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CN113494579A - High-thrust execution device with two ends capable of reciprocating - Google Patents

High-thrust execution device with two ends capable of reciprocating Download PDF

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Publication number
CN113494579A
CN113494579A CN202010282839.4A CN202010282839A CN113494579A CN 113494579 A CN113494579 A CN 113494579A CN 202010282839 A CN202010282839 A CN 202010282839A CN 113494579 A CN113494579 A CN 113494579A
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CN
China
Prior art keywords
movable block
connecting rod
guide rail
thrust
reciprocating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010282839.4A
Other languages
Chinese (zh)
Inventor
周庆辉
王林
李俊杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shaoxing Jineng Nanotech Co ltd
Original Assignee
Shaoxing Jineng Nanotech Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shaoxing Jineng Nanotech Co ltd filed Critical Shaoxing Jineng Nanotech Co ltd
Priority to CN202010282839.4A priority Critical patent/CN113494579A/en
Publication of CN113494579A publication Critical patent/CN113494579A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
    • F16H25/2252—Planetary rollers between nut and screw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0247—Driving means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/02—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having two cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
    • F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/204—Axial sliding means, i.e. for rotary support and axial guiding of nut or screw shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Power Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

The invention discloses a high-thrust executing device with two ends capable of reciprocating, which consists of a supporting plate, a guide rail, a movable block bracket, a connecting rod, a fixing bolt, a roller planet, a hollow sleeve, a bearing and a driving electric device. The supporting plate is connected with the guide rail through a fixing bolt, the movable block bracket is used for fixing the connecting rod and the movable block, and the driving motor provides power support for the hollow sleeve. The roller planet is used as a bearing part and is a reverse roller planet, the bearing load is large, the strength is high, the driving motor is a servo motor, the output is stable, the reaction is accurate, the application range is wide, the device is simple in design, the size is light, the maintenance cost is low, and the device has high application and popularization values.

Description

High-thrust execution device with two ends capable of reciprocating
Technical Field
The invention belongs to the field of mechanical and electrical devices, and particularly relates to a high-thrust executing device with two ends capable of reciprocating.
Background
A high-thrust executing device with two ends capable of reciprocating is mainly used for high-pressure micro-jet homogenizers, sliding platforms and industrial production lines.
With the improvement of production capacity and machining precision, the linear motion of the pull rod generally realized by using gas and hydraulic pressure as driving power cannot meet the production requirement, and a linear thrust executing device using servo driving as power output appears, and is connected with numerical control automation equipment to realize high-precision operation. The device has the advantages of stable operation, low noise, energy conservation, high control precision, large starting torque, strong load capacity, low maintenance cost, capability of operating in severe environment and high protection level. The high-strength high-speed motor can run for a long time, and can realize high strength, high rotating speed, high precision, high stability and low noise, so the high-speed motor is widely applied to the electrical industry, the automobile industry, the paper making industry, the chemical industry, the mechanical generation processing industry, the assembly line industry, the welding industry and the like.
The traditional linear actuating device generally adopts a single-end thrust actuating device, and balls are used as bearing parts, so that the device is low in service efficiency, high in production cost and maintenance cost, high in energy consumption, uneven in speed and limited in application range.
Disclosure of Invention
The invention aims to provide a high-thrust executing device with two reciprocating ends, and aims to solve the problems that the thrust executing device provided by the prior art is low in working efficiency, increased in maintenance cost, low in energy consumption utilization rate and narrow in application range because a single-end shaft working mode is generally adopted and balls are used as pressure bearing parts or gas and hydraulic pressure are used as power output.
The invention is realized in such a way that the large thrust execution device with two reciprocating ends comprises a support plate, a guide rail, a movable block bracket, a connecting rod, a fixed bolt, a roller planet, a hollow sleeve, a bearing and a driving motor, wherein the support plate is connected with the guide rail through the fixed bolt, the movable block bracket fixes the connecting rod and the movable block, the movable block makes linear motion on the guide rail, the roller planet is a reverse roller planet, the bearings at the two ends are tapered roller bearings, the large thrust execution device can bear larger axial force compared with a common deep groove ball bearing, and the hollow sleeve is arranged inside the driving motor.
Further, the high-thrust execution device with two reciprocating ends is characterized in that the lead of the reverse roller planet in the device can reach 1.5mm to 10 mm.
Further, the high-thrust execution device with two reciprocating ends is characterized in that a driving motor in the high-thrust execution device is a high-torque servo motor, and the torque can reach 10 N.M-100 N.M.
Further, the high-thrust execution device with two ends capable of reciprocating is characterized in that the diameter of the hollow sleeve in the device can reach 30 mm-100 mm.
Further, the high thrust execution device with two reciprocating ends is characterized in that the device converts rotary power into linear reciprocating power through a reverse roller planet, so that the movable block is driven to perform linear translation motion on the guide rail, and the thrust of the linear translation motion is equal to the thrust generated by the driving motor.
Further, the high-thrust execution device with two reciprocating ends is characterized in that the linear motion of the two ends of the connecting rod of the device is equidistant coaxial linear motion, namely when the connecting rod at one end moves to one direction, the connecting rod at the other end also moves in the same direction.
Further, but a both ends reciprocating motion's high thrust final controlling element, its characterized in that, connecting rod both sides joinable structure spare can be: plunger type high pressure cylinder, electric welding gun, push plate.
The invention provides a high-thrust executing device with two ends capable of reciprocating, which consists of a supporting plate, a guide rail, a movable block bracket, a connecting rod, a fixed bolt, a roller planet, a hollow sleeve, a bearing and a driving electric device. The supporting plate is connected with the guide rail through a fixing bolt, the movable block support is used for fixing the connecting rod and the movable block, the driving motor provides power support for the hollow sleeve, the roller planet serves as a bearing part, the roller planet is a reverse planet roller, the driving motor is a servo motor, the execution device can be connected with the numerical control automation equipment to realize high-precision operation, the device is stable in operation, low in noise, energy-saving, high in control precision, large in starting torque, strong in loading capacity and low in maintenance cost, can operate in a severe environment, and is high in protection level. The servo motor is adopted as driving power, and the servo motor is characterized in that: stable output, accurate reaction and wide application range. The roller planet is used as a bearing part and is characterized in that: the device has the advantages of large stress load and high strength, integrates the advantages of the servo motor and the roller planet, and has strong popularization and application values.
Drawings
Fig. 1 is a schematic structural diagram of a high thrust actuator with two reciprocating ends according to an embodiment of the present invention.
Fig. 2 is a schematic stroke diagram of a high thrust actuator with two reciprocating ends according to an embodiment of the present invention.
Fig. 3 is a specific embodiment of a plunger type high pressure cylinder installed on a high thrust actuator with two reciprocating ends according to an embodiment of the present invention.
Fig. 4 is a specific implementation diagram of a high-thrust actuator mounting push plate with two reciprocating ends according to an embodiment of the present invention.
Fig. 5 is a diagram showing an embodiment of a high thrust actuator mounted electric welding gun with both ends capable of reciprocating.
In the figure: 1. a support plate; 2. a guide rail; 3. a movable block; 4. a movable block support; 5. a connecting rod; 6. fixing the bolt; 7. a roller planet; 8. a hollow sleeve; 9. a bearing; 10. a drive motor; 11. a sample inlet; 12. a sample outlet; 13. a plunger type high pressure cylinder; 14. a plunger rod; 15. pushing the plate; 16. a push plate connecting rod; 17. an electric welding gun; 18. the welding gun connecting rod.
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.
Example 1
As shown in FIG. 3, in the embodiment of the present invention, the supporting plate 1 is connected to the guide rail 2 by the fixing bolt 6, the movable block support 4 fixes the connecting rod 5 and the movable block 3, the movable block 3 moves linearly on the guide rail 2, the plunger type high pressure cylinders 13 are installed at both ends of the connecting rod 5, the sample enters from the inlet 11, and flows out from the outlet 12 after being pressurized by the plunger rod 14, so that a high pressure and continuous flow product can be obtained.
Example 2
As shown in fig. 4, in the embodiment of the present invention, the supporting plate 1 is connected to the guide rail 2 through the fixing bolt 6, the movable block bracket 4 fixes the connecting rod 5 and the movable block 3, the movable block 3 makes a linear motion on the guide rail 2, the push plate connecting rods 16 are installed at two ends of the connecting rod 5, the push plate 15 is connected to the push plate connecting rods 16, and the push plate 15 moves along with the connecting rod 5, so that a large thrust can be provided during sorting on the assembly line.
Example 3
As shown in fig. 5, in the embodiment of the present invention, the supporting plate 1 is connected to the guide rail 2 through the fixing bolt 6, the movable block bracket 4 fixes the connecting rod 5 and the movable block 3, the movable block 3 makes a linear motion on the guide rail 2, the welding gun connecting rods 18 are installed at two ends of the connecting rod 5, the welding gun 17 is connected to the welding gun connecting rods 18, the welding gun 17 moves along with the connecting rod 5, and the strokes at two ends are kept consistent, so that the welding efficiency is improved by 50% and the uniformity of the welding process is ensured.
The device simple structure, it is convenient to remove, and area is little, and cost of maintenance is low, adopts servo motor as power input, and characteristics are: output is steady, the reaction is accurate, application scope is wide, and the roller planet is as the pressure-bearing spare, and the characteristics are: the device has the advantages of large stress load and high strength, integrates the advantages of the servo motor and the roller planet, and has strong popularization and application values.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1.一种两端可往复运动的大推力执行装置，包括支撑板(1)、导轨(2)、活动块(3)、活动块支架(4)、连接杆(5)、固定螺栓(6)、滚柱行星(7)、空心套(8)、轴承(9)、驱动电机(10),支撑板(1)通过固定螺栓(6)与导轨(2)相连接，活动块支架(4)固定连接杆(5)与活动块(3)，活动块(3)在导轨(2)上作直线运动，其特征在于，滚柱行星(7)为反式滚柱行星，并且两端的轴承(9)为圆锥滚子轴承，相对于普通深沟球轴承可以承受更大的轴向力，并且驱动电机(10)内部为空心套(8)。1. A large thrust actuator capable of reciprocating motion at both ends, comprising a support plate (1), a guide rail (2), a movable block (3), a movable block bracket (4), a connecting rod (5), and a fixing bolt (6) ), roller planet (7), hollow sleeve (8), bearing (9), drive motor (10), the support plate (1) is connected with the guide rail (2) through the fixing bolt (6), and the movable block bracket (4) ) fix the connecting rod (5) and the movable block (3), and the movable block (3) moves linearly on the guide rail (2), characterized in that the roller planet (7) is a reverse roller planet, and the bearings at both ends (9) is a tapered roller bearing, which can bear a larger axial force than a common deep groove ball bearing, and the inside of the driving motor (10) is a hollow sleeve (8). 2.如权利要求1所述的一种两端可往复运动的大推力执行装置，其特征在于，该装置中反式滚柱行星(7)的导程可达1.5mm至10mm。2 . The high-thrust actuator with reciprocating motion at both ends according to claim 1 , wherein the lead of the trans-roller planets ( 7 ) in the device can reach 1.5mm to 10mm. 3 . 3.如权利要求1所述的一种两端可往复运动的大推力执行装置，其特征在于，该装置中驱动电机(10)为高扭矩伺服电机，扭矩可达10N.M至100N.M。3. The high-thrust actuator with reciprocating motion at both ends as claimed in claim 1, wherein the drive motor (10) in the device is a high-torque servo motor, and the torque can reach 10N.M to 100N.M . 4.如权利要求1所述的一种两端可往复运动的大推力执行装置，其特征在于，该装置中空心套(8)的直径可达30mm至100mm。4 . The large thrust actuator with reciprocating motion at both ends according to claim 1 , wherein the diameter of the hollow sleeve ( 8 ) in the device can reach 30mm to 100mm. 5 . 5.如权利要求1所述的一种两端可往复运动的大推力执行装置，其特征在于，该装置将通过滚柱行星(7)将旋转动力转换为直线往复式动力，从而带动活动块(3)在导轨(2)上作直线平移运动，并且该直线平移运动的推力等同于驱动电机(10)所产生的推力。5. A kind of high-thrust actuator with reciprocating motion at both ends as claimed in claim 1, characterized in that, the device will convert the rotary power into linear reciprocating power through the roller planet (7), thereby driving the movable block (3) Perform linear translational motion on the guide rail (2), and the thrust of the linear translational motion is equal to the thrust generated by the drive motor (10). 6.如权利要求1所述的一种两端可往复运动的大推力执行装置，其特征在于，所述装置连接杆(5)两端所作的直线运动为等距同轴直线运动，即当一端连接杆(5)向一个方向移动时，另一端也会按照相同的方向进行移动。6. The large thrust actuator with reciprocating motion at both ends as claimed in claim 1, characterized in that the linear motion at both ends of the connecting rod (5) of the device is an equidistant coaxial linear motion, that is, when When one end of the connecting rod (5) moves in one direction, the other end will also move in the same direction. 7.如权利要求1所述的一种两端可往复运动的大推力执行装置，其特征在于，连接杆（5）两侧可连接结构件，可以是：柱塞式高压缸（13）、推板（15）或电焊枪（17）。7. A large thrust actuator with reciprocating motion at both ends according to claim 1, characterized in that the connecting rod (5) can be connected with structural members on both sides, which can be: a plunger-type high-pressure cylinder (13), Push plate (15) or welding torch (17).
CN202010282839.4A 2020-04-08 2020-04-08 High-thrust execution device with two ends capable of reciprocating Pending CN113494579A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010282839.4A CN113494579A (en) 2020-04-08 2020-04-08 High-thrust execution device with two ends capable of reciprocating

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010282839.4A CN113494579A (en) 2020-04-08 2020-04-08 High-thrust execution device with two ends capable of reciprocating

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Publication Number Publication Date
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Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2705387Y (en) * 2004-06-03 2005-06-22 张希华 Bicycle planet roller disc type brake
CN103802343A (en) * 2014-01-17 2014-05-21 西安交通大学 Two-way horizontal servo pressure machine for transmission of planet roller lead screw
CN104153958A (en) * 2014-07-07 2014-11-19 西安交通大学 Alternating current servo motor driving device for discharge capacity adjustment of radial plunger pump
CN105127607A (en) * 2015-08-26 2015-12-09 长治市永华机械有限公司 Straight slit mechanical welding machine
CN105181475A (en) * 2015-10-28 2015-12-23 四川杰特机器有限公司 Impulse test system supercharged through servo electric cylinder
CN109617305A (en) * 2018-10-09 2019-04-12 绍兴吉能纳米科技有限公司 A kind of two-way shaft servo straight line executing mechanism
CN109667901A (en) * 2019-01-16 2019-04-23 杭州新剑机器人技术股份有限公司 Planetary roller screw electric cylinder
CN110107664A (en) * 2018-12-05 2019-08-09 哈尔滨工业大学 A kind of big L/D ratio nut inverse type planetary roller screw
CN110173549A (en) * 2019-06-26 2019-08-27 绍兴吉能纳米科技有限公司 A kind of two-way shaft servo straight line executing mechanism
CN211951356U (en) * 2020-04-08 2020-11-17 绍兴吉能纳米科技有限公司 High-thrust execution device with two ends capable of reciprocating

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2705387Y (en) * 2004-06-03 2005-06-22 张希华 Bicycle planet roller disc type brake
CN103802343A (en) * 2014-01-17 2014-05-21 西安交通大学 Two-way horizontal servo pressure machine for transmission of planet roller lead screw
CN104153958A (en) * 2014-07-07 2014-11-19 西安交通大学 Alternating current servo motor driving device for discharge capacity adjustment of radial plunger pump
CN105127607A (en) * 2015-08-26 2015-12-09 长治市永华机械有限公司 Straight slit mechanical welding machine
CN105181475A (en) * 2015-10-28 2015-12-23 四川杰特机器有限公司 Impulse test system supercharged through servo electric cylinder
CN109617305A (en) * 2018-10-09 2019-04-12 绍兴吉能纳米科技有限公司 A kind of two-way shaft servo straight line executing mechanism
CN110107664A (en) * 2018-12-05 2019-08-09 哈尔滨工业大学 A kind of big L/D ratio nut inverse type planetary roller screw
CN109667901A (en) * 2019-01-16 2019-04-23 杭州新剑机器人技术股份有限公司 Planetary roller screw electric cylinder
CN110173549A (en) * 2019-06-26 2019-08-27 绍兴吉能纳米科技有限公司 A kind of two-way shaft servo straight line executing mechanism
CN211951356U (en) * 2020-04-08 2020-11-17 绍兴吉能纳米科技有限公司 High-thrust execution device with two ends capable of reciprocating

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Application publication date: 20211012