CN107268482B - Device for picking and placing traffic cone and control method - Google Patents
Device for picking and placing traffic cone and control method Download PDFInfo
- Publication number
- CN107268482B CN107268482B CN201710647749.9A CN201710647749A CN107268482B CN 107268482 B CN107268482 B CN 107268482B CN 201710647749 A CN201710647749 A CN 201710647749A CN 107268482 B CN107268482 B CN 107268482B
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- traffic cone
- traffic
- clamping rod
- rod
- cone
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/70—Storing, transporting, placing or retrieving portable devices
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/60—Planning or developing urban green infrastructure
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
- Road Signs Or Road Markings (AREA)
Abstract
The invention discloses a device for picking and placing traffic cones and a control method, wherein the device comprises a base and a box body, two ends of the base are respectively provided with a pair of clamping rods, each clamping rod comprises a wide-mouth clamping rod and a narrow-mouth clamping rod, one side of the box body facing the wide-mouth clamping rod is provided with a rotating arm rod, and the tail end of the rotating arm rod is provided with a diffuse reflection photoelectric sensor for identifying traffic cones entering the wide-mouth clamping rod area and a clamping finger part for grabbing the traffic cones; when the traffic cone is placed, the traffic cone slides down to the road surface through a limiting sliding slope, and the narrow-mouth clamping rod can linearly straighten the traffic cone sliding down to the road surface when the vehicle moves; when picking up traffic cone, the traffic cone enters into the wide-mouth clamping rod area, the traffic cone is clamped by the clamping finger part, the clamping finger part is loosened when the rotating arm rod rotates to the vertical position, and the traffic cone freely slides down the slope to enter into the device for storing the traffic cone. The invention can rapidly realize the pick-and-place operation of traffic cones and greatly improve the working efficiency.
Description
Technical Field
The invention relates to the field of research of traffic cone receiving and transmitting equipment, in particular to a device for picking and placing traffic cones and a control method.
Background
How to put traffic cones during highway road construction process and improve collection and placement efficiency? How to ensure the personal safety of constructors? The construction unit is always plagued, the traditional method is manual operation, and in the process of placing and collecting, the casualties of personnel are extremely easy to cause particularly at the head end and the tail end.
In the current machine manufacturing age, various robot arms and intelligent robots are layered endlessly, and the main purpose is to replace various defects caused by manual operation. According to investigation, there are many machine devices for processing traffic cones at home and abroad, and most of the functions of the devices are concentrated on the devices with single-function automatic placement of traffic cones or full-automatic pick-up functions. However, these devices differ in the way they handle traffic cones. In reality, the road cone of constructor on the road surface is different in size, height, weight, shape and shape, and is upright and inverted. In view of the complicated object forms, no matter what receiving and transmitting equipment is, a plurality of problems are encountered when the front end collects traffic cones, and particularly, for the traffic cones after falling to the ground, how to identify and accurately collect the traffic cones is a great difficulty because of various falling direction existence forms. Similarly, when the traffic cone is placed at the front end, the traffic cone is bent and curved in a form after being vertically landed, the distance is different, and the traffic cone is not orderly placed by various equipment.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art, and provides a device and a control method for picking and placing traffic cones, which can well assist traffic cone receiving and sending equipment to realize the functions of picking and placing traffic cones.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention discloses a device for picking and placing traffic cones, which comprises a base and a box body, wherein two ends of the base are respectively provided with a pair of clamping rods, each clamping rod comprises a wide-mouth clamping rod and a narrow-mouth clamping rod, one side, facing the narrow-mouth clamping rod, of the box body is provided with a limiting sliding slope, one side, facing the wide-mouth clamping rod, of the box body is provided with a free sliding slope, the box body is arranged above the base, one side, facing the wide-mouth clamping rod, of the box body is provided with a rotating arm rod, the tail end of the rotating arm rod is provided with a diffuse reflection photoelectric sensor for identifying traffic cones entering the wide-mouth clamping rod area, and the tail end of the rotating arm rod is also provided with a clamping finger part for grabbing the traffic cones; the rotary arm rod is arranged on one side of the box body through a transmission gear structure, and the transmission gear structure is driven by a servo motor arranged in the box body; the box body is characterized in that a rotary auxiliary frame is arranged on one side of the box body, an auxiliary frame rotating shaft and a rotary gear structure are arranged on the rotary auxiliary frame, the rotation of the rotary gear structure is carried out through an air cylinder/hydraulic cylinder, a travel rod of the air cylinder/hydraulic cylinder pushes and pulls a rack arranged on the travel rod, the rack drives a matched gear to rotate 180 degrees, so that the rotation of a rotary hinge is realized, and a part fixed on the rotary hinge rotates along with the rotary hinge; when the traffic cone is placed, the traffic cone slides down to the road surface through a limiting sliding slope, and the narrow-mouth clamping rod can linearly straighten the traffic cone sliding down to the road surface when the vehicle moves; when picking up traffic cone, the traffic cone enters into the wide-mouth clamping rod area, the traffic cone is clamped by the clamping finger part, the clamping finger part is loosened when the rotating arm rod rotates to the vertical position, and the traffic cone freely slides down the slope to enter into the device for storing the traffic cone.
As the preferable technical scheme, the wide-mouth clamping rod and the narrow-mouth clamping rod are respectively provided with a driving cylinder for pushing the wide-mouth clamping rod and the narrow-mouth clamping rod.
As the preferable technical scheme, the box body is provided with a warning light belt which is vertically arranged.
As a preferable technical scheme, the bottom of the base is provided with a plurality of wheels.
As a preferable technical scheme, the wheel is mounted by adopting an air wheel or a hard wheel with a damping effect.
As a preferable technical scheme, the bottom of the wheel is provided with a speed detection sensor for calculating the running speed of the vehicle.
As an optimal technical scheme, the box body is provided with a detection cone sensor.
As the preferable technical proposal, the utility model also comprises a forked air cylinder which is used for matching with the action of the conveyor belt, the push rod of the forked air cylinder is connected with the conveyor belt, the conveyor belt is pushed out of the bottom of the case when the furcation cylinder advances, and is retracted into the case when the furcation cylinder contracts.
The invention also discloses a control method of the device for picking and placing the traffic cone, which comprises the steps of picking the traffic cone and placing the traffic cone:
the step of picking up the traffic cone is as follows:
s11, driving an air cylinder/hydraulic cylinder by an electronic control module to push an opening-expanding clamping rod;
s12, the rotating arm rod rotates to reach the upper part of the wide-mouth clamping rod to wait for the entrance of a traffic cone, and the rotation of the rotating arm rod is realized by driving a pair of transmission gears through an adjustable speed reducing motor/a servo motor or through belt or chain wheel transmission;
s13, the device moves forwards along with the vehicle, a traffic road cone in a falling state on a road is detected, and the traffic cone entering a limited area formed by the wide-mouth clamping rod is identified through a diffuse reflection type photoelectric sensor at the tail end of the rotary arm rod;
s14, feeding back identification signals to the electronic control module, driving a motor by the electronic control module to clamp the edge of a traffic cone, enabling the rotary arm rod to reach a position vertical to a road surface, identifying the current state through a position sensor arranged at the position, and releasing clamping fingers at the tail end of the rotary arm rod after the electronic control module receives the state signals;
s15, under the action of gravity, the traffic cone slides down along a free sliding slope and enters a conveyor belt or a tray of other traffic cone collecting and releasing equipment;
the traffic cone is placed as follows:
s21, a traffic cone fallen by a conveyor belt or a tray slides down to a road surface through a limit sliding slope;
s22, when the vehicle moves, the narrow-mouth clamping rod can linearly straighten the traffic cone on the road surface, so that the traffic cone is orderly placed on the road surface.
When the traffic cone retraction device needs to realize the function of retracting or expanding the front end mechanism of the traffic cone, the rotating gear structure on the rotating auxiliary frame plays a main role, the rotation of the rotating gear is executed through the air cylinder/hydraulic cylinder, the cylinder body travel rod pushes and pulls the rack installed on the travel rod, the rack drives the paired gears to rotate 180 degrees, namely the rotating hinge rotates, and all parts fixed on the hinge rotate together with the rotation of the hinge, so that the functions of expanding and retracting are realized.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the invention, the clamping rotating structure is arranged and the clamping rod is matched, so that the traffic cone receiving and transmitting equipment can be well assisted to realize the functions of picking up and placing traffic cones.
2. The invention can help solve the safety problem of collecting and placing traffic cones in the intelligent traffic industry for a long time, and ensures the personal safety of traffic cone operators to a great extent.
3. The invention is full-automatic operation, and improves the working efficiency and accuracy of construction, traffic road cone collection and placement.
4. The device provided by the invention is practical and simple, has low cost, firm structure and good flexibility, and is suitable for large-scale industrial application.
Drawings
FIG. 1 is a schematic view of the structure of the wide-mouth clamping rod of the device of the invention;
FIG. 2 is a schematic view of the structure of the narrow-mouth clamping rod of the device according to the invention;
FIG. 3 is a top view of the apparatus of the present invention;
fig. 4 is a schematic view of the device of the present invention with the pivot hinge open.
Reference numerals illustrate: 1. a clamping rod; 2. a detection cone sensor; 3. a driving cylinder; 4. rotating the arm lever; 5. a wheel; 6. rotating the hinge; 7. a transmission gear structure; 8. limiting sliding down the slope; 9. a warning light belt; 10. freely sliding down the slope; 11. clamping the finger member; 12. a servo motor; 13. rotating the gear structure; 14. rotating the auxiliary frame; 15. a bifurcated cylinder; 16. and an auxiliary frame rotating shaft.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Examples
As shown in fig. 1-4, the device for picking and placing traffic cones in this embodiment includes a base and a box, two ends of the base are respectively provided with a pair of clamping rods 1, the clamping rods include a wide-mouth clamping rod and a narrow-mouth clamping rod, one side of the box facing the narrow-mouth clamping rod is provided with a limiting sliding slope 8, one side of the box facing the wide-mouth clamping rod is provided with a free sliding slope 10, the box is arranged above the base, a box is arranged above the base, one side of the box facing the wide-mouth clamping rod is provided with a rotating arm rod 4, the tail end of the rotating arm rod 4 is provided with a diffuse reflection photoelectric sensor for identifying traffic cones entering the wide-mouth clamping rod area, and the tail end of the rotating arm rod is also provided with a clamping finger part 11 for grabbing traffic cones; the rotary arm rod is arranged on one side of the box body through a transmission gear structure 7, and the transmission gear structure 7 is driven by a servo motor 12 arranged in the box body; the box body is provided with a rotary auxiliary frame 14 on one side, an auxiliary frame rotary shaft 16 and a rotary gear structure 13 are arranged on the rotary auxiliary frame 14, the rotation of the rotary gear structure 13 is carried out through a cylinder/hydraulic cylinder, a travel rod of the cylinder/hydraulic cylinder pushes and pulls a rack arranged on the travel rod, the rack drives a matched gear to rotate 180 degrees, and therefore the rotation of the rotary hinge 6 is achieved, and components fixed on the rotary hinge 6 rotate along with the rotary hinge; when the traffic cone is placed, the traffic cone slides down to the road surface through the limiting sliding slope 8, and the narrow-mouth clamping rod can linearly straighten the traffic cone sliding down to the road surface when the vehicle moves; when picking up the traffic cone, the traffic cone enters the wide-mouth clamping rod area, the traffic cone is clamped by the clamping finger part 11, the clamping finger part is loosened when the rotating arm rod rotates to the vertical position, and the traffic cone freely slides down the slope 10 to enter the device for storing the traffic cone.
In this embodiment, the wide-mouth clamping rod and the narrow-mouth clamping rod are respectively provided with a driving cylinder 3 for pushing the wide-mouth clamping rod and the narrow-mouth clamping rod, and the expansion function of the clamping rod can be realized through the pushing and contraction actions of the corresponding cylinders.
In order to ensure the operation safety in the process of picking and placing the traffic cone, the box body is provided with a vertically arranged warning light belt, and the warning light belt is mainly used for warning other people or vehicles not approaching or dodging when the vehicle is driven at night.
In order to facilitate the transmission of the device, the bottom of the base is provided with a plurality of wheels 5, in this embodiment, the wheels are single-row wheels, and are arranged in a front-back arrangement; the wheels are mounted by adopting pneumatic wheels or hard wheels with damping effect.
In this embodiment, the box body is provided with a detecting cone sensor 2 for detecting whether a traffic cone exists in the area.
In this embodiment, a furcation cylinder 15 for cooperating with the conveyor belt is further provided, and a push rod of the furcation cylinder is connected with the conveyor belt, so that the conveyor belt is pushed out from the bottom of the box when the furcation cylinder is pushed in, and the conveyor belt is retracted into the box when the furcation cylinder is retracted.
In this embodiment, the main technology of the pick-and-place traffic cone device is implemented as follows: when collecting traffic cone, the electronic control module drives the cylinder/hydraulic cylinder to push the wide-opening clamping rod, then the rotating arm rod rotates to reach the upper part of the wide-opening clamping rod to wait for the entrance of the traffic cone, and the rotation of the rotating arm rod is mainly realized by driving a pair of driving gears through the speed-adjustable speed reducing motor/servo motor, and can also be realized by belt or chain wheel transmission. The device moves forward along with the vehicle, detects the traffic cone in the falling state on the road, and recognizes the traffic cone entering the limited area formed by the wide-mouth clamping rod through the diffuse reflection type photoelectric sensor at the tail end of the rotary arm rod. The recognition signal is fed back to the electronic control module, the electronic control module drives the motor to clamp the edge of the traffic cone, the rotating arm rod reaches the position vertical to the road surface, the current state is recognized through the position sensor arranged at the position, and after the electronic control module receives the state signal, the clamping fingers at the tail end of the rotating arm rod are released. Under the action of gravity, the traffic cone slides down the free sliding slope and enters the conveyor belt or the tray of other traffic cone collecting and releasing equipment.
When the traffic cone is placed, the traffic cone falling down by the conveyor belt or the tray slides down to the road surface through the limiting sliding slope, and when the vehicle moves, the narrow-mouth clamping rod can linearly align the traffic cone on the road surface, so that the traffic cone is placed on the road surface in order. When traffic cone winding and unwinding equipment needs to realize the function of contracting or expanding a cone front end picking and unwinding mechanism, a rotating gear structure on the rotating auxiliary frame plays a main role, the rotation of the rotating gear is executed through an air cylinder/a hydraulic cylinder, a cylinder body travel rod pushes and pulls a rack installed on the travel rod, the rack drives a matched gear to rotate 180 degrees, namely, a rotating hinge rotates, and all parts fixed on the hinge rotate together with the rotation of the hinge, so that the functions of expanding and contracting are realized. The transmission gear structure can realize different transmission ratios by adjusting the size of the gears, and plays roles of speed increasing, speed reducing, labor saving and cost saving. As shown in fig. 4, the warning light belt is mainly used for warning other people or vehicles not approaching or dodging when driving at night. The electric control module is responsible for collecting and controlling state signals of all mechanisms and simultaneously realizing information communication with other systems. The bottom wheel adopts the pneumatic wheel or has the hard wheel installation of shock attenuation effect, and main bearing whole device lets the device run on the road simultaneously, and the bottom wheel is installed speed detection sensor, can calculate the speed that the vehicle was travelled to cooperate the work of other mechanism systems, for example can provide the required parameter of traffic cone pendulum distance for traffic cone transceiver.
Through the device of this embodiment, can provide fine technical support for traffic cone receiving and dispatching equipment, pick-and-place traffic cone device can pick-and-place the operation to the traffic cone of the common size in present market, has improved work efficiency greatly.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (6)
1. The device for picking and placing the traffic cone is characterized by comprising a base and a box body, wherein two ends of the base are respectively provided with a pair of clamping rods, each clamping rod comprises a wide-mouth clamping rod and a narrow-mouth clamping rod, one side, facing the narrow-mouth clamping rod, of the box body is provided with a limiting sliding slope, one side, facing the wide-mouth clamping rod, of the box body is provided with a free sliding slope, the box body is arranged above the base, one side, facing the wide-mouth clamping rod, of the box body is provided with a rotating arm rod, the tail end of the rotating arm rod is provided with a diffuse reflection photoelectric sensor for identifying traffic cones entering the wide-mouth clamping rod area, and the tail end of the rotating arm rod is also provided with a clamping finger part for grabbing the traffic cone; the rotary arm rod is arranged on one side of the box body through a transmission gear structure, and the transmission gear structure is driven by a servo motor arranged in the box body; the wide-mouth clamping rod and the narrow-mouth clamping rod are respectively provided with a driving cylinder for pushing the wide-mouth clamping rod and the narrow-mouth clamping rod; the box body is provided with a detection cone sensor; the device comprises a box body, and is characterized in that a rotary auxiliary frame is arranged on one side of the box body, an auxiliary frame rotating shaft and a rotary gear structure are arranged on the rotary auxiliary frame, the rotation of the rotary gear structure is carried out through an air cylinder, a travel rod of the air cylinder pushes and pulls a rack arranged on the travel rod, and the rack drives a matched gear to rotate 180 degrees, so that the function of contracting or expanding the front end mechanism of the device for picking and placing traffic cones is realized; when the traffic cone is placed, the traffic cone slides down to the road surface through a limiting sliding slope, and the narrow-mouth clamping rod can linearly straighten the traffic cone sliding down to the road surface when the vehicle moves; when the traffic cone is picked up, the traffic cone enters the wide-mouth clamping rod area, the traffic cone is clamped by the clamping finger part, the clamping finger part is loosened when the rotating arm rod rotates to the vertical position, and the traffic cone slides down the slope freely to enter the device for storing the traffic cone;
the control method of the traffic cone picking and placing device comprises the steps of picking the traffic cone and placing the traffic cone:
the step of picking up the traffic cone is as follows:
s11, driving an air cylinder by an electronic control module to push an opening-expanding clamping rod;
s12, the rotating arm rod rotates to reach the upper part of the wide-mouth clamping rod to wait for the entrance of a traffic cone, and the rotation of the rotating arm rod is realized by driving a pair of transmission gears through an adjustable speed reducing motor/a servo motor or through belt or chain wheel transmission;
s13, the device moves forwards along with the vehicle, a traffic road cone in a falling state on a road is detected, and the traffic cone entering a limited area formed by the wide-mouth clamping rod is identified through a diffuse reflection type photoelectric sensor at the tail end of the rotary arm rod;
s14, feeding back identification signals to the electronic control module, driving a motor by the electronic control module to clamp the edge of a traffic cone, enabling the rotary arm rod to reach a position vertical to a road surface, identifying the current state through a position sensor arranged at the position, and releasing clamping fingers at the tail end of the rotary arm rod after the electronic control module receives the state signals;
s15, under the action of gravity, the traffic cone slides down along a free sliding slope and enters a conveyor belt or a tray of other traffic cone collecting and releasing equipment;
the traffic cone is placed as follows:
s21, a traffic cone fallen by a conveyor belt or a tray slides down to a road surface through a limit sliding slope;
s22, when the vehicle moves, the narrow-mouth clamping rod can linearly straighten the traffic cone on the road surface, so that the traffic cone is orderly placed on the road surface.
2. The traffic cone pick-and-place device according to claim 1, wherein the box body is provided with a vertically arranged warning light strip.
3. A pick-and-place traffic cone device according to claim 1, wherein the base has a bottom provided with a plurality of wheels.
4. A pick-and-place traffic cone device according to claim 3, wherein said wheels are mounted using pneumatic wheels or hard wheels with shock absorbing effect.
5. A pick-and-place traffic cone device according to claim 3, wherein the wheel base is provided with a speed detection sensor for calculating the speed at which the vehicle is travelling.
6. A pick-and-place traffic cone device according to claim 1 and further comprising a furcation cylinder for cooperating with the conveyor belt, the push rod of the furcation cylinder being connected to the conveyor belt to push the conveyor belt out of the bottom of the tank when the furcation cylinder is advanced and to retract the conveyor belt into the tank when the furcation cylinder is retracted.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710647749.9A CN107268482B (en) | 2017-08-01 | 2017-08-01 | Device for picking and placing traffic cone and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710647749.9A CN107268482B (en) | 2017-08-01 | 2017-08-01 | Device for picking and placing traffic cone and control method |
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| CN107268482A CN107268482A (en) | 2017-10-20 |
| CN107268482B true CN107268482B (en) | 2023-09-05 |
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| CN201710647749.9A Active CN107268482B (en) | 2017-08-01 | 2017-08-01 | Device for picking and placing traffic cone and control method |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108951462B (en) * | 2018-09-30 | 2023-06-06 | 张新明 | Automatic winding and unwinding machine for rotary cone |
| CN111910547B (en) * | 2020-08-19 | 2022-03-15 | 凌源晨光集团凌安车身制造有限责任公司 | Automatic vehicle of putting of traffic awl |
| CN114481900B (en) * | 2022-02-23 | 2023-08-22 | 江苏集萃道路工程技术与装备研究所有限公司 | Traffic cone retraction method and traffic cone retraction vehicle |
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| GB2421975A (en) * | 2005-01-06 | 2006-07-12 | Ian John Mounter | Traffic cone dropper and retriever |
| DE102009042575A1 (en) * | 2009-09-24 | 2011-04-14 | Fahrzeugbau Und Entwicklungswerk Paul Deckwerth Gmbh & Co.Kg | Receiving device for baseplate for clamping conveying device, comprises centering device, where clamping conveying device comprises control rail and rotating clamping unit, where contact surface is arranged on plunger |
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| CN106638364A (en) * | 2016-12-21 | 2017-05-10 | 张新明 | Automatic safety cone deploying and retracting system and vehicle-mounted system thereof |
| CN207017185U (en) * | 2017-08-01 | 2018-02-16 | 广州市图之灵计算机技术有限公司 | It is a kind of to pick up the device for putting cone |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2419914B (en) * | 2004-11-06 | 2008-12-10 | Brian Flynn | Roadway delivery and retrieval device for road cones |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0500474A1 (en) * | 1991-02-19 | 1992-08-26 | Constructions Industrielles Du Rhone Cir S.A. | Apparatus for depositing objects on and retrieving them from the ground |
| GB2421975A (en) * | 2005-01-06 | 2006-07-12 | Ian John Mounter | Traffic cone dropper and retriever |
| DE102009042575A1 (en) * | 2009-09-24 | 2011-04-14 | Fahrzeugbau Und Entwicklungswerk Paul Deckwerth Gmbh & Co.Kg | Receiving device for baseplate for clamping conveying device, comprises centering device, where clamping conveying device comprises control rail and rotating clamping unit, where contact surface is arranged on plunger |
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| CN107268482A (en) | 2017-10-20 |
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