set between each linking arm and side
To can be with difference.
On the basis of above-mentioned any one embodiment, Fig. 5 is refer to, Fig. 5 is carrying provided by the utility model
The front view of mechanical arm 2 in the specific embodiment of equipment.
Mechanical arm 2 includes being provided with the rotary table 21 of angular transducer 29, and rotary table 21 is provided with the first arm 22, the
The second arm 23 is provided with one arm 22, the 3rd arm 24 is provided with the second arm 23；The link position of the first arm 22 and the second arm 23,
The link position of the second arm 23 and the 3rd arm 24 is provided with the angular transducer 29 for measuring joint angles adjustment.
In the present embodiment, the multi-joint mechanism that mechanical arm 2 is made up of multiple rod members, bottom is a revolution driving, tool
There are the rotational freedom and 1 free degree of plane rotation of multiple shoulder joints, scope of activities is respectively 90 ° and 360 °, can be by
Cleaning machine is adjusted to suitable attitude in the fixed frock and plate of end, to adapt to the photovoltaic panel of different attitudes.
Base is a revolution driving device, and what is be connected with revolution driving device is the first arm 22, drive the first arm 22 relative to
Base rotation is the first driving cylinder 25, it is necessary to explanation is that driving cylinder can be that oil cylinder can also be electric cylinders, or other drivings
Device, the tailstock of the first driving cylinder 25 is connected with base, and the first driving cylinder 25 goes out shaft end and is connected with the upper end of the first arm 22；The
The end of one arm 22 is connected with the second arm 23, and the second arm 23 is more long, is, in order to adapt to the length of cleaning machine on plate, to drive second
The base of the second driving cylinder 26 that arm 23 is rotated relative to the first arm 22 is fixed on the first arm 22, the shaft end of the second driving cylinder 26
End is fixed on the juxtra-articular with the first arm 22 of the second arm 23；It is shorter with the 3rd arm 24 that the second arm 23 is connected, it is similar to machinery
Last hinge, the Main Function of the 3rd arm 24 is connected with frock, drive that the 3rd arm 24 is rotated relative to the second arm 23 the
The tailstock of three driving cylinders 27 is fixed near the end of the second arm 23, and its cylinder goes out shaft end and is connected with the 3rd arm 24.Each joint
Gyroaxis on be assembled with angular transducer 29, also setting angle sensor 29 on rotary table 21.
It should be noted that frock top is the end of mechanical arm 2 there is also mounted position-detection sensor, i.e. detection means,
Detection means can be 3D laser or other induction installations.
Above-mentioned any one embodiment basis on, frock include for connect mechanical arm support 11, rope,
Guide rail 19, wind spring 10, rope reel 14 on support 11 and the mobile pulley 17 on guide rail 19；Wind spring 10 is fixed on
Support 11 is simultaneously connected with mobile pulley 17；One end of rope is used for cleaning machine on connecting plate, and the other end of rope bypasses mobile cunning
Wheel 17 is simultaneously fixed on rope reel 14；Rope is by during the pulling force of cleaning machine, mobile pulley 17 is moved to away from the direction of wind spring 10 on plate
Dynamic, less than cleaning machine on plate to the pulling force of rope, rope reel 14 is connected with driving machine for the restoring force of wind spring 10.
It should be noted that guide rail 19 and wind spring 10 have been fixedly mounted on above-mentioned support 11, a part and the shifting of wind spring 10
Movable pulley 17 is connected, and mobile pulley 17 is set on rails 19, and rope bypasses mobile pulley 17, one end of rope and rope reel
14 connections, drive rope to be wound or release when rope reel 14 is rotated, and the other end of rope is used to be cleaned on connecting plate
Machine.It should be noted that above-mentioned rope bypasses the canoe that mobile pulley 17 refers to using mobile pulley 17 as movable pulley
Connection, that is to say, that rope needs to bypass other fixing points or fixed pulley 18 respectively before and after mobile pulley 17 is bypassed, with
Just mobile pulley 17 realizes the effect of movable pulley.
When the end of mechanical arm 2 rocks more serious, rope is by during the pulling force of cleaning machine, mobile pulley 17 is to away from volume on plate
Move in the direction of spring 10, that is to say, that when cleaning machine is stress on rope and plate, mobile pulley 17 may be located remotely from wind spring 10,
Now, the stress of wind spring 10, reverse tractive force is applied to mobile pulley 17 so that the rope being wrapped on mobile pulley 17 is formed
Biaxial tension state, now rope extension is elongated, can cause that cleaning machine on plate will not be pulled away from light by rocking for mechanical arm 2
Volt plate surface, also eliminates the need for negative effect of the breaks to mobile device and mechanical arm 2.
When mechanical arm 2 is steadily mobile, the pulling force of wind spring 10 is just pulled near oneself mobile pulley 17 along line slideway 19
Position, the direct rope length of cleaning machine just shortens on rope stretching anchor point and plate, would not also cause rope to be rolled on plate and clean
In the driving wheel of machine or hang on photovoltaic board mount 11, it is to avoid potential safety hazard.
The utility model is combined using wind spring 10 and guide rail 19 with tension force, for solving the problems, such as redundancy rope.Adopt
The effect combined with this can freely extract fishing line out with certain pulling force similar to the spooler of fishing rod from bobbin,
Fishing line can also be reversely rolled when needing take-up.The utility model for lifting the rope of cleaning machine on plate by will bypass
The mobile pulley 17 being connected with wind spring 10, realizes the control to rope under different service conditions, eliminates breaks pair
The negative effect of mobile device and mechanical arm 2, will not also cause rope to be rolled on plate in the driving wheel of cleaning machine or hang over
On photovoltaic board mount 11, it is to avoid potential safety hazard.
On the basis of above-described embodiment, one end for being not provided with wind spring 10 of guide rail 19 is provided with two fixed pulleys 18,
The other end of rope bypasses first fixed pulley 18, mobile pulley 17 and second fixed pulley 18 and is fixed on rope reel successively
14。
In view of mobile pulley 17 as the set-up mode of movable pulley, two fixed pulleys 18 are set in one end of guide rail 19,
Rope is stretched out by rope reel 14, bypasses second fixed pulley 18, and the direction back towards mobile pulley 17 extends, and bypasses mobile cunning
After wheel 17, extend to first fixed pulley 18, it is protruding and be connected with cleaning machine on plate after bypassing first fixed pulley 18.
On the basis of above-mentioned any one embodiment, leading block is provided between wind spring 10 and rope reel 14,
Leading block is for being that the rope between wind spring 10 and rope reel 14 is oriented to.Because in said apparatus, rope can
Can in use exist and swing, and swing the difficulty for being likely to result in the rope closing of rope reel 14, even influence cleaning machine on plate
Position, so, in order to avoid the swing of rope, leading block can be set inside support 11, specifically, leading block can
To be arranged between fixed pulley 18 and rope reel 14, or it is arranged between fixed pulley 18 and mobile pulley 17.
Further, in order to be controlled to rocking for rope on twocouese, leading block can include laterally steering
Pulley 16 and longitudinally guiding pulley 15, laterally steering pulley 16 are conllinear with the guide direction of longitudinally guiding pulley 15.Laterally steering
The guide direction of pulley 16 and longitudinally guiding pulley 15 can collinearly cause that rope avoids the occurrence of inflection point in moving process.
Consider that cleaning machine generally has or Mulit-point Connection at 2 points on the lifting plate of frock 1, that is to say, that above-mentioned each embodiment
The rope for being provided may have a plurality of, and two days or a plurality of rope need to be respectively provided with mobile pulley 17 and wind spring 10 and carry out rope
Certainly the control of length.So, on the basis of above-mentioned any one embodiment, can be respectively provided with the two ends of support 11 and led
Mobile pulley 17 is respectively provided with rail 19, and two guide rails 19, winding rope is distinguished on mobile pulley 17, two ropes are used respectively
In the diverse location of cleaning machine on connecting plate.
Optionally, three or more guide rails 19 can be set on above-mentioned support 11, and corresponding matching rope, move
Movable pulley 17 etc., does not influence mutually between the lifting group that each guide rail 19 is formed.
On the basis of above-mentioned any one embodiment, it is provided with out with the corresponding position of fixed pulley 18 on support 11
Line anchor spot hole 13, rope is passed through and is connected with cleaning machine on plate with rope stretching anchor point hole 13.
The effect in rope stretching anchor point hole 13 can be that the swing for making rope is tried one's best reduction, and ensure that the inside of support 11 has one
Fixed closure, it is ensured that externalities is not received in the movement between each pulley and guide rail 19.
On the basis of above-mentioned any one embodiment, fixed pulley 18 is parallel with the rotary shaft of mobile pulley 17.Can be with
Stability when further ensureing that rope is moved between fixed pulley 18, mobile pulley 17.
Optionally, above-mentioned guide rail 19 can be line slideway 19, and line slideway 19 can farthest save support 11
Space.Or, above-mentioned guide rail 19 can also be the curvilinear guide 19 that curvature has change, be led when guide rail 19 is set into curve
During rail 19, when can stretch out diverse location by setting different curature variation ropes, stretch out and the speed retracted.Especially pin
During to being more accurately controlled, can be by changing curvature, realization is precisely controlled to rope.
Except the haulage equipment disclosed in above-described embodiment, the utility model also provides one kind and is disclosed including above-described embodiment
Haulage equipment cleaning device, the structure of other each several parts of the cleaning device refer to prior art, repeats no more herein.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The haulage equipment to haulage equipment provided by the utility model and with the cleaning device has been carried out in detail above
Introduce.Specific case used herein is set forth to principle of the present utility model and implementation method, above example
Illustrate that being only intended to help understands method of the present utility model and its core concept.It should be pointed out that general for the art
For logical technical staff, on the premise of the utility model principle is not departed from, some improvement can also be carried out to the utility model
And modification, these are improved and modification is also fallen into the utility model scope of the claims.
Claims (9)
1. a kind of haulage equipment, it is characterised in that including：
Frock for lifting cleaning machine on plate, the frock is connected with mechanical arm；
For the mechanical arm being controlled to cleaning machine on the plate；
For obtaining the relative position information of current location and carrying target location, according to relative position information control
The control system of the joint motions of mechanical arm, the control system is connected with the frock, the mechanical arm respectively.
2. haulage equipment according to claim 1, it is characterised in that the mechanical arm is with least two frees degree
The frock is fixed in mechanical arm, the end of the mechanical arm.
3. haulage equipment according to claim 2, it is characterised in that the mechanical arm includes being provided with angular transducer
Rotary table, the rotary table is provided with the first arm, and the second arm is provided with first arm, is provided with second arm
3rd arm；The link position of first arm and second arm, second arm are all provided with the link position of the 3rd arm
It is equipped with the angular transducer for measuring joint angles adjustment.
4. the haulage equipment according to claims 1 to 3 any one, it is characterised in that the frock includes that connection is described
The support of mechanical arm, rope, the guide rail on the support, wind spring, rope reel and the movement on the guide rail
Pulley；The wind spring is fixed on the support and is connected with the mobile pulley；One end of the rope is used for connecting plate supernatant
Washing machine, the other end of the rope bypasses the mobile pulley and is fixed on the rope reel；The rope is by the plate
During the pulling force of cleaning machine, the mobile pulley is moved to away from the wind spring direction, and the restoring force of the wind spring is less than the plate
Upper cleaning machine is connected to the pulling force of the rope, the rope reel with driving machine.
5. haulage equipment according to claim 4, it is characterised in that one end of the wind spring is not provided with the guide rail
It is provided with two fixed pulleys, the other end of the rope bypasses first fixed pulley, the mobile pulley and second successively
The fixed pulley is simultaneously fixed on the rope reel.
6. haulage equipment according to claim 5, it is characterised in that be provided between the wind spring and the rope reel
Leading block, the leading block is that the rope between the wind spring and the rope reel is oriented to.
7. haulage equipment according to claim 6, it is characterised in that the leading block includes laterally steering pulley and vertical
To leading block, the guide direction of the laterally steering pulley and the longitudinally guiding pulley is conllinear.
8. haulage equipment according to claim 4, it is characterised in that the two ends of the support are respectively provided with the guide rail,
And the mobile pulley is respectively provided with two guide rails, rope described in winding is distinguished on the mobile pulley, described in two
Rope is respectively used to connect the diverse location of cleaning machine on the plate.
9. cleaning machine body on a kind of cleaning device, including haulage equipment and plate, it is characterised in that the haulage equipment is right
It is required that the haulage equipment described in 1 to 8 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621246560.6U CN206286305U (en) | 2016-11-17 | 2016-11-17 | A kind of haulage equipment and the cleaning device with the haulage equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621246560.6U CN206286305U (en) | 2016-11-17 | 2016-11-17 | A kind of haulage equipment and the cleaning device with the haulage equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206286305U true CN206286305U (en) | 2017-06-30 |
Family
ID=59099398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621246560.6U Active CN206286305U (en) | 2016-11-17 | 2016-11-17 | A kind of haulage equipment and the cleaning device with the haulage equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206286305U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109622490A (en) * | 2019-01-31 | 2019-04-16 | 佛山市顺德区奥丰弹簧有限公司 | A kind of pump head valve spring cleaning equipment |
| CN112832319A (en) * | 2020-12-31 | 2021-05-25 | 徐州徐工挖掘机械有限公司 | Excavator remote control system based on vibration runway test |
-
2016
- 2016-11-17 CN CN201621246560.6U patent/CN206286305U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109622490A (en) * | 2019-01-31 | 2019-04-16 | 佛山市顺德区奥丰弹簧有限公司 | A kind of pump head valve spring cleaning equipment |
| CN112832319A (en) * | 2020-12-31 | 2021-05-25 | 徐州徐工挖掘机械有限公司 | Excavator remote control system based on vibration runway test |
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