CN219683775U - Automatic clamp for refrigerator U shell - Google Patents

Automatic clamp for refrigerator U shell Download PDF

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Publication number
CN219683775U
CN219683775U CN202321081674.XU CN202321081674U CN219683775U CN 219683775 U CN219683775 U CN 219683775U CN 202321081674 U CN202321081674 U CN 202321081674U CN 219683775 U CN219683775 U CN 219683775U
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China
Prior art keywords
arm assembly
refrigerator
sliding
shell
clamp
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CN202321081674.XU
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Chinese (zh)
Inventor
周业荣
阳伦胜
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Qingdao Beiyang Tianqing Digital Intelligence Co ltd
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Qingdao Beiyang Tianqing Digital Intelligence Co ltd
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Abstract

The utility model relates to the technical field of refrigerator production, in particular to an automatic grabbing clamp for a refrigerator U shell, which can flexibly adjust the width and the angle, is suitable for U shells of various types, reduces the use cost and improves the working efficiency; the robot flange plate is arranged on the clamp frame; still include anchor clamps frame, slider guide rail assembly, two slip tables, left arm subassembly, right arm subassembly, two first connecting axle seats, moving mechanism, angle mechanism that opens and shuts, sucking disc subassembly and clamp cylinder, two slip tables pass through slider guide rail assembly and install the moving mechanism between anchor clamps frame and two slip tables, the one end of left arm subassembly and right arm subassembly is connected with the one end rotation of two slip tables through two first connecting axle seats respectively, two angles mechanism that opens and shuts are connected with left arm subassembly and right arm subassembly transmission respectively, sucking disc subassembly and two clamp cylinder are all installed to the other end of left arm subassembly and right arm subassembly.

Description

Automatic clamp for refrigerator U shell
Technical Field
The utility model relates to the technical field of refrigerator production, in particular to an automatic grabbing clamp for a U-shaped shell of a refrigerator.
Background
The refrigerator shell is generally a U-shaped shell, is formed by bending a plate in a U-shaped manner, and when the refrigerator is assembled, the refrigerator U-shaped shell needs to be taken out from the tooling plate by using a clamp, and the automatic grabbing clamp of the refrigerator U-shaped shell is generally matched with a robot.
However, most of existing U-shell grabbing clamps of refrigerators are specially designed for refrigerators with single types, cannot be suitable for taking out U-shells with multiple types and sleeving the U-shells, are high in use cost, long in clamp replacement time and low in working efficiency.
Disclosure of Invention
In order to solve the technical problems, the utility model provides the automatic grabbing clamp for the U shell of the refrigerator, which can flexibly adjust the width and the angle, is suitable for the U shells of various models, reduces the use cost and improves the working efficiency.
The utility model relates to an automatic grabbing clamp for a refrigerator U shell, which comprises a clamp frame and a robot flange plate, wherein the robot flange plate is arranged on the clamp frame and is used for being connected with a robot; the clamping device comprises a clamp frame, a sliding block guide rail assembly, two sliding tables, a left arm assembly, a right arm assembly, two first connecting shaft seats, a moving mechanism, an angle opening and closing mechanism, a sucker assembly and clamping cylinders, wherein the two sliding tables are symmetrically and slidably arranged below the clamp frame through the sliding block guide rail assembly; the angle of opening and closing of left arm subassembly and right arm subassembly is adjusted through two angle opening and closing mechanisms for the angle of left arm subassembly and right arm subassembly matches with the both sides angle of refrigerator U shell, and the robot is connected with the flange board of robot, and moving mechanism drives two slip tables and opens along anchor clamps frame relative slip, and the robot passes through the flange board of robot drive anchor clamps frame and removes, makes the anchor clamps frame reach the top of refrigerator U shell, and makes the sucking disc subassembly respectively opposite with the both sides of refrigerator U shell, and moving mechanism drives two slip tables and is close to relatively, makes two sucking disc subassemblies be close to the both sides of refrigerator U shell, and two clamping cylinder drive two sucking disc subassemblies are elongated and adsorb refrigerator U shell, and the robot drive anchor clamps frame takes out refrigerator U shell from the frock board, and carries out the pouring jacket work with refrigerator U shell to the refrigerator assembly station, thereby because this clamp that snatchs can nimble adjustment width and angle is applicable to the U shell of multiple model, reduce use cost, need not to change anchor clamps, it is short to consume time, improves work efficiency.
Preferably, the slide block guide rail assembly comprises two slide rails and a plurality of slide blocks, the two slide rails are arranged below the clamp frame in parallel, and the two slide tables are respectively connected with the two slide rails in a sliding manner through the plurality of slide blocks; the two sliding tables slide along the two sliding rails through the sliding blocks, so that the sliding is stable and smooth, and the technology is mature and has good reliability.
Preferably, the moving mechanism comprises two screw rods, two shaft screw rod nut seats and two servo motors, wherein the two screw rods are rotatably arranged at the left part and the right part of the clamp frame, the two shaft screw rod nut seats are respectively in transmission and rotation connection with the two screw rods, the two shaft screw rod nut seats are respectively arranged on the two sliding tables, the two servo motors are arranged on the clamp frame, and output shafts of the two servo motors are respectively in transmission connection with the two screw rods; the two servo motors respectively drive the two screw rods to rotate, and the two screw rods are matched with the two spindle screw nut seats in a transmission manner to drive the two sliding tables to approach or separate from each other, so that the two sliding tables approach or separate from the refrigerator U shell through the left arm assembly and the right arm assembly, the refrigerator U shell is clamped or released, the technology is mature, and the refrigerator U shell is suitable for refrigerator U shells of different models.
Preferably, the angle opening and closing mechanism comprises a transverse plate, an adjusting cylinder and a second connecting shaft seat, wherein the transverse plate is arranged on the sliding table, the fixed end of the adjusting cylinder is rotationally connected with the transverse plate, and the top end of a piston rod of the adjusting cylinder is rotationally connected with the left arm assembly or the right arm assembly through the second connecting shaft seat; the piston rod of the adjusting cylinder stretches or shortens, and the left arm assembly or the right arm assembly is driven to be opened or combined through the second connecting shaft seat, so that the angle of the left arm assembly and the right arm assembly is adjusted, the U-shaped refrigerator shell is suitable for various different types, and the universality is improved.
Preferably, the two transverse plates are provided with arc-shaped guide grooves, the two second connecting shaft seats are respectively and slidably arranged in the arc-shaped guide grooves of the two transverse plates, and the upper end covers of the two second connecting shaft seats are slidably clamped on the transverse plates; the arc guide slot of two crossbars leads to two second connection axle bed to two crossbars hold two second connection axle beds, and two first connection axle beds and two second connection axle beds cooperation support left arm subassembly and right arm subassembly, improve the stability of equipment.
Preferably, the device further comprises two limiting stop plates, wherein the two limiting stop plates are respectively arranged on the two adjusting cylinders, and the two limiting stop plates limit the telescopic lengths of the two adjusting cylinders; the two limiting stop plates are arranged to limit the extension length of the two adjusting cylinders, so that the opening and closing angles of the left arm assembly and the right arm assembly are limited, and the U shell of the refrigerator is prevented from being damaged.
Preferably, the device further comprises two inductors and two stroke induction pieces, wherein the two inductors are respectively arranged at the left end and the right end of the clamp frame, the two stroke induction pieces are respectively arranged on the two sliding tables, and the two stroke induction pieces are respectively in limit fit with the two inductors; the two inductors are in limit fit with the two stroke induction pieces, so that the two sliding tables are prevented from moving beyond the stroke, and the safety of the equipment is improved.
The beneficial effects of the utility model are as follows: the angle of opening and closing of left arm subassembly and right arm subassembly is adjusted through two angle opening and closing mechanisms for the angle of left arm subassembly and right arm subassembly matches with the both sides angle of refrigerator U shell, the robot is connected with the flange board of robot, moving mechanism drives two slip tables and opens along anchor clamps frame relative slip, the robot passes through the flange board of robot drive anchor clamps frame and removes, make the anchor clamps frame reach the top of refrigerator U shell, and make the sucking disc subassembly respectively with the both sides of refrigerator U shell relatively, moving mechanism drives two slip tables relatively near, make two sucking disc subassemblies be close to the both sides of refrigerator U shell, two clamping cylinder drive two sucking disc subassemblies are elongated and adsorb refrigerator U shell, the robot drives anchor clamps frame and takes out refrigerator U shell from the frock board, and send refrigerator U shell to refrigerator assembly station and carry out the pouring jacket work, because this snatch anchor clamps can nimble adjustment width and angle thereby be applicable to the U shell of multiple model, need not to change anchor clamps, it is short to consume time, the efficiency is improved, the cost is reduced, adaptation improves production flow and uses widely.
Drawings
FIG. 1 is a schematic top view of the present utility model;
FIG. 2 is a schematic diagram of the front view of the present utility model;
FIG. 3 is a schematic side elevational view of the present utility model;
FIG. 4 is a schematic view of a partial enlarged structure at A;
FIG. 5 is a schematic view of a partially enlarged structure at B;
the reference numerals in the drawings: 1. a clamp frame; 2. a slider rail assembly; 3. a screw rod; 4. an inductor; 5. a travel sensing piece; 6. a robot flange plate; 7. u-shaped shell of refrigerator; 8. a suction cup assembly; 9. a left arm assembly; 10. a right arm assembly; 11. a spindle screw nut seat; 12. a limit stop plate; 13. a clamping cylinder; 15. a first connecting shaft seat; 16. a servo motor; 17. a slide rail; 18. a slide block; 19. a cross plate; 20. adjusting a cylinder; 21. the second connecting shaft seat; 22. a sliding table.
Detailed Description
In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. This utility model may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Example 1
As shown in fig. 1, 2, 3 and 5, an automatic grabbing clamp for a refrigerator U shell comprises a clamp frame 1 and a robot flange plate 6, wherein the robot flange plate 6 is installed on the clamp frame 1, and the robot flange plate 6 is used for being connected with a robot; the clamping device comprises a clamp frame 1, a slide block guide rail assembly 2, two sliding tables 22, a left arm assembly 9, a right arm assembly 10, two first connecting shaft seats 15, a moving mechanism, an angle opening and closing mechanism, a sucker assembly 8 and clamping cylinders 13, wherein the two sliding tables 22 are symmetrically and slidably arranged below the clamp frame 1 through the slide block guide rail assembly 2, the moving mechanism is arranged between the clamp frame 1 and the two sliding tables 22, one ends of the left arm assembly 9 and the right arm assembly 10 are respectively and rotatably connected with one ends of the two sliding tables 22 through the two first connecting shaft seats 15, the two angle opening and closing mechanisms are respectively arranged at the other ends of the two sliding tables 22, the two angle opening and closing mechanisms are respectively and rotatably connected with the middle parts of the left arm assembly 9 and the right arm assembly 10, the two angle opening and closing mechanisms respectively drive the left arm assembly 9 and the right arm assembly 10 to be relatively opened and closed, the sucker assembly 8 is respectively arranged at the other ends of the left arm assembly 9 and the right arm assembly 10, the two clamping cylinders 13 are respectively arranged on the left arm assembly 9 and the right arm assembly 10, and the two clamping cylinders 13 drive the two sucker assemblies to stretch and retract; the slide block guide rail assembly 2 comprises two slide rails 17 and a plurality of slide blocks 18, the two slide rails 17 are arranged below the clamp frame 1 in parallel, and the two slide tables 22 are respectively connected with the two slide rails 17 in a sliding manner through the plurality of slide blocks 18; the moving mechanism comprises two screw rods 3, two shaft screw rod nut seats 11 and two servo motors 16, wherein the two screw rods 3 are rotatably arranged at the left part and the right part of the clamp frame 1, the two shaft screw rod nut seats 11 are respectively in transmission and rotation connection with the two screw rods 3, the two shaft screw rod nut seats 11 are respectively arranged on the two sliding tables 22, the two servo motors 16 are arranged on the clamp frame 1, and output shafts of the two servo motors 16 are respectively in transmission connection with the two screw rods 3; the two stroke induction pieces 5 are respectively arranged on the left end and the right end of the clamp frame 1, the two stroke induction pieces 5 are respectively arranged on the two sliding tables 22, and the two stroke induction pieces 5 are respectively in limit fit with the two inductors 4.
The left arm assembly 9 and the right arm assembly 10 are adjusted through the two angle opening and closing mechanisms, the angles of the left arm assembly 9 and the right arm assembly 10 are matched with the angles of the two sides of the U shell 7 of the refrigerator, the robot is connected with the flange plate 6 of the robot, the two sliding tables 22 slide along the two sliding rails 17 through the plurality of sliding blocks 18, the sliding is stable and smooth, the two servo motors 16 respectively drive the two screw rods 3 to rotate, the two screw rods 3 are in transmission fit with the two spindle screw nut seats 11, the two sliding tables 22 are far away from the U shell 7 of the refrigerator through the left arm assembly 9 and the right arm assembly 10, the robot drives the clamp frame 1 through the flange plate 6 of the robot to move, the clamp frame 1 reaches the upper side of the U shell 7 of the refrigerator, the sucker assembly 8 is enabled to be opposite to the two sides of the U shell 7 of the refrigerator respectively, the two servo motors 16 reversely drive the two sliding tables 22 to be relatively close to each other, the two sucker assemblies are enabled to be close to the two sides of the U shell 7 of the refrigerator, the two clamping cylinders 13 drive the two sliding tables to stretch and adsorb the U shell 7 of the refrigerator, the two sliding blocks are driven by the robot, the clamp frame 1 is matched with the two clamping frames 7 to take out the U shell 7 of the refrigerator from the tool plate, the U shell 7, the two clamping frames 7 can be matched with the two clamping frames to be used for the U shell 7, the two clamping frames can be used for the refrigerator and the two-station U shell 4 can be flexibly and can be used for the two-shaped, the refrigerator can be flexibly and the two-shaped and the refrigerator can be used to be matched with the refrigerator and can be used to be flexibly and the two or not be used to be matched with the refrigerator.
Example 2
As shown in fig. 1 and 4, an automatic grabbing clamp for a refrigerator U shell comprises a clamp frame 1 and a robot flange plate 6, wherein the robot flange plate 6 is installed on the clamp frame 1, and the robot flange plate 6 is used for being connected with a robot; the clamping device comprises a clamp frame 1, a slide block guide rail assembly 2, two sliding tables 22, a left arm assembly 9, a right arm assembly 10, two first connecting shaft seats 15, a moving mechanism, an angle opening and closing mechanism, a sucker assembly 8 and clamping cylinders 13, wherein the two sliding tables 22 are symmetrically and slidably arranged below the clamp frame 1 through the slide block guide rail assembly 2, the moving mechanism is arranged between the clamp frame 1 and the two sliding tables 22, one ends of the left arm assembly 9 and the right arm assembly 10 are respectively and rotatably connected with one ends of the two sliding tables 22 through the two first connecting shaft seats 15, the two angle opening and closing mechanisms are respectively arranged at the other ends of the two sliding tables 22, the two angle opening and closing mechanisms are respectively and rotatably connected with the middle parts of the left arm assembly 9 and the right arm assembly 10, the two angle opening and closing mechanisms respectively drive the left arm assembly 9 and the right arm assembly 10 to be relatively opened and closed, the sucker assembly 8 is respectively arranged at the other ends of the left arm assembly 9 and the right arm assembly 10, the two clamping cylinders 13 are respectively arranged on the left arm assembly 9 and the right arm assembly 10, and the two clamping cylinders 13 drive the two sucker assemblies to stretch and retract; the angle opening and closing mechanism comprises a transverse plate 19, an adjusting cylinder 20 and a second connecting shaft seat 21, the transverse plate 19 is arranged on a sliding table 22, the fixed end of the adjusting cylinder 20 is rotationally connected with the transverse plate 19, and the top end of a piston rod of the adjusting cylinder 20 is rotationally connected with the left arm assembly 9 or the right arm assembly 10 through the second connecting shaft seat 21; the two transverse plates 19 are provided with arc-shaped guide grooves, the two second connecting shaft seats 21 are respectively and slidably arranged in the arc-shaped guide grooves of the two transverse plates 19, and the upper end covers of the two second connecting shaft seats 21 are slidably clamped on the transverse plates 19; the two limiting stop plates 12 are respectively arranged on the two adjusting cylinders 20, and the two limiting stop plates 12 limit the telescopic length of the two adjusting cylinders 20.
The piston rod of the adjusting cylinder 20 stretches or shortens, the left arm assembly 9 or the right arm assembly 10 is driven to be opened or combined through the second connecting shaft seat 21, so that the angles of the left arm assembly 9 and the right arm assembly 10 are adjusted, the refrigerator U-shaped shell 7 with different types is suitable for, universality is improved, the arc-shaped guide grooves of the two transverse plates 19 guide the two second connecting shaft seats 21, the two transverse plates 19 support the two second connecting shaft seats 21, the two first connecting shaft seats 15 and the two second connecting shaft seats 21 are matched to support the left arm assembly 9 and the right arm assembly 10, stability of equipment is improved, the stretching length of the two adjusting cylinders 20 is limited through the two limiting stop plates 12, opening and closing angles of the left arm assembly 9 and the right arm assembly 10 are limited, and the refrigerator U-shaped shell 7 is prevented from being damaged.
As shown in fig. 1 to 5, when the automatic gripping clamp for a refrigerator U shell of the present utility model works, firstly, two adjusting cylinders 20 telescopically adjust the opening and closing angles of a left arm assembly 9 and a right arm assembly 10, so that the angles of the left arm assembly 9 and the right arm assembly 10 are matched with the angles of two sides of the refrigerator U shell 7, then, a robot is connected with a robot flange plate 6, two servo motors 16 operate to drive two sliding tables 22 to slide relatively along a clamp frame 1 to open, the robot drives the clamp frame 1 to move through the robot flange plate 6, so that the clamp frame 1 reaches the upper side of the refrigerator U shell 7, and the sucker assemblies 8 are respectively opposite to two sides of the refrigerator U shell 7, then, two servo motors 16 operate to drive the two sliding tables 22 to be relatively close, so that the two sucker assemblies 8 are close to two sides of the refrigerator U shell 7, the two clamping cylinders 13 drive the two sucker assemblies to stretch and adsorb the refrigerator U shell 7, and finally, the robot drives the clamp frame 1 to take the refrigerator U shell out from the tool plate, and sends the refrigerator U shell to a refrigerator assembly station to a box for box-sleeving work.
The main functions realized by the utility model are as follows: 1. the width and the angle can be flexibly adjusted, the device is suitable for U shells of various types, the use cost is reduced, and the energy-saving and efficiency-improving effects are good; 2. the clamp does not need to be replaced in a time-consuming way, so that the time is saved and the working efficiency is improved.
The automatic grabbing clamp for the refrigerator U shell is in a common mechanical mode in the installation mode, the connection mode or the setting mode, and can be implemented as long as the beneficial effects of the automatic grabbing clamp can be achieved; the robot flange plate 6, the screw rod 3, the shaft screw rod nut seat 11, the sucker assembly 8, the clamping cylinder 13, the servo motor 16, the sliding rail 17, the sliding block 18 and the adjusting cylinder 20 of the automatic grabbing clamp for the U-shaped shell of the refrigerator are purchased in the market, and can be installed and operated by a person skilled in the art according to the attached using instruction without creative labor of the person skilled in the art.
All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present utility model, and these modifications and variations should also be regarded as the scope of the utility model.

Claims (7)

1. The utility model provides an automatic anchor clamps that snatch of refrigerator U shell, includes anchor clamps frame (1) and robot flange board (6), and robot flange board (6) are installed at anchor clamps frame (1), and robot flange board (6) are used for being connected with the robot; the clamping device is characterized by further comprising a clamp frame (1), a sliding block guide rail assembly (2), two sliding tables (22), a left arm assembly (9), a right arm assembly (10), two first connecting shaft seats (15), a moving mechanism, an angle opening and closing mechanism, a sucker assembly (8) and a clamping cylinder (13), wherein the two sliding tables (22) are symmetrically and slidably arranged below the clamp frame (1) through the sliding block guide rail assembly (2), the moving mechanism is arranged between the clamp frame (1) and the two sliding tables (22), one ends of the left arm assembly (9) and the right arm assembly (10) are respectively connected with one ends of the two sliding tables (22) through two first connecting shaft seats (15) in a rotating mode, the two angle opening and closing mechanisms are respectively arranged at the other ends of the two sliding tables (22), the two angle opening and closing mechanisms are respectively connected with middle transmission parts of the left arm assembly (9) and the right arm assembly (10), the two angle opening and closing mechanisms respectively drive the left arm assembly (9) and the right arm assembly (10) to open and close relatively, the other ends of the left arm assembly (9) and the right arm assembly (10) are respectively provided with the sucker assembly (8), the two sucker assemblies (13) are respectively arranged on the two telescopic arm assembly (13), and the two telescopic arm assembly (10) are respectively driven by the two sucker assemblies to stretch out and draw back.
2. The automatic grabbing clamp for the refrigerator U shell according to claim 1, wherein the sliding block guide rail assembly (2) comprises two sliding rails (17) and a plurality of sliding blocks (18), the two sliding rails (17) are arranged below the clamp frame (1) in parallel, and the two sliding tables (22) are respectively connected with the two sliding rails (17) in a sliding manner through the plurality of sliding blocks (18).
3. The automatic grabbing clamp of a refrigerator U shell according to claim 1, wherein the moving mechanism comprises two screw rods (3), two shaft screw rod nut seats (11) and two servo motors (16), the two screw rods (3) are rotatably installed at the left and right parts of the clamp frame (1), the two shaft screw rod nut seats (11) are respectively in transmission rotation connection with the two screw rods (3), the two shaft screw rod nut seats (11) are respectively installed on the two sliding tables (22), the two servo motors (16) are installed on the clamp frame (1), and output shafts of the two servo motors (16) are respectively in transmission connection with the two screw rods (3).
4. The automatic grabbing clamp of a refrigerator U shell according to claim 1, wherein the angle opening and closing mechanism comprises a transverse plate (19), an adjusting cylinder (20) and a second connecting shaft seat (21), the transverse plate (19) is arranged on a sliding table (22), a fixed end of the adjusting cylinder (20) is rotatably connected with the transverse plate (19), and the top end of a piston rod of the adjusting cylinder (20) is rotatably connected with the left arm assembly (9) or the right arm assembly (10) through the second connecting shaft seat (21).
5. The automatic grabbing clamp for the U-shaped shell of the refrigerator according to claim 4, wherein the two transverse plates (19) are respectively provided with an arc-shaped guide groove, the two second connecting shaft bases (21) are respectively and slidably arranged in the arc-shaped guide grooves of the two transverse plates (19), and upper end covers of the two second connecting shaft bases (21) are slidably clamped on the transverse plates (19).
6. The automatic grabbing clamp for a refrigerator U shell according to claim 4, further comprising two limiting stop plates (12), wherein the two limiting stop plates (12) are respectively installed on the two adjusting cylinders (20), and the two limiting stop plates (12) limit the telescopic length of the two adjusting cylinders (20).
7. The automatic grabbing clamp for the U shell of the refrigerator according to claim 1, further comprising two inductors (4) and two stroke induction pieces (5), wherein the two inductors (4) are respectively arranged at the left end and the right end of the clamp frame (1), the two stroke induction pieces (5) are respectively arranged on the two sliding tables (22), and the two stroke induction pieces (5) are respectively in limit fit with the two inductors (4).
CN202321081674.XU 2023-05-08 2023-05-08 Automatic clamp for refrigerator U shell Active CN219683775U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202321081674.XU CN219683775U (en) 2023-05-08 2023-05-08 Automatic clamp for refrigerator U shell

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202321081674.XU CN219683775U (en) 2023-05-08 2023-05-08 Automatic clamp for refrigerator U shell

Publications (1)

Publication Number Publication Date
CN219683775U true CN219683775U (en) 2023-09-15

Family

ID=87938582

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202321081674.XU Active CN219683775U (en) 2023-05-08 2023-05-08 Automatic clamp for refrigerator U shell

Country Status (1)

Country Link
CN (1) CN219683775U (en)

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