CN111775133A - Intelligent material carrying manipulator - Google Patents
Intelligent material carrying manipulator Download PDFInfo
- Publication number
- CN111775133A CN111775133A CN202010685787.5A CN202010685787A CN111775133A CN 111775133 A CN111775133 A CN 111775133A CN 202010685787 A CN202010685787 A CN 202010685787A CN 111775133 A CN111775133 A CN 111775133A
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- wall
- fixedly connected
- sleeve
- connecting rod
- rotating shaft
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- 230000003028 elevating effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent material handling manipulator, which comprises a first shell, a lifting device, a clamping device and a driving wheel, wherein the lifting device comprises a motor, a worm gear, a worm, a first bearing, a first connecting rod, a first supporting table, a first sleeve, a second bearing, a hydraulic cylinder, a second supporting table, a guide hole, a supporting rod, a limiting hole, a limiting block, a guide rod and a stop block, the clamping device comprises a second shell, a cylinder, a second connecting rod, a connecting block, a first rotating shaft, a second sleeve, a third connecting rod, a third sleeve, a second rotating shaft, a clamping jaw, a through hole, a third rotating shaft and a fixing block, compared with the existing material handling manipulator, the invention is designed with the lifting device, can carry out large-scale material handling, and is more flexible than the existing material handling manipulator, the clamping device designed by the invention can clamp materials with different sizes and different shapes, the mechanical action is less, and the working efficiency can be greatly improved.
Description
Technical Field
The invention relates to the technical field of material handling manipulators, in particular to an intelligent material handling manipulator.
Background
Along with the development of science and technology, the degree of automation of mill improves gradually, and the robot is just liberating people from heavy and boring work gradually, and the material handling manipulator is one of them, but current material handling manipulator is by the production line because of its position fixing, so the transport scope is less, can't satisfy the production needs, and current material handling manipulator clamping jaw flexibility is low, presss from both sides and gets the material and need carry out a plurality of actions, leads to its inefficiency.
Disclosure of Invention
The present invention is directed to an intelligent material handling robot, so as to solve the problems in the background art.
In order to solve the technical problems, the invention provides the following technical scheme: an intelligent material carrying manipulator comprises a first casing, a lifting device, a clamping device and a driving wheel, wherein the lifting device is arranged on the outer wall of one side of the first casing and comprises a motor, a worm wheel, a worm, a first bearing, a first connecting rod, a first supporting platform, a first sleeve, a second bearing, a hydraulic cylinder, a second supporting platform, a guide hole, a supporting rod, a limiting hole, a limiting block, a guide rod and a stop block, the inner wall of the bottom end of the first casing is fixedly connected with the motor, the outer wall of one side of the output end of the motor is fixedly connected with the worm wheel, the outer wall of one side of the worm wheel is meshed and connected with the worm, the outer wall of one side of the worm is sleeved with the first bearing, the first bearing is fixedly connected onto the inner wall of the bottom end of the first casing, the outer wall of the top end of the worm is fixedly connected with the first connecting rod, the outer wall of, a first sleeve is fixedly connected to the outer wall of the bottom end of the first supporting table, a second bearing is sleeved on the outer wall of one side of the first sleeve, the second bearing is embedded and fixed on the inner wall of one side of the first casing, a hydraulic cylinder is fixedly connected to the outer wall of the top end of the first supporting table, a second supporting table is fixedly connected to the outer wall of one side of the output end of the hydraulic cylinder, guide holes are distributed in the outer wall of one side of the second supporting table, and a clamping device is arranged on the outer wall of the top end of the second supporting table;
the clamping device comprises a second casing, an air cylinder, a second connecting rod, a connecting block, a first rotating shaft, a second sleeve, a third connecting rod, a third sleeve, a second rotating shaft, a clamping jaw, a through hole, a third rotating shaft and a fixing block, wherein the second casing is fixedly connected to the outer wall of the top end of the second supporting table, the air cylinder is fixedly connected to the inner wall of one side of the second casing, the second connecting rod is fixedly connected to the outer wall of one side of the output end of the air cylinder, the connecting block is fixedly connected to the outer wall of one side of the second connecting rod, the first rotating shaft is symmetrically fixed to the inner wall of one side of the connecting block, the second sleeve is sleeved on the outer wall of one side of the first rotating shaft, the third connecting rod is fixedly connected to the outer wall of one side of the second sleeve, the third sleeve is fixedly connected to the outer wall of one side of the third connecting rod, and, clamping jaws are symmetrically fixed on the outer walls of the two sides of the second rotating shaft, a through hole is formed in the outer wall of one side of each clamping jaw, a third rotating shaft is sleeved on the inner wall of one side of the through hole, fixing blocks are symmetrically fixed on the outer walls of the two sides of the third rotating shaft, and the fixing blocks are fixedly connected to the outer wall of one side of the second casing.
Further, it is fixed with the bracing piece to distribute on the top outer wall of first supporting station, spacing hole has been seted up on one side inner wall of bracing piece, sliding connection has the stopper on one side inner wall in spacing hole, fixedly connected with guide bar on the top outer wall of stopper, and the guide bar cup joints in the inside of guide hole, fixedly connected with dog on the top outer wall of guide bar.
Furthermore, the outer wall of one side of the first machine shell is provided with driving wheels in a distributed mode.
Furthermore, sawteeth are arranged on the outer wall of one side of the clamping jaw.
Furthermore, the number of the supporting rods is four.
Furthermore, it is arbitrary that second pivot cross section includes two relative first arc connecting portion and two relative spacing portions of first joint, the outside parcel of second pivot has the elastic component, third sleeve inboard is equipped with the spacing portion of second arc connecting portion and two relative second joints, and when clamping jaw and fixed block mutually perpendicular, the third connecting rod is perpendicular with the spacing portion of first joint, and two first arc connecting portions are relative with two second arc connecting portions respectively, and two spacing portions of first joint are relative with two spacing portions of second joint.
Compared with the prior art, the invention has the following beneficial effects: compared with the existing material handling manipulator, the lifting device is designed, large-scale material handling can be performed, the lifting device is more flexible than the existing material handling manipulator, the clamping device designed by the invention can clamp materials with different sizes and shapes, the mechanical action is less, and the working efficiency can be greatly improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic overall side view of the present invention;
FIG. 2 is a side view sectional structure of the first housing of the present invention;
FIG. 3 is a side view cross-sectional schematic view of the support pole of the present invention;
FIG. 4 is a side view of the grasping apparatus of the present invention in cross-section;
FIG. 5 is a schematic view of the gripping apparatus of the present invention in a top view and in section;
FIG. 6 is a schematic view of a connection structure of a third connecting rod, a third sleeve and a second rotating shaft according to the present invention;
FIG. 7 is an enlarged partial schematic view of FIG. 6 at A;
in the figure: 1. a first housing; 2. a lifting device; 3. a gripping device; 4. a drive wheel; 21. a motor; 22. a worm gear; 23. a worm; 24. a first bearing; 25. a first link; 26. a first support table; 27. a first sleeve; 28. a second bearing; 29. a hydraulic cylinder; 210. a second support table; 211. a guide hole; 212. a support bar; 213. a limiting hole; 214. a limiting block; 215. a guide bar; 216. a stopper; 31. a second housing; 32. a cylinder; 33. a second link; 34. connecting blocks; 35. a first rotating shaft; 36. a second sleeve; 37. a third link; 38. a third sleeve; 381. a second arcuate connecting portion; 382. a second clamping limiting part; 39. a second rotating shaft; 391. a first arcuate connecting portion; 392. a first clamping limiting part; 393. an elastic member; 310. a clamping jaw; 311. a through hole; 312. a third rotating shaft; 313. and (5) fixing blocks.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: an intelligent material carrying manipulator comprises a first machine shell 1, a lifting device 2, a clamping device 3 and a driving wheel 4, wherein the lifting device 2 is arranged on the outer wall of one side of the first machine shell 1, the lifting device 2 comprises a motor 21, a worm wheel 22, a worm 23, a first bearing 24, a first connecting rod 25, a first supporting platform 26, a first sleeve 27, a second bearing 28, a hydraulic cylinder 29, a second supporting platform 210, a guide hole 211, a supporting rod 212, a limiting hole 213, a limiting block 214, a guide rod 215 and a stop block 216, the inner wall of the bottom end of the first machine shell 1 is fixedly connected with the motor 21, the outer wall of one side of the output end of the motor 21 is fixedly connected with the worm wheel 22, the outer wall of one side of the worm wheel 22 is connected with the worm 23 in a meshing manner, the outer wall of one side of the worm 23 is sleeved with the first bearing 24, the first bearing 24 is fixedly connected to the inner wall of the bottom end of, a first supporting table 26 is fixedly connected to the outer wall of the bottom end of the first connecting rod 25, a first sleeve 27 is fixedly connected to the outer wall of the bottom end of the first supporting table 26, a second bearing 28 is sleeved on the outer wall of one side of the first sleeve 27, the second bearing 28 is embedded and fixed to the inner wall of one side of the first casing 1, a hydraulic cylinder 29 is fixedly connected to the outer wall of the top end of the first supporting table 26, a second supporting table 210 is fixedly connected to the outer wall of one side of the output end of the hydraulic cylinder 29, guide holes 211 are distributed on the outer wall of one side of the second supporting table 210, and a clamping device 3 is arranged on the outer wall of the top end of;
the clamping device 3 comprises a second machine shell 31, an air cylinder 32, a second connecting rod 33, a connecting block 34, a first rotating shaft 35, a second sleeve 36, a third connecting rod 37, a third sleeve 38, a second rotating shaft 39, a clamping jaw 310, a through hole 311, a third rotating shaft 312 and a fixing block 313, the second machine shell 31 is fixedly connected on the outer wall of the top end of the second supporting table 210, the air cylinder 32 is fixedly connected on the inner wall of one side of the second machine shell 31, the second connecting rod 33 is fixedly connected on the outer wall of one side of the output end of the air cylinder 32, the connecting block 34 is fixedly connected on the outer wall of one side of the second connecting rod 33, the first rotating shaft 35 is symmetrically fixed on the inner wall of one side of the connecting block 34, the second sleeve 36 is sleeved on the outer wall of one side of the first rotating shaft 35, the third connecting rod 37 is fixedly connected on the outer wall of one side of the second sleeve 36, the third sleeve 38 is fixedly connected on the outer wall of one side, clamping jaws 310 are symmetrically fixed on the outer walls of two sides of the second rotating shaft 39, a through hole 311 is formed in the outer wall of one side of each clamping jaw 310, a third rotating shaft 312 is sleeved on the inner wall of one side of the through hole 311, fixing blocks 313 are symmetrically fixed on the outer walls of two sides of the third rotating shaft 312, and the fixing blocks 313 are fixedly connected to the outer wall of one side of the second casing 31; the outer wall of the top end of the first supporting table 26 is fixedly distributed with supporting rods 212, the inner wall of one side of each supporting rod 212 is provided with a limiting hole 213, the inner wall of one side of each limiting hole 213 is connected with a limiting block 214 in a sliding manner, the outer wall of the top end of each limiting block 214 is fixedly connected with a guide rod 215, the guide rod 215 is sleeved inside the guide hole 211, and the outer wall of the top end of each guide rod 215 is fixedly connected with a stop block 216 for guiding the second supporting table 210; the driving wheels 4 are distributed on the outer wall of one side of the first machine shell 1, so that the first machine shell is convenient to move; the outer wall of one side of the clamping jaw 310 is provided with sawteeth, so that the clamping jaw is convenient to grab; the number of the support rods 212 is four, and the support rods are used for supporting the second support platform 210;
referring to fig. 6 to 7, a cross section of the second rotating shaft 39 of the present invention includes two opposite first arc-shaped connecting portions 391 and two opposite first clamping limiting portions 392, an elastic member 393 is wrapped outside the second rotating shaft 39, a second arc-shaped connecting portion 381 and two opposite second clamping limiting portions 382 are disposed inside the third sleeve 38, when the clamping jaw 310 is perpendicular to the fixing block 313, the third connecting rod 37 is perpendicular to the first clamping limiting portions 392, the two first arc-shaped connecting portions 391 are respectively opposite to the two second arc-shaped connecting portions 381, and the two first clamping limiting portions 392 are opposite to the two second clamping limiting portions 382. The elastic member 393 may be a rubber material. When the material is required to be clamped, the two clamping jaws 310 are opened to form a V shape, at the moment, the first arc-shaped connecting portion 391 and the second arc-shaped connecting portion 381 are staggered, the first clamping limiting portion 392 and the second clamping limiting portion 382 are staggered, the friction force between the elastic piece 393 and the third sleeve 38 and the elastic force (the arc-shaped portion position) of the elastic piece 393, which is compressed by the elastic piece 393, are overcome by means of the thrust of the air cylinder 32 in the process. After the material taking is finished, the two clamping jaws 310 are clamped, the two clamping jaws 310 are parallel to each other at the moment, the two first arc-shaped connecting parts 391 are respectively opposite to the two second arc-shaped connecting parts 381, and the two first clamping limiting parts 392 are opposite to the two second clamping limiting parts 382; at this time, the elastic member 393 has a certain elastic force, so that the clamped material can be prevented from shaking in a large radian during transportation, and the clamping jaw 310 cannot rotate around the second rotating shaft 39 under the action of the gravity of the material (because the clamping jaw 310 rotates around the second rotating shaft 39, the friction force between the elastic member 393 and the third sleeve 38 and the elastic force of the elastic member 393 which is compressed by itself need to be overcome).
When the material conveying device is used for conveying materials, the driving wheel 4 is started firstly, the equipment is moved to a conveying point, the lifting device 2 is started according to the position height of the materials to adjust the position of the clamping device 3, and the material conveying device comprises the following specific operations: the hydraulic cylinder 29 is started to push the second support platform 210 to move in the direction of the support rod 212, the support rod 212 drives the guide rod 215 under the action of the stop block 216, the guide rod 215 drives the limit block 214 to move along the limit hole 213, after the second support platform reaches the clamping position, the cylinder 32 is started to push the second connecting rod 33 to drive the connecting block 34, the first rotating shaft 35 and the second sleeve 36, the third sleeve 38 drives the second rotating shaft 39 under the action of the second sleeve 36 and the third connecting rod 37, the clamping jaw 310 fixed on the second rotating shaft 39 rotates around the third rotating shaft 312 under the action of the through hole 311, at the moment, the clamping jaw 310 is in an opening state, the driving wheel 4 drives the equipment to move forwards, so that the material is in the opening clamping jaw 310, the cylinder 32 is retracted, the clamping jaw 310 clamps the material, and at the material can be driven to be; in the process, the motor 21 is started to drive the worm wheel 22, the first supporting platform 26 rotates in the second bearing 28 through the action of the worm 23, the first bearing 24 and the first connecting rod 25, and therefore the position of the clamping jaw 310 is adjusted through rotating the lifting device 2, so that the material can be clamped and placed conveniently.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides an intelligent material transport manipulator, includes first casing (1), elevating gear (2), presss from both sides and gets device (3) and drive wheel (4), its characterized in that: the lifting device (2) is arranged on the outer wall of one side of the first machine shell (1), the lifting device (2) comprises a motor (21), a worm wheel (22), a worm (23), a first bearing (24), a first connecting rod (25), a first supporting platform (26), a first sleeve (27), a second bearing (28), a hydraulic cylinder (29), a second supporting platform (210), a guide hole (211), a supporting rod (212), a limiting hole (213), a limiting block (214), a guide rod (215) and a stop block (216), the motor (21) is fixedly connected to the inner wall of the bottom end of the first machine shell (1), the worm wheel (22) is fixedly connected to the outer wall of one side of the output end of the motor (21), the worm (23) is connected to the outer wall of one side of the worm wheel (22) in a meshing manner, the first bearing (24) is sleeved on the outer wall of one side of the worm (23), and the first bearing (24) is fixedly connected to the inner wall of, a first connecting rod (25) is fixedly connected to the outer wall of the top end of the worm (23), a first supporting platform (26) is fixedly connected to the outer wall of the bottom end of the first connecting rod (25), a first sleeve (27) is fixedly connected to the outer wall of the bottom end of the first supporting platform (26), a second bearing (28) is sleeved on the outer wall of one side of the first sleeve (27), the second bearing (28) is fixedly embedded in the inner wall of one side of the first casing (1), a hydraulic cylinder (29) is fixedly connected to the outer wall of the top end of the first supporting platform (26), a second supporting platform (210) is fixedly connected to the outer wall of one side of the output end of the hydraulic cylinder (29), guide holes (211) are formed in the outer wall of one side of the second supporting platform (210) in a distributed mode, and a clamping device (3) is arranged on the outer wall of the top;
the clamping device (3) comprises a second casing (31), a cylinder (32), a second connecting rod (33), a connecting block (34), a first rotating shaft (35), a second sleeve (36), a third connecting rod (37), a third sleeve (38), a second rotating shaft (39), a clamping jaw (310), a through hole (311), a third rotating shaft (312) and a fixing block (313), the second casing (31) is fixedly connected to the outer wall of the top end of the second supporting table (210), the cylinder (32) is fixedly connected to the inner wall of one side of the second casing (31), the second connecting rod (33) is fixedly connected to the outer wall of one side of the output end of the cylinder (32), the connecting block (34) is fixedly connected to the outer wall of one side of the second connecting rod (33), the first rotating shaft (35) is symmetrically fixed to the inner wall of one side of the connecting block (34), the second sleeve (36) is sleeved on the outer wall of one side of the first rotating shaft (35), fixedly connected with third connecting rod (37) on the outer wall of one side of second sleeve (36), fixedly connected with third sleeve (38) on the outer wall of one side of third connecting rod (37), second pivot (39) have been cup jointed on the inner wall of one side of third sleeve (38), symmetry is fixed with clamping jaw (310) on the both sides outer wall of second pivot (39), through-hole (311) have been seted up on the outer wall of one side of clamping jaw (310), third pivot (312) have been cup jointed on the inner wall of one side of through-hole (311), symmetry is fixed with fixed block (313) on the both sides outer wall of third pivot (312), and fixed block (313) fixed connection is on the outer wall of one side of second casing (31).
2. The intelligent material handling robot of claim 1, wherein: the utility model discloses a support of the building, including first supporting bench (26), support bar (212) have been distributed and have been fixed with on the top outer wall of first supporting bench (26), spacing hole (213) have been seted up on one side inner wall of support bar (212), sliding connection has stopper (214) on the one side inner wall of spacing hole (213), fixedly connected with guide bar (215) on the top outer wall of stopper (214), and guide bar (215) cup joint in the inside of guide hole (211), fixedly connected with dog (216) on the top outer wall of guide bar (215).
3. The intelligent material handling robot of claim 1, wherein: and the outer wall of one side of the first machine shell (1) is provided with driving wheels (4) in a distributed manner.
4. The intelligent material handling robot of claim 1, wherein: sawteeth are arranged on the outer wall of one side of the clamping jaw (310).
5. The intelligent material handling robot of claim 1, wherein: the number of the supporting rods (212) is four.
6. The intelligent material handling robot of claim 1, wherein: the cross section of any second rotating shaft (39) comprises two opposite first arc-shaped connecting parts (391) and two opposite first clamping limiting parts (392), an elastic part (393) wraps the outside of the second rotating shaft (39), a second arc-shaped connecting part (381) and two opposite second clamping limiting parts (382) are arranged on the inner side of the third sleeve (38), when the clamping jaw (310) is perpendicular to the fixing block (313), the third connecting rod (37) is perpendicular to the first clamping limiting parts (392), the two first arc-shaped connecting parts (391) are respectively opposite to the two second arc-shaped connecting parts (381), and the two first clamping limiting parts (392) are opposite to the two second clamping limiting parts (382).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010685787.5A CN111775133A (en) | 2020-07-16 | 2020-07-16 | Intelligent material carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010685787.5A CN111775133A (en) | 2020-07-16 | 2020-07-16 | Intelligent material carrying manipulator |
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| Publication Number | Publication Date |
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| CN111775133A true CN111775133A (en) | 2020-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010685787.5A Pending CN111775133A (en) | 2020-07-16 | 2020-07-16 | Intelligent material carrying manipulator |
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| CN (1) | CN111775133A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112589743A (en) * | 2020-12-03 | 2021-04-02 | 浙江达睿斯家居有限公司 | Clamping device is used in furniture raw and other materials processing |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019042070A1 (en) * | 2017-08-31 | 2019-03-07 | 深圳市创世纪机械有限公司 | Cantilever type manipulator |
| CN109986532A (en) * | 2019-04-29 | 2019-07-09 | 丽水奇异果信息技术有限公司 | A kind of movable type industry mechanical arm |
| CN111251289A (en) * | 2020-03-17 | 2020-06-09 | 洪维 | Hydraulic mechanical arm device |
| CN212265825U (en) * | 2020-07-16 | 2021-01-01 | 吴慧平 | Intelligent material carrying manipulator |
-
2020
- 2020-07-16 CN CN202010685787.5A patent/CN111775133A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019042070A1 (en) * | 2017-08-31 | 2019-03-07 | 深圳市创世纪机械有限公司 | Cantilever type manipulator |
| CN109986532A (en) * | 2019-04-29 | 2019-07-09 | 丽水奇异果信息技术有限公司 | A kind of movable type industry mechanical arm |
| CN111251289A (en) * | 2020-03-17 | 2020-06-09 | 洪维 | Hydraulic mechanical arm device |
| CN212265825U (en) * | 2020-07-16 | 2021-01-01 | 吴慧平 | Intelligent material carrying manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112589743A (en) * | 2020-12-03 | 2021-04-02 | 浙江达睿斯家居有限公司 | Clamping device is used in furniture raw and other materials processing |
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