CN106868229A - A kind of device of the leather processed that stretches tight automatically - Google Patents
A kind of device of the leather processed that stretches tight automatically Download PDFInfo
- Publication number
- CN106868229A CN106868229A CN201710006020.3A CN201710006020A CN106868229A CN 106868229 A CN106868229 A CN 106868229A CN 201710006020 A CN201710006020 A CN 201710006020A CN 106868229 A CN106868229 A CN 106868229A
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- leather
- iron
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- component
- horizontal movement
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- 239000010985 leather Substances 0.000 title claims abstract description 95
- XEEYBQQBJWHFJM-UHFFFAOYSA-N iron Chemical compound data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0nMS4wJyBlbmNvZGluZz0naXNvLTg4NTktMSc/Pgo8c3ZnIHZlcnNpb249JzEuMScgYmFzZVByb2ZpbGU9J2Z1bGwnCiAgICAgICAgICAgICAgeG1sbnM9J2h0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnJwogICAgICAgICAgICAgICAgICAgICAgeG1sbnM6cmRraXQ9J2h0dHA6Ly93d3cucmRraXQub3JnL3htbCcKICAgICAgICAgICAgICAgICAgICAgIHhtbG5zOnhsaW5rPSdodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rJwogICAgICAgICAgICAgICAgICB4bWw6c3BhY2U9J3ByZXNlcnZlJwp3aWR0aD0nMzAwcHgnIGhlaWdodD0nMzAwcHgnIHZpZXdCb3g9JzAgMCAzMDAgMzAwJz4KPCEtLSBFTkQgT0YgSEVBREVSIC0tPgo8cmVjdCBzdHlsZT0nb3BhY2l0eToxLjA7ZmlsbDojRkZGRkZGO3N0cm9rZTpub25lJyB3aWR0aD0nMzAwLjAnIGhlaWdodD0nMzAwLjAnIHg9JzAuMCcgeT0nMC4wJz4gPC9yZWN0Pgo8dGV4dCB4PScxMzguMCcgeT0nMTcwLjAnIGNsYXNzPSdhdG9tLTAnIHN0eWxlPSdmb250LXNpemU6NDBweDtmb250LXN0eWxlOm5vcm1hbDtmb250LXdlaWdodDpub3JtYWw7ZmlsbC1vcGFjaXR5OjE7c3Ryb2tlOm5vbmU7Zm9udC1mYW1pbHk6c2Fucy1zZXJpZjt0ZXh0LWFuY2hvcjpzdGFydDtmaWxsOiMzQjQxNDMnID5GPC90ZXh0Pgo8dGV4dCB4PScxNjUuNicgeT0nMTcwLjAnIGNsYXNzPSdhdG9tLTAnIHN0eWxlPSdmb250LXNpemU6NDBweDtmb250LXN0eWxlOm5vcm1hbDtmb250LXdlaWdodDpub3JtYWw7ZmlsbC1vcGFjaXR5OjE7c3Ryb2tlOm5vbmU7Zm9udC1mYW1pbHk6c2Fucy1zZXJpZjt0ZXh0LWFuY2hvcjpzdGFydDtmaWxsOiMzQjQxNDMnID5lPC90ZXh0Pgo8L3N2Zz4K data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0nMS4wJyBlbmNvZGluZz0naXNvLTg4NTktMSc/Pgo8c3ZnIHZlcnNpb249JzEuMScgYmFzZVByb2ZpbGU9J2Z1bGwnCiAgICAgICAgICAgICAgeG1sbnM9J2h0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnJwogICAgICAgICAgICAgICAgICAgICAgeG1sbnM6cmRraXQ9J2h0dHA6Ly93d3cucmRraXQub3JnL3htbCcKICAgICAgICAgICAgICAgICAgICAgIHhtbG5zOnhsaW5rPSdodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rJwogICAgICAgICAgICAgICAgICB4bWw6c3BhY2U9J3ByZXNlcnZlJwp3aWR0aD0nODVweCcgaGVpZ2h0PSc4NXB4JyB2aWV3Qm94PScwIDAgODUgODUnPgo8IS0tIEVORCBPRiBIRUFERVIgLS0+CjxyZWN0IHN0eWxlPSdvcGFjaXR5OjEuMDtmaWxsOiNGRkZGRkY7c3Ryb2tlOm5vbmUnIHdpZHRoPSc4NS4wJyBoZWlnaHQ9Jzg1LjAnIHg9JzAuMCcgeT0nMC4wJz4gPC9yZWN0Pgo8dGV4dCB4PSczNS4wJyB5PSc1My42JyBjbGFzcz0nYXRvbS0wJyBzdHlsZT0nZm9udC1zaXplOjIzcHg7Zm9udC1zdHlsZTpub3JtYWw7Zm9udC13ZWlnaHQ6bm9ybWFsO2ZpbGwtb3BhY2l0eToxO3N0cm9rZTpub25lO2ZvbnQtZmFtaWx5OnNhbnMtc2VyaWY7dGV4dC1hbmNob3I6c3RhcnQ7ZmlsbDojM0I0MTQzJyA+RjwvdGV4dD4KPHRleHQgeD0nNTEuMCcgeT0nNTMuNicgY2xhc3M9J2F0b20tMCcgc3R5bGU9J2ZvbnQtc2l6ZToyM3B4O2ZvbnQtc3R5bGU6bm9ybWFsO2ZvbnQtd2VpZ2h0Om5vcm1hbDtmaWxsLW9wYWNpdHk6MTtzdHJva2U6bm9uZTtmb250LWZhbWlseTpzYW5zLXNlcmlmO3RleHQtYW5jaG9yOnN0YXJ0O2ZpbGw6IzNCNDE0MycgPmU8L3RleHQ+Cjwvc3ZnPgo= [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 40
- 229910052742 iron Inorganic materials 0.000 claims abstract description 20
- 230000005611 electricity Effects 0.000 claims abstract description 14
- 235000019800 disodium phosphate Nutrition 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000005693 optoelectronics Effects 0.000 claims description 5
- 230000001360 synchronised Effects 0.000 claims description 4
- 230000001678 irradiating Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000001808 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000001429 stepping Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 208000008425 Protein Deficiency Diseases 0.000 description 1
- 210000003491 Skin Anatomy 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002441 reversible Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
Classifications
-
- C—CHEMISTRY; METALLURGY
- C14—SKINS; HIDES; PELTS; LEATHER
- C14B—MECHANICAL TREATMENT OR PROCESSING OF SKINS, HIDES OR LEATHER IN GENERAL; PELT-SHEARING MACHINES; INTESTINE-SPLITTING MACHINES
- C14B1/00—Manufacture of leather; Machines or devices therefor
- C14B1/26—Leather tensioning or stretching frames; Stretching-machines; Setting-out boards; Pasting boards
Abstract
The present invention relates to leather processing field, a kind of device of the leather processed that stretches tight automatically is disclosed, including leather tightens moving component, leather marginal position recognizer component, leather holds down assembly, leather horizontal movement and positioning element.Described leather horizontal movement is arranged in frame with positioning element, is oriented to by guide rail；The leather marginal position recognizer component is across in frame；Described leather is held down assembly by dead electricity type electromagnet, clamps iron, and dual-arm robot is constituted.Ensure that leather can stretch tight system in the present invention, can also be sent to next working cell.Present invention advantage compared with prior art is：Leather can be carried out quickly, uniformly, automatically stretch tight system, saves human cost, improves the quality of leather processing.
Description
Technical field
The present invention relates to leather manufacture manufacture field, more particularly to leather stretches tight the device of system.
Background technology
With the development and the leather market expansion of science and technology, tanning technology has also obtained development at full speed.In leather-making technology
Toggling operation be process hides key link.Current toggling equipment is main or is simultaneously existed manually by manually paving leather
Clip is installed at leather edge, and clip is fixed on two blocks of plates that can be relatively moved, and leather is stretched tight and made by plate relative movement.
Current device taut processed is primarily present following defect：
Current device taut processed needs 5---6 workman to pave in taut making sheet leather, and manually in the edge installation of leather
80---100 clip, low production efficiency, labour intensity is big, and the quality that must be removed from office is difficult to ensure that；The process processed that stretches tight is by two boards
Relative movement produce, stretch tight direction processed it is single, yield of leather is low.
The content of the invention
The present invention is to overcome above-mentioned deficiency, it is therefore intended that provide a kind of device of the leather processed that automatically stretches tight, it is ensured that
The force intensity that lightened one's labor on the premise of yield of leather and improve production efficiency.
In order to achieve the above object, the present invention is adopted the following technical scheme that：
A kind of device of the leather processed that stretches tight automatically, including leather tightens moving component（13）, leather marginal position recognizer component, leather
Compress and tighten component, leather horizontal movement and positioning element.Use man-machine interface and the controller of PLC based on LabVIEW
Each moving parts is controlled to be moved by rule, the position where recognizing leather edge using the image processing techniques based on DSP.Institute
The leather horizontal movement stated is arranged in frame with positioning element, is oriented to by guide rail；The leather marginal position recognizer component
Across in frame；Described leather is held down assembly by dead electricity type electromagnet, clamps iron, and dual-arm robot is constituted.Ensure
Leather can stretch tight system in the present invention, can also be sent to next working cell.
The leather horizontal movement includes three phase electric machine with positioning component, and worm type of reduction gearing passes through bullet with three phase electric machine
Property shaft coupling connection, the output end of the worm type of reduction gearing and a power transmission shaft are installed through yielding coupling on power transmission shaft
Two synchronous pulleys, power transmission shaft is arranged in frame with supporting deep groove ball bearing, and one is there are also installed in the other end of frame
Same power transmission shaft and two synchronous pulleys, Timing Belt are connected with toggling seat, and toggling seat both sides are provided with gathering sill, with frame
Guide rail coordinate, three phase electric machine is rotated can just drive the overall level on guide rail of toggling seat to move back and forth, and guide rail lower section is installed
There are optoelectronic switch, the position of identification toggling seat, positioning when being moved horizontally for toggling seat.
The leather marginal position recognizer component uses machine vision technique, support across in frame, support
Industrial CCD camera is installed, both sides are uniformly provided with irradiating angle adjustable light source on middle.The industrial CCD camera
The image information that will be collected sends DSP image processing modules to, described image is filtered, binaryzation, segmentation, after Boundary Extraction
Absolute coordinate of the leather edge under frame coordinate system is found, then leather border is evenly divided into 50 sections, then extract each
Absolute coordinate at cut-point, manipulator is sent to through RS485 communication modes.
The leather holds down assembly including two dual-arm robots for being symmetrically mounted on frame both sides, the control unit of manipulator
Part receives the leather edge position information that leather marginal position recognizer component sends, that is, clamp the position coordinates that iron is placed, crawl
Clamp iron to be placed into the coordinate, an absorption affinity is produced to clamping iron after dead electricity type electromagnet no power, leather is compressed
On toggling, the clamping to leather edge is realized.
The leather tightens moving component to be included inlaying the dead electricity type electromagnet group on toggling seat, four linear axis
Hold in the groove of toggling seat, respectively with linear bearing through mode connects for screw, the center of toggling seat passes through bolt to four pieces of togglings
It is connected and installed with the centering four-way motion of similar chuck, four sliding shoes difference of the centering four-way motion
With toggling mode connects for screw, there is a cylinder to be fixed in frame through mode connects for screw immediately below centering four-way motion, cylinder
Piston rod on be mounted with stepper motor, have driving key on the axle of stepper motor.Realize that toggling seat in place stretch by exhaust hood piston rod
Go out, leather is tightened in stepper motor rotation.
The motion control component looks at man-machine interface, and the PLC communicated therewith through Ethernet, PLC sends the pulse to three-phase
The frequency converter of motor, the driver of stepper motor, three phase electric machine and step are sent to after segmenting regulation by pulse signal respectively
Stepper motor, realizes that three phase electric machine and stepper motor are moved by instruction.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Tu2Shi togglings mechanism three-view diagram.
Fig. 3 is centering four-way motion structure chart.
Fig. 4 is motion control schematic diagram.
Fig. 5 is the leather edge binary map that leather marginal position recognizer component is extracted.
Fig. 6 is the realistic picture at present leather processing scene.
Marked in figure：1 is frame, and 2 is decelerator, and 3 is three phase electric machine, and 4 to clamp iron, and 5 is manipulator, and 6 is light source,
7 is industrial CCD camera, and 8 is power transmission shaft, and 9 is Timing Belt, and 10 is guide rail, and 11 is draw hook, and 12 is dead electricity type electromagnet, and 13 are
Toggling, 14 is optoelectronic switch, and 15 is toggling seat, and 16 to treat the taut leather made, and 17 is stepper motor, and 18 is cylinder, and 19 is straight line
Bearing, 20 is centering four-way motion, and 21 is man-machine interface, and 22 is PLC, and 23 is DSP components, and 24 is frequency converter, 25 steppings
Motor driver, 26 is initial leather, and the 27 leather edge graphs recognized for DSP, 28 are to place the coordinate points for clamping iron.
Specific embodiment
The present invention is described in more detail below in conjunction with the accompanying drawings：
Reference picture 1, one kind automation toggling equipment, including leather tightens moving component, leather marginal position recognizer component, leather
Hold down assembly, leather horizontal movement and positioning element.The motion control component based on PLC controls each component by knowing rule
Rule motion；The leather horizontal movement moves back and forth with positioning component in frame 1, and operating position is determined by optoelectronic switch；
The leather tightens moving component and drives the four-way centering motion 20 with self-locking property to move back and forth by stepper motor 17
Toggling 13, stepper motor 17 is arranged on the piston rod of cylinder 18；The leather marginal position recognizer component uses industrial CCD phase
The picture that machine 7 shoots leather is processed through DSP components 23 again, and the leather to hold down assembly and be placed on skin by iron 4 is clamped by manipulator 5
Leather edge.
Reference picture 1, the leather horizontal movement includes three phase electric machine 3, three phase electric machine 3 and the method for decelerator 2 with positioning component
Orchid connection, power transmission shaft 8 is connected with decelerator by yielding coupling, and the synchronous pulley on power transmission shaft drives Timing Belt motion, together
Step band is connected on draw hook, and with toggling part through being threadedly coupled, the guide rail 10 in frame coordinates toggling seat in level to draw hook
Direction easy motion.
Reference picture 1, the leather holds down assembly including dual-arm robot, and the dual-arm robot is symmetrically mounted on frame two
Side, its end is provided with the fixture that Special clamping clamps iron 4, and the clamping iron is placed in parcel tray, is easy to manipulator most convenient
By clamp iron be placed on leather edge with withdraw.
Fig. 2 Fig. 3 of reference picture 1, the leather tightens moving parts includes the toggling seat coordinated with guide rail, is inlayed on toggling seat
Dead electricity type electromagnet is installed, the diagonal fluting of toggling seat is provided with linear bearing, linear bearing with toggling through mode connects for screw,
Realize being moved along a straight line towards four direction in four toggling grooves；Toggling seat centre is provided with centering four-way motion, and remaining four
Individual toggling realizes tightening for leather through bolt connection；Cylinder is installed in frame, stepping electricity is mounted with the piston rod of cylinder
Machine, when optoelectronic switch detects toggling seat moves to operating position, the piston rod ejection of cylinder, stepper motor is moved on,
In the input hole of insertion centering four-way motion, the centering four-way mechanism is identical with scroll chuck principle, and screw thread has certainly
Lock property.Dead electricity type electromagnet is powered, and leather is compressed, and stepper motor rotates forward the taut system of leather；Motor reversal, leather unclamps.
The Fig. 4 of reference picture 1, the leather marginal position recognizer component includes DSP components, special containing this equipment in DSP components
Image processing algorithm, including image is obtained, filtering, image segmentation, edge extracting, and coordinate is obtained etc.；Industrial CCD camera is clapped
The photo site of leather is taken the photograph, DSP components are transferred to through coaxial cable；Light source installed in industrial CCD camera both sides can be adjusted
Irradiating angle, it is ensured that shoot the quality of photo, Fig. 5 is the process schematic that DSP processes image.
Reference picture 4, the motion control component includes man-machine interface, with man-machine interface by the PLC of ethernet communication and
DSP components, PLC controls leather horicontal motion mechanism by the rotating speed that sends the pulse to frequency converter to control three phase electric machine
Speed and position；PLC sends the pulse to stepper motor driver control stepper motor rotating speed and zero-bit, and then controls stepping electricity
The speed of machine, rotation direction, zero-bit.CCD camera and manipulator in same world coordinate system, the clamping iron that DSP components will be obtained
Place coordinate and be sent to manipulator.Whole man-machine interface can set the parameter of equipment.
Claims (7)
1. it is a kind of automatically stretch tight leather processed device, it is characterised in that including：Leather tightens moving component, and leather marginal position is known
Other component, leather holds down assembly, leather horizontal movement and positioning element；Described leather horizontal movement is arranged on positioning element
In frame, it is oriented to by guide rail；The leather marginal position recognizer component is across in frame；Described leather compression group
Part clamps iron by dead electricity type electromagnet, and dual-arm robot is constituted；Ensure that leather can stretch tight system in the present invention, can also be sent to
Next working cell；Present invention advantage compared with prior art is：Leather can be carried out quick, uniform, automatically
Taut system, saves human cost, improves the quality of leather processing.
2. device according to claim 1, it is characterised in that the leather marginal position recognizer component includes：It is arranged on
Industrial CCD camera in the middle of support；The adjustable light source of light irradiating angle；The image transmitting that industrial CCD camera will be gathered is to DSP
Component, DSP components extract leather edge through image procossing, extract the coordinate of interval edge point evenly and at intervals, and by coordinate
It is sent to leather to hold down assembly, is placed on iron is clamped in above-mentioned coordinate points by mechanical arm.
3. device according to claim 2, it is characterised in that the leather holds down assembly including mechanical arm, the machine
Tool arm end has special fixture to clamp clamping iron；Clamping iron bottom annular knurl, in cylindrical structure, intermediate cylindrical diameter is less than
Two ends body diameter, is easy to clamping；Clamping iron has different size and weight specifications.
4. device according to claim 1, it is characterised in that the linear motion of the centering four-way motion have from
Lock property；The centering four-way motion is driven by stepper motor through driving key；The stepper motor is arranged on cylinder, can be hung down
Translation is moved；Measurement and display system of the centering four-way motion also including tensile force.
5. device according to claim 1, it is characterised in that described motion control component includes that man-machine software interacts boundary
Image edge information is transferred to machinery by face, the DSP image processing modules being connected by Ethernet with man-machine interface, DSP components
Hand, PLC is transferred to by logic control signal, and PLC control cylinders and stepper motor carry out taut system, control frequency converter regulation to leather
Motion state of the leather on guide rail.
6. device according to claim 1, it is characterised in that described leather horizontal movement is with positioning element by three-phase electricity
Machine drives, and decelerator is arranged on the output end of the three phase electric machine, and drive is provided with the power transmission shaft motion of synchronous pulley, Timing Belt
Fixed plate is driven to cause that leather is realized moving horizontally on guide rail, positioner is made up of two optoelectronic switches.
7. device according to claim 3, it is characterised in that the leather tightens the surface that moving component is contacted with leather
Annular knurl, with increasing friction force；Each piece of toggling and a sliding shoe of centering four-way motion are by bolt connection；It is each
Block toggling is with the linear bearing being arranged in fixed plate gathering sill by mode connects for screw；Inlayed in fixed plate and be mounted with dead electricity type electromagnetism
Iron, the trapezoidal shape of dead electricity type electromagnet is distributed in all positions that edge is likely to occur, during dead electricity type electromagnet no power
Magnetic force is produced, attracts clamping iron to compress leather, magnetic force is lost after energization, mechanical arm is removed iron is clamped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710006020.3A CN106868229B (en) | 2017-01-05 | 2017-01-05 | A kind of device of automatically taut leather processed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710006020.3A CN106868229B (en) | 2017-01-05 | 2017-01-05 | A kind of device of automatically taut leather processed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106868229A true CN106868229A (en) | 2017-06-20 |
| CN106868229B CN106868229B (en) | 2019-05-24 |
Family
ID=59165449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710006020.3A Active CN106868229B (en) | 2017-01-05 | 2017-01-05 | A kind of device of automatically taut leather processed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106868229B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107236830A (en) * | 2017-08-04 | 2017-10-10 | 黄子滔 | Fur drawing and setting fixture |
| CN107236829A (en) * | 2017-08-01 | 2017-10-10 | 合肥梵清电子商务有限公司 | A kind of leather draw-gear of clothes manufacture |
| CN110682349A (en) * | 2019-11-18 | 2020-01-14 | 朱一赞 | Slotting processor for leather for manufacturing synthetic leather products |
| CN111257332A (en) * | 2020-01-20 | 2020-06-09 | 扬州哈工博视科技有限公司 | Leather flaw detection machine |
| CN111826478A (en) * | 2020-07-16 | 2020-10-27 | 曾建林 | Automatic supporting plate equipment for fur |
| CN112029924A (en) * | 2020-09-02 | 2020-12-04 | 曾红红 | Automatic supporting plate equipment for fur |
| CN112359152A (en) * | 2020-10-26 | 2021-02-12 | 徐希 | Leather processing is with removing knurling painting device |
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| CN204848903U (en) * | 2015-06-29 | 2015-12-09 | 嘉善圣士得毛皮服饰有限公司 | Device is tailor to leather |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107236829A (en) * | 2017-08-01 | 2017-10-10 | 合肥梵清电子商务有限公司 | A kind of leather draw-gear of clothes manufacture |
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| CN107236830A (en) * | 2017-08-04 | 2017-10-10 | 黄子滔 | Fur drawing and setting fixture |
| CN110682349A (en) * | 2019-11-18 | 2020-01-14 | 朱一赞 | Slotting processor for leather for manufacturing synthetic leather products |
| CN110682349B (en) * | 2019-11-18 | 2021-10-15 | 山东众兴泽辉新材料股份有限公司 | Slotting processor for leather for manufacturing synthetic leather products |
| CN111257332A (en) * | 2020-01-20 | 2020-06-09 | 扬州哈工博视科技有限公司 | Leather flaw detection machine |
| CN111826478A (en) * | 2020-07-16 | 2020-10-27 | 曾建林 | Automatic supporting plate equipment for fur |
| CN112029924A (en) * | 2020-09-02 | 2020-12-04 | 曾红红 | Automatic supporting plate equipment for fur |
| CN112359152A (en) * | 2020-10-26 | 2021-02-12 | 徐希 | Leather processing is with removing knurling painting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106868229B (en) | 2019-05-24 |
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