CN111170227A - Thin-wall gear rack transmission pallet fork - Google Patents
Thin-wall gear rack transmission pallet fork Download PDFInfo
- Publication number
- CN111170227A CN111170227A CN201811329481.5A CN201811329481A CN111170227A CN 111170227 A CN111170227 A CN 111170227A CN 201811329481 A CN201811329481 A CN 201811329481A CN 111170227 A CN111170227 A CN 111170227A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
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- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to the technical field of automatic stereoscopic warehouses, in particular to a thin-wall gear rack transmission pallet fork, which comprises a driving mechanism and sliding fork assemblies symmetrically arranged at two sides of the driving mechanism, wherein each sliding fork assembly comprises a lower fork, a middle fork and an upper fork which are sequentially connected in a sliding manner, the middle fork is arranged in the lower fork, the upper fork is arranged in the middle fork, the lower fork is provided with a driving rack and a lower fork tooth wheel set with a first driving gear, the lower fork tooth wheel sets on the lower forks at two sides are driven by the driving mechanism to synchronously rotate, a middle fork rack is arranged at the lower side of the middle fork and is meshed with the first driving gear, a middle fork gear set with a second driving gear is arranged on the middle fork, an upper fork tooth strip is arranged on the lower side of the upper fork, and the lower side of the second driving gear is meshed with the driving rack on the lower fork, the upper side of the second driving gear is meshed with the upper fork tooth strip, and a supporting frame for supporting goods is arranged on the upper side of the upper fork. The telescopic fork body has the advantages that the strength is met, and meanwhile, the structural size of the telescopic fork body is greatly reduced.
Description
Technical Field
The invention relates to the technical field of automatic stereoscopic warehouses, in particular to a thin-wall gear rack transmission pallet fork.
Background
The stacker plays an indispensable role in the automatic stereoscopic warehouse, the stacker mainly sends goods to corresponding goods positions through the fork, the fork is a core component in the stacker, and requirements for the fork are different due to different industries with different requirements for the automatic stereoscopic warehouse. The kind of current fork generally uses finger formula fork and board fork as leading, and this kind of fork can bear the high load, nevertheless must stretch the fork goods or tray below just can realize handling, and to the load lighter goods in addition, also can realize the transport of goods through pressing from both sides the fork of embracing, but above two kinds of forks can only carry tray and workbin, and the storage goods to some special appearance adopts ordinary type's fork will not accomplish the transport function. In addition, the structural size requirements of the fork in different working spaces are different, and the structural size of the common fork cannot be used for completing the fork extending operation in a narrow space.
Disclosure of Invention
The invention aims to provide a thin-wall gear rack transmission fork, wherein a middle fork is accommodated in a lower fork, an upper fork is accommodated in the middle fork, the structural size of a telescopic fork body is greatly reduced while the strength is met, and the fork can be stretched in a narrower space.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a thin wall gear rack transmission fork, includes actuating mechanism and symmetry and locates the slip fork subassembly of actuating mechanism both sides, the slip fork subassembly is including sliding connection's lower fork, well fork and last fork in proper order, and well fork arrange down in the fork, go up in the fork is arranged in, be equipped with drive rack and take first drive gear's lower prong wheelset down on the fork, and the lower prong wheelset on both sides lower fork passes through actuating mechanism drive synchronous rotation, well fork downside be equipped with well fork rack with first drive gear meshing, be equipped with the well fork wheelset of taking second drive gear on the well fork, go up the fork downside and be equipped with the prong strip, just second drive gear downside with drive rack meshing, upside on the lower fork with go up the prong strip meshing, go up the fork upper side and be equipped with the support frame that supports the goods.
The driving mechanism comprises a driving device, transmission shafts and chain wheel and chain assemblies, the driving device is of a double-output-shaft structure, output shafts on two sides of the driving device are respectively connected with one transmission shaft, the chain wheel and chain assemblies are respectively arranged on two sides of the driving device, the lower fork tooth wheel set is driven to rotate through the transmission shafts located on the same side, and the transmission shafts transmit torque through the chain wheel and chain assemblies located on the same side.
And a driving sprocket in the sprocket chain assembly is arranged at the shaft end of the transmission shaft, a driven sprocket is arranged at the lower side of the lower fork, the driven sprocket is coaxially and fixedly connected with a transmission gear, and the transmission gear is meshed with any one first driving gear in the lower fork tooth wheel set.
The lower fork tooth wheel set is arranged in a line and comprises a plurality of first driving gears and a plurality of first intermediate gears, and the first driving gears and the first intermediate gears are arranged in a staggered mode.
The lower fork tooth wheel set is arranged in the middle of the length direction of the lower fork and arranged on one side of the width direction of the lower fork, and a middle fork rack meshed with the lower fork tooth wheel set is arranged on one side of the lower end of the middle fork.
Well fork gear set is a linear arrangement and includes a plurality of second drive gear and a plurality of second intermediate gear, second drive gear and the crisscross setting of second intermediate gear, both sides about well fork gear set are located to drive rack and last prong strip branch.
The middle fork gear set is arranged in the middle of the middle fork in the length direction and in the middle of the middle fork in the width direction.
The cross section of the lower fork is concave, a lower fork pulley is arranged on the inner side of each vertical plate of the lower fork, middle fork outer grooves are formed in two sides of the lower portion of the middle fork, the lower fork pulleys roll along the middle fork outer grooves of the corresponding sides respectively, the upper portion of the middle fork is groove-shaped, middle fork inner grooves are formed in the inner sides of the groove plates on two sides, upper fork pulleys are arranged on two sides of the upper fork, and the upper fork pulleys roll along the middle fork inner grooves of the corresponding sides respectively.
And a rack mounting plate is arranged in the lower fork, and the driving rack is mounted on the rack mounting plate.
The inner side of each vertical plate of the lower fork is provided with a lower fork guide block, and the two sides of the upper fork are provided with a first guide block and a second guide block.
The invention has the advantages and positive effects that:
1. the middle fork is accommodated in the lower fork, the upper fork is accommodated in the middle fork, the structural size of the telescopic fork body is greatly reduced while the strength is met, the fork can stretch in a narrower space, and the problem of carrying goods in special shapes is solved.
2. The invention adopts a thin-wall pure gear rack structure to transmit torque, can accurately control the moving distance of each fork, and effectively ensures that the stretching speed of each fork meets the requirement of speed ratio, thereby realizing the purpose of accurately taking and placing goods.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the present invention of FIG. 1;
FIG. 3 is a left side view of the invention of FIG. 2;
FIG. 4 is a schematic view of the lower fork of FIG. 1;
FIG. 5 is a top view of the lower fork of FIG. 4;
FIG. 6 is a schematic illustration of the gear set of FIG. 5;
FIG. 7 is a schematic view of the mid-fork configuration of FIG. 1;
FIG. 8 is a bottom plan view of the middle fork of FIG. 7;
fig. 9 is a schematic view of the upper fork structure in fig. 1.
The device comprises a mounting plate 1, a driving mechanism 2, a driving device 201, a chain 202, a transmission shaft 203, a bearing seat 204, a driving sprocket 205, a driven sprocket 206, a transmission gear 207, a lower fork 3, a lower fork gear set 301, a first driving gear 3011, a first intermediate gear 3012, a lower fork pulley 302, a rack mounting plate 303, a lower fork guide block 304, a driving rack 305, a middle fork 4, a middle fork rack 401, a middle fork outer groove 402, a middle fork gear set 403, a middle fork inner groove 404, an upper fork 5, an upper fork tooth bar 501, a first guide block 502, a support frame 503, an upper fork pulley 504 and a second guide block 505.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 9, the invention comprises a driving mechanism 2 and a sliding fork assembly symmetrically arranged on both sides of the driving mechanism 2, the sliding fork assembly comprises a lower fork 3, a middle fork 4 and an upper fork 5 which are connected in sequence in a sliding manner, wherein the lower fork 3 is provided with a driving rack 305 and a lower fork wheel set 301 with a first driving gear 3011, the lower fork wheel sets 301 on the lower forks 3 on both sides are driven by the driving mechanism 2 to rotate synchronously, the lower side of the middle fork 4 is provided with a middle fork rack 401 which is meshed with the first driving gear 3011, the first driving gear 3011 drives the middle fork 4 to extend and retract through the middle fork rack 401, the middle fork 4 is provided with a middle fork wheel set 403 with a second driving gear, the lower side of the upper fork 5 is provided with an upper fork rack 501, the lower side of the second driving gear is meshed with the driving rack 305 on the lower fork 3, and the upper side of the second driving gear is meshed, when the middle fork 4 extends out, the second driving gear moves along with the middle fork 4 and rotates along the driving rack 305 in a rolling manner, so that the upper fork 5 is driven to extend out through the upper fork tooth bar 501, and a supporting frame 503 for supporting cargoes is arranged on the upper side of the upper fork 5.
As shown in fig. 1 to 4, the driving mechanism 2 includes a driving device 201, a transmission shaft 203 and a sprocket chain assembly, the driving device 201 is of a double-output shaft structure, output shafts on two sides of the driving device 201 are respectively connected to one transmission shaft 203 through a coupler, and the transmission shaft 203 transmits torque through the sprocket chain assembly to drive the lower fork tooth wheel set 301 located on the same side to rotate. As shown in fig. 3 to 4, a driving sprocket 205 in the sprocket chain assembly is mounted at an end of the transmission shaft 203, a driven sprocket 206 is mounted at a lower side of the bottom fork 3, and the driven sprocket 206 is coaxially and fixedly connected with a transmission gear 207, and the transmission gear 207 is meshed with any one first driving gear 3011 in the bottom fork wheel set 301, so as to drive the entire bottom fork wheel set 301 to rotate. In this embodiment, the driving device 201 is a dual-output-shaft servo motor, and as shown in fig. 1 and fig. 2, the driving end of the transmission shaft 203 is supported by a bearing seat 204, the bearing seat 204 is disposed on one mounting plate 1, and the mounting plate 1 is mounted on the stacking machine body.
As shown in fig. 4 to 6, the lower-tine wheel set 301 is arranged in a line and includes a plurality of first driving gears 3011 and a plurality of first intermediate gears 3012, the diameter of the first driving gears 3011 is larger than that of the first intermediate gears 3012, the first driving gears 3011 and the first intermediate gears 3012 are arranged in a staggered manner, the middle-tine rack 401 on the lower side of the middle fork 4 can be meshed with all the first driving gears 3011, and at least one first intermediate gear 3012 needs to be meshed when the middle fork 4 is fully extended.
As shown in fig. 4 to 5, the cross section of the lower fork 3 is concave, the lower fork 3 includes two vertical plates on two sides and a rack mounting plate 303 with a lower end connecting the two vertical plates, the driving rack 305 is mounted on the rack mounting plate 303, the lower fork tooth wheel set 301 is disposed in the middle of the length direction of the lower fork 3 and on one side of the width direction of the lower fork 3, a lower fork pulley 302 is disposed inside each vertical plate of the lower fork 3, the middle fork 4 moves in the concave of the lower fork 3, as shown in fig. 7, middle fork outer grooves 402 are disposed on two sides of the lower portion of the middle fork 4, and the lower fork pulleys 302 respectively roll along the middle fork outer grooves 402 on the corresponding sides, so as to realize the sliding connection between the middle fork 4 and the lower fork 3, as shown in fig. 5, a lower fork guide block 304 is further disposed inside each vertical plate of the lower fork 3 and is disposed in the middle fork outer grooves 402 to ensure.
As shown in fig. 7 to 8, the upper portion of the middle fork 4 is in a groove shape, middle fork inner grooves 404 are formed inside the groove plates on both sides, the upper fork 5 moves in the groove, as shown in fig. 9, upper fork pulleys 504 are arranged on both sides of the upper fork 5 and respectively roll along the middle fork inner grooves 404 on the corresponding sides, so that the sliding connection between the upper fork 5 and the middle fork 4 is realized, and in order to ensure the movement, a first guide block 502 and a second guide block 505 for guiding are arranged on both sides of the upper fork 5 and are placed in the middle fork inner grooves 404. In addition, the middle fork rack 401 is arranged on one side of the lower end of the middle fork 4 and meshed with the lower fork gear set 301, and the middle fork gear set 403 is arranged in the middle of the middle fork 4 in the length direction and in the middle of the middle fork 4 in the width direction.
As shown in fig. 9, the lower side of the upper fork 5 is provided with an upper fork rack 501 engaged with the middle fork gear set 403, the middle fork gear set 403 is the same as the lower fork gear set 301, and is also arranged in a line and comprises a plurality of second driving gears and a plurality of second intermediate gears, the diameters of the second driving gears are larger than those of the second intermediate gears, the second driving gears and the second intermediate gears are arranged in a staggered manner, the driving rack 305 and the upper fork rack 501 are respectively arranged on the upper side and the lower side of the middle fork gear set 403 and can be engaged with all the second driving gears, and when the upper fork 5 is completely extended, the upper side and the lower side of at least one second driving gear are kept engaged with the driving rack 305 and the upper fork rack 501.
The working principle of the invention is as follows:
when the forklift truck works, the driving mechanism 2 drives the lower fork tooth wheel sets 301 on the lower forks 3 on two sides to rotate simultaneously, the middle fork 4 is driven to stretch and retract through the middle fork rack 401, the driving rack 305 is arranged on the lower fork 3, the upper fork rack 501 is arranged on the lower side of the upper fork 5, the driving rack 305 is meshed with the lower side of the second driving gear in the middle fork gear set 403, the upper fork tooth strip 501 is meshed with the upper side of the second driving gear, when the middle fork 4 extends out, the second driving gear in the middle fork gear set 403 moves along with the middle fork 4 and rolls on the driving rack 305 to rotate, the upper fork 5 is driven to stretch and retract through the upper fork tooth strip 501, and the upper fork 5 is provided with a supporting frame 503 for supporting cargoes.
According to the invention, the middle fork 4 is accommodated in the lower fork 3, the upper fork 5 adopts a special rack and is accommodated in the middle fork 4, the strength is satisfied, and meanwhile, the structural size of the telescopic fork body is greatly reduced, so that the fork can be stretched in a narrower space.
In order to ensure the safety and the reliability of the fork, a mechanical limiting device and an electrical limiting device are arranged in the telescopic direction of the fork. If the electric limiting device fails, the mechanical limiting device can still ensure the safety and the reliability. The mechanical limiting device and the electrical limiting device are both well-known in the art.
The driving device 201 of the invention adopts a variable frequency motor, an encoder is used for accurate positioning during working, the control is carried out by adopting a PLC, the PLC can record and debug the accurate walking position according to the actual working condition requirement through teaching programming, and finally the full-automatic operation is realized.
On the basis of referring to the traditional pallet fork, the invention solves the problem that the current stacker pallet fork finishes extraction and transmission in a special space, expands the application range of the automatic three-dimensional warehouse, has reasonable structure, high automation degree and increased trial range, and can finish work in a narrow space.
Claims (10)
1. The utility model provides a thin wall rack and pinion transmission fork which characterized in that: locate including actuating mechanism (2) and symmetry the slip fork subassembly of actuating mechanism (2) both sides, the slip fork subassembly is including sliding connection's fork (3), well fork (4) and last fork (5) in proper order, and well fork (4) are arranged in fork (3) down, go up fork (5) and arrange in well fork (4), be equipped with drive rack (305) and lower prong wheelset (301) of taking first drive gear (3011) down on fork (3), and lower prong wheelset (301) on both sides fork (3) pass through actuating mechanism (2) drive synchronous rotation, well fork (4) downside be equipped with well fork rack (401) with first drive gear (3011) meshing, be equipped with well fork wheelset (403) of taking second drive gear on well fork (4), go up fork (5) downside and be equipped with and go up fork rack (501), just second drive gear downside with drive rack (305) meshing on lower fork (3), The upper side of the upper fork is meshed with the upper fork rack (501), and a supporting frame (503) for supporting cargoes is arranged on the upper side of the upper fork (5).
2. The thin-walled rack and pinion pallet fork of claim 1, wherein: the driving mechanism (2) comprises a driving device (201), a transmission shaft (203) and a chain wheel and chain assembly, the driving device (201) is of a double-output-shaft structure, output shafts on two sides of the driving device (201) are respectively connected with the transmission shaft (203), the chain wheel and chain assembly is respectively arranged on two sides of the driving device (201), the lower fork tooth wheel set (301) is driven to rotate through the transmission shaft (203) located on the same side, and the transmission shaft (203) transmits torque through the chain wheel and chain assembly located on the same side.
3. The thin-walled rack and pinion pallet fork of claim 2, wherein: a driving sprocket (205) in the sprocket chain assembly is mounted at the shaft end of the transmission shaft (203), a driven sprocket (206) is mounted at the lower side of the lower fork (3), the driven sprocket (206) is coaxially and fixedly connected with a transmission gear (207), and the transmission gear (207) is meshed with any first driving gear (3011) in the lower fork tooth wheel set (301).
4. The thin-walled rack and pinion pallet fork of claim 1, 2 or 3, wherein: the lower fork tooth wheel set (301) is arranged in a line and comprises a plurality of first driving gears (3011) and a plurality of first intermediate gears (3012), and the first driving gears (3011) and the first intermediate gears (3012) are arranged in a staggered mode.
5. The thin-walled rack and pinion pallet fork of claim 4 wherein: the lower fork tooth wheel set (301) is arranged in the middle of the length direction of the lower fork (3) and arranged on one side of the width direction of the lower fork (3), and a middle fork rack (401) meshed with the lower fork tooth wheel set (301) is arranged on one side of the lower end of the middle fork (4).
6. The thin-walled rack and pinion pallet fork of claim 1, wherein: well fork gear set (403) are a linear arrangement and include a plurality of second drive gear and a plurality of second intermediate gear, second drive gear and the crisscross setting of second intermediate gear, both sides about well fork gear set (403) are located to drive rack (305) and last fork rack (501) branch.
7. The thin-walled rack and pinion pallet fork of claim 6, wherein: the middle fork gear set (403) is arranged in the middle of the middle fork (4) in the length direction and in the middle of the middle fork (4) in the width direction.
8. The thin-walled rack and pinion pallet fork of claim 1, wherein: the section of the lower fork (3) is concave, the inner side of each vertical plate of the lower fork (3) is provided with a lower fork pulley (302), the two sides of the lower part of the middle fork (4) are provided with middle fork outer grooves (402), the lower fork pulleys (302) roll along the middle fork outer grooves (402) on the corresponding sides respectively, the upper part of the middle fork (4) is groove-shaped, middle fork inner grooves (404) are formed on the inner sides of the groove plates on the two sides, the two sides of the upper fork (5) are provided with upper fork pulleys (504), and the upper fork pulleys (504) roll along the middle fork inner grooves (404) on the corresponding sides respectively.
9. The thin-walled rack and pinion pallet fork of claim 8, wherein: a rack mounting plate (303) is arranged in the lower fork (3), and the driving rack (305) is mounted on the rack mounting plate (303).
10. The thin-walled rack and pinion pallet fork of claim 8, wherein: the inner side of each vertical plate of the lower fork (3) is provided with a lower fork guide block (304), and the two sides of the upper fork (5) are provided with a first guide block (502) and a second guide block (505).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811329481.5A CN111170227A (en) | 2018-11-09 | 2018-11-09 | Thin-wall gear rack transmission pallet fork |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811329481.5A CN111170227A (en) | 2018-11-09 | 2018-11-09 | Thin-wall gear rack transmission pallet fork |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111170227A true CN111170227A (en) | 2020-05-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811329481.5A Pending CN111170227A (en) | 2018-11-09 | 2018-11-09 | Thin-wall gear rack transmission pallet fork |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111170227A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113829650A (en) * | 2020-06-24 | 2021-12-24 | 沈阳新松机器人自动化股份有限公司 | Rotary centering device and centering method |
| CN114572905A (en) * | 2022-03-21 | 2022-06-03 | 中研技术有限公司 | Double-deep-position fork |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3110700A1 (en) * | 1981-03-19 | 1982-10-07 | Adolf 5758 Fröndenberg Theobald | Telescopic carriage for alternately pushing pallets into shelves |
| CN202766232U (en) * | 2012-09-05 | 2013-03-06 | 苏州富士德物流设备有限公司 | Double-extending fork |
| CN204873745U (en) * | 2015-08-17 | 2015-12-16 | 西安航天自动化股份有限公司 | A bidirectional scalability formula fork for intelligence storage stacker |
| CN107226434A (en) * | 2017-07-10 | 2017-10-03 | 夏宏 | A kind of telescopic fork of forklift truck supplementary structure |
| CN107651563A (en) * | 2017-09-15 | 2018-02-02 | 中汽昌兴（洛阳）机电设备工程有限公司 | Two-way transfer pallet fork and the production line using the transfer pallet fork |
| CN207313046U (en) * | 2017-09-27 | 2018-05-04 | 成都泰立康工控技术有限公司 | A kind of three-level retractable fork |
| CN108046177A (en) * | 2017-10-30 | 2018-05-18 | 中建钢构有限公司 | A kind of three-level telescopic fork |
| CN207390935U (en) * | 2017-10-19 | 2018-05-22 | 天津天汽模车身装备技术有限公司 | It carries with retractable fork device |
-
2018
- 2018-11-09 CN CN201811329481.5A patent/CN111170227A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3110700A1 (en) * | 1981-03-19 | 1982-10-07 | Adolf 5758 Fröndenberg Theobald | Telescopic carriage for alternately pushing pallets into shelves |
| CN202766232U (en) * | 2012-09-05 | 2013-03-06 | 苏州富士德物流设备有限公司 | Double-extending fork |
| CN204873745U (en) * | 2015-08-17 | 2015-12-16 | 西安航天自动化股份有限公司 | A bidirectional scalability formula fork for intelligence storage stacker |
| CN107226434A (en) * | 2017-07-10 | 2017-10-03 | 夏宏 | A kind of telescopic fork of forklift truck supplementary structure |
| CN107651563A (en) * | 2017-09-15 | 2018-02-02 | 中汽昌兴（洛阳）机电设备工程有限公司 | Two-way transfer pallet fork and the production line using the transfer pallet fork |
| CN207313046U (en) * | 2017-09-27 | 2018-05-04 | 成都泰立康工控技术有限公司 | A kind of three-level retractable fork |
| CN207390935U (en) * | 2017-10-19 | 2018-05-22 | 天津天汽模车身装备技术有限公司 | It carries with retractable fork device |
| CN108046177A (en) * | 2017-10-30 | 2018-05-18 | 中建钢构有限公司 | A kind of three-level telescopic fork |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113829650A (en) * | 2020-06-24 | 2021-12-24 | 沈阳新松机器人自动化股份有限公司 | Rotary centering device and centering method |
| CN114572905A (en) * | 2022-03-21 | 2022-06-03 | 中研技术有限公司 | Double-deep-position fork |
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Application publication date: 20200519 |
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