CN105156041A - Full-slewing drilling machine and sleeve clamping mechanism thereof - Google Patents
Full-slewing drilling machine and sleeve clamping mechanism thereof Download PDFInfo
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- CN105156041A CN105156041A CN201510491007.2A CN201510491007A CN105156041A CN 105156041 A CN105156041 A CN 105156041A CN 201510491007 A CN201510491007 A CN 201510491007A CN 105156041 A CN105156041 A CN 105156041A
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- sleeve pipe
- clamping device
- connecting rod
- clamping
- driving
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- 238000005553 drilling Methods 0.000 title abstract 2
- 238000004519 manufacturing process Methods 0.000 description 10
- 239000000446 fuel Substances 0.000 description 7
- 239000003921 oil Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 238000003754 machining Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The sleeve clamping mechanism comprises a chassis, two first connecting rods, two second connecting rods, a clamping driving device and a clamping arm. The first ends of the two first connecting rods are hinged to the chassis through pin shafts, the first ends of the two second connecting rods are hinged to the clamping arm through pin shafts, the second ends of the two first connecting rods and the second ends of the two second connecting rods are hinged to the two opposite ends of the clamping driving device through pin shafts respectively, a clamping surface used for clamping the sleeve is formed on one side, away from the clamping driving device, of the clamping arm, and the clamping driving device is used for driving the two first connecting rods and the two second connecting rods to drive the clamping arm to move towards the sleeve to clamp the sleeve. The invention also provides a full-slewing drilling machine with the sleeve clamping mechanism.
Description
Technical field
The present invention relates to full-rotating drill, and particularly relate to a kind of full-rotating drill and sleeve pipe clamp system thereof.
Background technology
Full-rotating drill is when carrying out sleeve pipe and extracting operation construction, and glide to sinking in hole for preventing sleeve pipe and cause construction accident, main clamping device and secondary clamping device alternately need implement pinching action to sleeve pipe, to guarantee that sleeve pipe is in clamped state at any time.Because main clamping device have employed the structure of wedge clamping, the power of clamping cylinder is exaggerated, and is easy to realize the clamping to sleeve pipe.And secondary clamping device limits by physical dimension, cannot accomplish that wedge structure clamps, be loculus fuel feeding during driving clamping device pinching action simultaneously, hydraulic oil active area is little, so the mode increasing driving clamping device body construction size have to be adopted to reach the object increasing clamping force, cause that auxiliary oil cylinder own vol is bigger than normal and manufacturing cost is high, give simultaneously and to install and use causes difficulty.
Fig. 1 is the main TV structure schematic diagram of existing a kind of full-rotating drill.Fig. 2 is the secondary clamping device of full-rotating drill shown in Fig. 1 and the perspective view of base.Fig. 3 is the plane structure schematic diagram of secondary clamping device shown in Fig. 2.Refer to Fig. 1 to Fig. 3, the jig platform 3 that this full-rotating drill comprises base 1, is arranged at the driving platform 2 on this base 1 and is arranged on this driving platform 2.Secondary clamping device 5 is provided with in this base 1.This secondary clamping device 5 comprises clamping limb 51 and driving clamping device 53.This clamping limb 51 comprises the first clamping limb 511, second clamping limb 512 and the 3rd clamping limb 513.This second clamping limb 512 is interconnected by bearing pin with this first clamping limb 511 and the 3rd clamping limb 513.This first clamping limb 511 is connected with the oscillating bearing of the opposite end of this driving clamping device 53 respectively with the 3rd clamping limb 513.Under the driving of this driving clamping device 53, this first clamping limb 511 rotates around the bearing pin be connected with this second clamping limb 512 with the 3rd clamping limb 513, to clamp or to unclamp sleeve pipe (not shown).Concrete, when the large chamber fuel feeding of this driving clamping device 53, this driving clamping device 53 stretches out, and makes this secondary clamping device 5 unclamp sleeve pipe; When this driving clamping device 53 loculus fuel feeding, this driving clamping device 53 is retracted, and makes this secondary clamping device 5 gripping sleeve.
Because secondary clamping device 5 limits by physical dimension, cannot accomplish that wedge structure clamps, be loculus fuel feeding during driving clamping device 53 pinching action simultaneously, hydraulic oil active area is little, so the mode increasing driving clamping device 53 body construction size have to be adopted to reach the object increasing clamping force, cause driving clamping device 53 own vol bigger than normal, not only add the manufacturing cost of secondary clamping device 5 but also do not given play to the performance of driving clamping device 53, cause extra burden to installation and use simultaneously.In addition, this clamping limb 51 is formed by pinned connection by three clamping limbs 511,512,513, for ensureing that these three clamping limbs 511,512,513 are concentric, very high to the status requirement in pinned connection hole, cause manufacturing requirement on machining accuracy high, be unfavorable for reducing device fabrication cost.
Summary of the invention
The invention provides a kind of full-rotating drill and sleeve pipe clamp system thereof, it can reduce the physical dimension of driving clamping device, reduces costs, and has good clamping effect simultaneously.
It is adopt following technical scheme to realize that the present invention solves its technical problem.
A kind of sleeve pipe clamp system, for gripping sleeve.This sleeve pipe clamp system comprises chassis, two first connecting rods, two second connecting rods, driving clamping device and clamping limbs.The first end of these two first connecting rods and this chassis are by hinge, and first end and this clamping limb of these two second connecting rods pass through hinge.Second end of these two first connecting rods is hinged with the opposite end of this driving clamping device respectively by bearing pin with the second end of these two second connecting rods, this clamping limb forms the clamping face for clamping this sleeve pipe in the side away from this driving clamping device, and this driving clamping device clamps this sleeve pipe for driving these two first connecting rods and these two second connecting rods to drive this clamping limb to move realization towards this sleeve pipe.
In present pre-ferred embodiments, these two first connecting rods are articulated and connected in the opposite end on this chassis respectively, and these two second connecting rods are articulated and connected respectively in the opposite end of this clamping limb.
In present pre-ferred embodiments, second end of one end of this driving clamping device and one of them first connecting rod and the second end of one of them second connecting rod are articulated and connected, and the second end of the other end of this driving clamping device and another first connecting rod and the second end of another second connecting rod are articulated and connected.
In present pre-ferred embodiments, this driving clamping device is clamping cylinder or clamping cylinder.
In present pre-ferred embodiments, this driving clamping device comprise cylinder barrel with can the flexible expansion link of this cylinder barrel relative, the end of this expansion link is articulated and connected by bearing pin and the second end of one of them first connecting rod and the second end of one of them second connecting rod, and this cylinder barrel is articulated and connected away from the second end of the end of this expansion link and the second end of another first connecting rod and another second connecting rod.
In present pre-ferred embodiments, this driving clamping device is lead screw gear.
In present pre-ferred embodiments, when this clamping limb is in clamped condition to this sleeve pipe, angle α between the center line of each second connecting rod and horizon is greater than 0 °, and the angle β between the center line of each second connecting rod and the center line of this driving clamping device is greater than 90 °.
In present pre-ferred embodiments, this angle α is 10 ~ 30 °, and this angle β is 100 ~ 120 °.
A kind of full-rotating drill, comprises base and sleeve pipe, is provided with above-mentioned sleeve pipe clamp system in this base, and these two groups of sleeve pipe clamp systems are used for clamping from the relative both sides of this sleeve pipe this sleeve pipe.
In present pre-ferred embodiments, this full-rotating drill also comprises the driving platform be positioned on this base and the jig platform be positioned on this driving platform.
The invention has the beneficial effects as follows, the thrust that driving clamping device of the present invention produces is delivered on this clamping limb by this first connecting rod and this second connecting rod, and this clamping limb is moved towards this sleeve pipe, thus clamps or unclamp this sleeve pipe.Because this first connecting rod and this second connecting rod can increase this thrust, there is good clamping effect, when reaching identical chucking power, driving clamping device of the present invention can have less physical dimension, be conducive to reducing manufacturing cost, and be convenient to I&M, be also conducive to reducing the requirement manufacturing machining accuracy simultaneously.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to technological means of the present invention can be better understood, and can be implemented according to the content of manual, and can become apparent to allow above-mentioned full-rotating drill of the present invention and other objects, feature and advantage, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, describe in detail.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of existing a kind of full-rotating drill.
Fig. 2 is the base of full-rotating drill shown in Fig. 1 and the perspective view of secondary clamping device.
Fig. 3 is the plane structure schematic diagram of the secondary clamping device of full-rotating drill shown in Fig. 2.
Fig. 4 is the main TV structure schematic diagram of the full-rotating drill of present pre-ferred embodiments.
Fig. 5 is the plane structure schematic diagram of the secondary clamping device of full-rotating drill shown in Fig. 4.
Detailed description of the invention
For further setting forth the present invention for the technological means reaching predetermined goal of the invention and take and effect, below in conjunction with accompanying drawing and preferred embodiment, the full-rotating drill propose foundation the present invention and the detailed description of the invention of sleeve pipe clamp system, structure, feature and effect thereof, be described in detail as follows:
Aforementioned and other technology contents, Characteristic for the present invention, can know and present in the detailed description of following cooperation with reference to graphic preferred embodiment.By the explanation of detailed description of the invention, when can to the present invention for the technological means reaching predetermined object and take and effect be able to more deeply and concrete understanding, however institute's accompanying drawings be only to provide with reference to and the use of explanation, be not used for being limited the present invention.
Refer to Fig. 4, the jig platform 30 that the full-rotating drill 100 of present pre-ferred embodiments comprises base 10, is positioned at the driving platform 20 on this base 10 and is arranged on this driving platform 20.
Please consult Fig. 5 further, be provided with the clamp system 40 for gripping sleeve 50 in this base 10, this clamp system 40 can clamp or unclamp this sleeve pipe 50.In the present embodiment, in this base 10, be provided with the clamp system 40 that two groups are positioned at the relative both sides of this sleeve pipe 50.
Often organize clamp system 40 and include 41, two, chassis first connecting rod 42, two second connecting rods 43, driving clamping device 44 and clamping limbs 45.
First end and this chassis 41 of these two first connecting rods 42 are hinged by pitman pin 46.First end and this clamping limb 45 of these two second connecting rods 43 are hinged by pitman pin 47.This first connecting rod 42 all can be 400 ~ 700mm with the length of this second connecting rod 43.
Particularly, these two first connecting rods 42 are articulated and connected in the opposite end on this chassis 41 respectively by pitman pin 46.These two second connecting rods 43 are articulated and connected in the opposite end of this clamping limb 45 respectively by pitman pin 47.
It is hinged with the opposite end of this driving clamping device 44 respectively that second end of these two first connecting rods 42 and the second end of these two second connecting rods 43 pass through oil cylinder bearing pin 48.That is, the opposite end of this driving clamping device 44 is articulated and connected with the second end of these two first connecting rods 42 and the second end of these two second connecting rods 43 respectively by oil cylinder bearing pin 48, namely one end of this driving clamping device 44 is articulated and connected by oil cylinder bearing pin 48 and the second end of one of them first connecting rod 42 and the second end of one of them second connecting rod 43, and the other end of this driving clamping device 44 is articulated and connected by oil cylinder bearing pin 48 and the second end of another first connecting rod 42 and the second end of another second connecting rod 43.
Particularly, this driving clamping device 44 comprise cylinder barrel 442 with can the flexible expansion link 441 of relative this cylinder barrel 442, the end of this expansion link 441 is articulated and connected by oil cylinder bearing pin 48 and the second end of one of them first connecting rod 42 and the second end of one of them second connecting rod 43, and this cylinder barrel 442 is articulated and connected by oil cylinder bearing pin 48 and the second end of another first connecting rod 42 and the second end of another second connecting rod 43 away from the end of this expansion link 441.
This driving clamping device 44 can be clamping cylinder or clamping cylinder.
Understandable, this driving clamping device 44 also can be lead screw gear.
This clamping limb 45 forms the clamping face 450 of arc, for clamping this sleeve pipe 50 away from the side of this driving clamping device 44.When the driving clamping device 44 of two groups of clamp systems 40 stretches out simultaneously, this driving clamping device 44 promotes this clamping limb 45 by this first connecting rod 42 and this second connecting rod 43 and clamps this sleeve pipe 50; When this driving clamping device 44 shrinks, this driving clamping device 44 unclamps the clamping to this sleeve pipe 50.
Understandable, when this clamping limb 45 is in clamped condition to this sleeve pipe 50, angle α between the center line of each second connecting rod 43 and horizon X is less, the clamping force that this secondary clamping device 40 applies this sleeve pipe 50 or the thrust that this driving clamping device 44 produces larger, wherein, this angle α is greater than 0 °.Preferably, this angle α can be 10 ~ 30 °.That is, angle β between the center line of each second connecting rod 43 and the center line of this driving clamping device 44 more hour, the clamping force that this secondary clamping device 40 applies this sleeve pipe 50 or the thrust that this driving clamping device 44 produces larger, wherein, this angle β is greater than 90 °.Preferably, this angle β can be 100 ~ 120 °.
Understandable, can the size of clamping force needed for reality, the size of this angle α or this angle β is set, to adjust the clamping force of this clamping limb 45 pairs of sleeve pipes 50.
Understandable, by changing this first connecting rod 42 and the length of this second connecting rod 43, the size of this angle α or this angle β being set, thus adjusting the clamping force of this clamping limb 45 pairs of sleeve pipes 50.Concrete, this driving clamping device 44 drives this first connecting rod 42, this second connecting rod 43 and clamping limb 45 move horizontally along the direction near this sleeve pipe 50, this sleeve pipe 50 is clamped to make this clamping limb 45, when this first connecting rod 42 and the length of this second connecting rod 43 are longer, this driving clamping device 44, this first connecting rod 42, the distance moved horizontally of this second connecting rod 43 and clamping limb 45 is shorter, this clamping limb 45 can be made to clamp this sleeve pipe 50, that is, this driving clamping device 44 promotes this first connecting rod 42, the time of this second connecting rod 43 and clamping limb 45 is shorter, now this angle α and this angle β is larger, when this first connecting rod 42 is shorter with the length of this second connecting rod 43, the distance moved horizontally of this driving clamping device 44, this first connecting rod 42, this second connecting rod 43 and clamping limb 45 is longer, this clamping limb 45 just can be made to clamp this sleeve pipe 50, that is, the time that this driving clamping device 44 promotes this first connecting rod 42, this second connecting rod 43 and clamping limb 45 is longer, and now this angle α and this angle β is less.
During this driving clamping device 44 loculus fuel feeding, this driving clamping device 44 is regained, and drives clamping limb 45 to move along the direction away from sleeve pipe 50 by this first connecting rod 42 with this second connecting rod 43, thus makes this clamping limb 45 unclamp this sleeve pipe 50; During the large chamber fuel feeding of this driving clamping device 44, this driving clamping device 44 stretches out, and drives clamping limb 45 to move along the direction towards this sleeve pipe 50 by this first connecting rod 42 with this second connecting rod 43, thus makes this clamping limb 45 clamp this sleeve pipe 50.This driving clamping device 44 is in loose quick condition on chassis 41 with this clamping limb 45, when this driving clamping device 44 is by fuel feeding, two groups of linkages of this driving clamping device 44 opposite end can be promoted simultaneously, thus towards sleeve pipe 50, comparatively balanced chucking power is applied to this clamping limb 45.
Stress form between this first connecting rod 42, this second connecting rod 43 and this driving clamping device 44 is two power bar force structures.When this two power bar force structure can ensure that this secondary clamping device 40 works, the thrust produce driving clamping device 44 or pulling force are delivered on this clamping limb 45 by this first connecting rod 42 with this second connecting rod 43, this clamping limb 45 can be moved in the horizontal direction, thus clamp or unclamp this sleeve pipe 50.
Further, this driving clamping device 44 completes the pinching action of this clamping limb 45 pairs of sleeve pipes 50 by the thrust in large chamber, and this first connecting rod 42 can increase this thrust with this second connecting rod 43.That is, this two power bar force structure can increase this clamping limb 45 to the chucking power of this sleeve pipe 50, there is good clamping effect, when reaching identical chucking power, driving clamping device 44 of the present invention can have less physical dimension, reduce the manufacturing cost of driving clamping device 44, and be convenient to I&M.
Further, this secondary clamping device 40 is no longer adopted as prior art and is clamped by three clamping limbs 511,512,513 (Fig. 3) of pinned connection, reduces the requirement manufacturing machining accuracy, is beneficial to and reduces device fabrication cost.
Understandable, compared to existing driving clamping device 53 (Fig. 3), the thrust of this driving clamping device 44 can be increased 40 ~ 60 times with this second connecting rod 43 by this first connecting rod 42 of the present invention.
Understandable, this driving clamping device 44 also can use clamping cylinder or lead screw gear to substitute, and drives clamping limb 45 to move horizontally to clamp sleeve pipe 50 towards sleeve pipe 50 as long as can promote this first connecting rod 42 with this second connecting rod 43.Therefore, this driving clamping device, clamping cylinder or lead screw gear also can be referred to as driving clamping device.
This first connecting rod 42 in this secondary clamping device 40 of the present invention can increase this driving clamping device 44 to the thrust of this clamping limb 45 with this second connecting rod 43, thus amplify the blessing power of this clamping limb 45 to this sleeve pipe 50, making this driving clamping device 44 of the present invention when being designed to less physical dimension, still making this clamping limb 45 clamp this sleeve pipe 50.This driving clamping device 44 has lower manufacturing cost, and structure is simple and be convenient to I&M, improves the job stability of this secondary clamping device 40.
Above full-rotating drill provided by the present invention and sleeve pipe clamp system thereof are described in detail, apply specific case herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (10)
1. a sleeve pipe clamp system (40), for gripping sleeve (50), it is characterized in that, this sleeve pipe clamp system (40) comprises chassis (41), two first connecting rods (42), two second connecting rods (43), driving clamping device (44) and clamping limb (45), first end and this chassis (41) of these two first connecting rods (42) are hinged by bearing pin (46), first end and this clamping limb (45) of these two second connecting rods (43) are hinged by bearing pin (47), it is hinged with the opposite end of this driving clamping device (44) respectively that second end of these two first connecting rods (42) and the second end of these two second connecting rods (43) pass through bearing pin (48), this clamping limb (45) forms the clamping face (450) for clamping this sleeve pipe (50) in the side away from this driving clamping device (44), this driving clamping device (44) drives this clamping limb (45) to clamp towards mobile realization of this sleeve pipe (50) this sleeve pipe (50) for driving these two first connecting rods (42) and this two second connecting rods (43).
2. sleeve pipe clamp system (40) as claimed in claim 1, it is characterized in that, these two first connecting rods (42) are articulated and connected in the opposite end of this chassis (41) respectively, and these two second connecting rods (43) are articulated and connected respectively in the opposite end of this clamping limb (45).
3. sleeve pipe clamp system (40) as claimed in claim 2, it is characterized in that, second end of one end of this driving clamping device (44) and the second end of one of them first connecting rod (42) and one of them second connecting rod (43) is articulated and connected, and the second end of the other end of this driving clamping device (44) and the second end of another first connecting rod (42) and another second connecting rod (43) is articulated and connected.
4. sleeve pipe clamp system (40) as claimed in claim 1, it is characterized in that, this driving clamping device (44) is clamping cylinder or clamping cylinder.
5. sleeve pipe clamp system (40) as claimed in claim 4, it is characterized in that, this driving clamping device (44) comprise cylinder barrel (442) with can the flexible expansion link (441) of relative this cylinder barrel (442), the end of this expansion link (441) is articulated and connected by bearing pin (48) and second end of one of them first connecting rod (42) and the second end of one of them second connecting rod (43), this cylinder barrel (442) is articulated and connected away from the second end of the end of this expansion link (441) and the second end of another first connecting rod (42) and another second connecting rod (43).
6. sleeve pipe clamp system (40) as claimed in claim 1, it is characterized in that, this driving clamping device (44) is lead screw gear.
7. sleeve pipe clamp system (40) as claimed in claim 1, it is characterized in that, when this clamping limb (45) is in clamped condition to this sleeve pipe (50), angle α between the center line of each second connecting rod (43) and horizon (X) is greater than 0 °, and the angle β between the center line of each second connecting rod (43) and the center line of this driving clamping device (44) is greater than 90 °.
8. sleeve pipe clamp system (40) as claimed in claim 7, it is characterized in that, this angle α is 10 ~ 30 °, and this angle β is 100 ~ 120 °.
9. a full-rotating drill (100), comprise base (10) and sleeve pipe (50), it is characterized in that, be provided with two groups of sleeve pipe clamp systems (40) as described in any one of claim 1 to 8 in this base (10), these two groups of sleeve pipe clamp systems (40) clamp this sleeve pipe (50) for the relative both sides from this sleeve pipe (50).
10. full-rotating drill (100) as claimed in claim 9, it is characterized in that, this full-rotating drill (100) also comprises the driving platform (20) be positioned on this base (10) and the jig platform (30) be positioned on this driving platform (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510491007.2A CN105156041B (en) | 2015-08-11 | 2015-08-11 | Full-slewing drilling machine and sleeve clamping mechanism thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510491007.2A CN105156041B (en) | 2015-08-11 | 2015-08-11 | Full-slewing drilling machine and sleeve clamping mechanism thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105156041A true CN105156041A (en) | 2015-12-16 |
| CN105156041B CN105156041B (en) | 2018-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510491007.2A Active CN105156041B (en) | 2015-08-11 | 2015-08-11 | Full-slewing drilling machine and sleeve clamping mechanism thereof |
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| Country | Link |
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| CN (1) | CN105156041B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105625428A (en) * | 2015-12-30 | 2016-06-01 | 徐海慧 | Mechanized dam breach pile inserting and damming equipment and method thereof |
| CN107620574A (en) * | 2017-10-11 | 2018-01-23 | 南京路鼎搅拌桩特种技术有限公司 | A kind of full circle swinging all casing drill main body and full circle swinging all casing drill |
| CN108673076A (en) * | 2018-04-05 | 2018-10-19 | 桐乡市洲泉佳力塑料制品厂 | A kind of central siphon end clamping installing mechanism |
| CN108818344A (en) * | 2018-07-04 | 2018-11-16 | 合肥欧语自动化有限公司 | A kind of automation equipment tubular member clamping device |
| CN111618324A (en) * | 2020-04-28 | 2020-09-04 | 沈阳工业大学 | Self-locking chuck of multi-link mechanism |
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| CN102953693A (en) * | 2012-12-10 | 2013-03-06 | 苏州海德石油工具有限公司 | Multifunctional drill rod air operated slip |
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| CN204877316U (en) * | 2015-08-11 | 2015-12-16 | 上海中联重科桩工机械有限公司 | Full-slewing drilling machine and sleeve clamping mechanism thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105625428A (en) * | 2015-12-30 | 2016-06-01 | 徐海慧 | Mechanized dam breach pile inserting and damming equipment and method thereof |
| CN107620574A (en) * | 2017-10-11 | 2018-01-23 | 南京路鼎搅拌桩特种技术有限公司 | A kind of full circle swinging all casing drill main body and full circle swinging all casing drill |
| CN108673076A (en) * | 2018-04-05 | 2018-10-19 | 桐乡市洲泉佳力塑料制品厂 | A kind of central siphon end clamping installing mechanism |
| CN108818344A (en) * | 2018-07-04 | 2018-11-16 | 合肥欧语自动化有限公司 | A kind of automation equipment tubular member clamping device |
| CN111618324A (en) * | 2020-04-28 | 2020-09-04 | 沈阳工业大学 | Self-locking chuck of multi-link mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105156041B (en) | 2018-01-19 |
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