CN220741213U - Clamp holder, mechanical arm and robot - Google Patents
Clamp holder, mechanical arm and robot Download PDFInfo
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- CN220741213U CN220741213U CN202322437566.8U CN202322437566U CN220741213U CN 220741213 U CN220741213 U CN 220741213U CN 202322437566 U CN202322437566 U CN 202322437566U CN 220741213 U CN220741213 U CN 220741213U
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 18
- 230000009471 action Effects 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 description 5
- 239000012636 effector Substances 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000003466 welding Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Abstract
The application provides a holder, arm and robot. The gripper comprises a frame, a first gripper arm and a second gripper arm. The first clamping arm comprises a first rod, a second rod, a third rod and a fourth rod which are sequentially hinged, the first rod is hinged with the frame, the hinge shafts are parallel, the third rod is provided with a first clamping surface, the second clamping arm is provided with a second clamping surface, the first rod is used for being applied with torque, and the first rod can generate first angular displacement close to the second clamping arm under the action of the torque, so that the first clamping surface and the second clamping surface can clamp a clamped object in parallel. The clamp can realize parallel clamping.
Description
Technical Field
The application relates to the technical field of clamping, in particular to a clamp holder, a mechanical arm and a robot.
Background
The gripper is called an End Effector (End-Effector) in the field of robotics as an End tool for robotic manipulation and motion execution. An end effector is a generic term for a robot executing component, and is generally mounted on the end of a robot wrist, and is a device that directly executes a task. End effectors generally include three classes: the first type is a multi-finger gripper (including 2 fingers, 3 fingers, etc.); the second type is a multi-finger dexterous hand; the third category is special tools such as suction cups, welding guns and the like. The end effector is used as the final link and the execution part of the interaction between the robot and the environment, plays an extremely important role in improving the flexibility and usability of the robot, and the performance of the end effector determines the working performance of the whole robot to a great extent.
The clamp mainly has two clamping modes when clamping objects: parallel clamping and envelope clamping. Parallel clamping means that the clamp device realizes the parallel movement of the tail ends of the clamp fingers through a transmission design, and is suitable for clamping objects with two parallel side surfaces. The enveloping clamping means that the clamping fingers of the clamp can realize bending movement, the target object is enveloped by a plurality of finger sections of the clamping fingers, and the clamping is stably carried out through multipoint contact, so that the clamping device is suitable for clamping objects with irregular surface curvatures.
Disclosure of Invention
The application provides a holder, arm and robot, can realize the clamp of getting to the regular object that has parallel side.
A holder, comprising:
a frame; and
The first clamping arm comprises a first rod, a second rod, a third rod and a fourth rod which are hinged in sequence, the first rod is hinged with the fourth rod and is also hinged with the frame, each hinge shaft is parallel, the third rod is provided with a first clamping surface, the second clamping arm is provided with a second clamping surface, the first rod is used for being applied with torque, and the first rod can generate first angular displacement close to the second clamping arm under the action of torque, so that the first clamping surface and the second clamping surface can be used for clamping a clamped object in parallel.
Optionally, the first rod may be further configured to generate a second angular displacement under torque adjacent to the second clamping arm, such that at least the first clamping surface, the second clamping surface, and the fourth rod are capable of envelope clamping the clamped object.
Optionally, the first clamping arm further includes a stretchable elastic member, the elastic member includes a first end and a second end in a stretching direction, the first end is connected with the second rod, the second end is connected with the fourth rod, a connection position of the first end and the second rod is close to a hinge point of the second rod and the third rod, and a connection position of the second end and the fourth rod is close to a hinge point of the fourth rod and the frame.
Optionally, the pin joint of second pole with the pin joint of first pole is pin joint I, the pin joint of second pole with the pin joint of third pole is pin joint II, the second pole sets up to crooked pole, and the bend is located between pin joint I and pin joint II, the fourth pole is located one side of the line of pin joint I and pin joint II, the bend is located the opposite side of line, and towards keeping away from one side protrusion of fourth pole, first end connect in the bend.
Optionally, the hinge point of the first rod and the frame is a hinge point iii, the hinge point of the third rod and the fourth rod is a hinge point iv, the hinge point of the fourth rod and the frame is a hinge point v, and the distance from the hinge point i to the hinge point iii is smaller than the distance from the hinge point i to the hinge point ii and smaller than the distance from the hinge point iv to the hinge point v.
Optionally, the distance from the hinge point ii to the hinge point iv is smaller than the distance from the hinge point i to the hinge point ii and smaller than the distance from the hinge point iv to the hinge point v.
Optionally, the holder further comprises a motor and a worm and gear assembly, the worm and gear assembly comprises a worm and a worm wheel which are in transmission connection, the motor is connected with the worm, the worm wheel is rotatably connected with the rack, and the worm wheel is fixedly connected with the first rod; and/or
The third rod comprises a first plate-shaped part, a second plate-shaped part and a connecting part, wherein the first plate-shaped part and the second plate-shaped part are arranged in a plane perpendicular to the hinge shaft and are spaced along the direction of the hinge shaft, the first plate-shaped part is hinged with the second rod, the second plate-shaped part is hinged with the fourth rod, the two hinge shafts are not collinear, the connecting part is connected with the first plate-shaped part and the second plate-shaped part, the connecting part is provided with a first clamping surface, and the connecting part is provided with a lightening hole.
Optionally, the second clamping arm has the same structure as the first clamping arm, and is symmetrical with respect to a symmetry center plane of the first clamping surface and the second clamping surface in the first clamping position, the second clamping arm includes a fifth rod symmetrically arranged with the fourth rod, and in the second clamping position, a clamping space is formed by spaces among the first clamping surface, the second clamping surface, the fourth rod and the fifth rod.
Optionally, the second clamping arm further comprises a sixth rod symmetrically arranged with the first rod, the sixth rod is used for being applied with torque, the clamping device further comprises a motor and a worm gear assembly, and the first rod and the sixth rod share the motor and the worm gear assembly.
Optionally, the motor is a servo motor.
A robotic arm comprising a gripper as claimed in any one of the preceding claims.
A robot, comprising:
a main body portion; and
In the mechanical arm, the mechanical arm is mounted on the main body.
The application provides a holder, arm and robot, wherein, first pole can produce first angular displacement and second angular displacement that is close to the second arm, and when first pole produced first angular displacement, but make first clamping face and second clamping face parallel clamp by the centre gripping object, so, this holder can realize the parallel clamp to the regular object that has parallel side and get.
Drawings
FIG. 1 is a schematic view of a gripper shown in an exemplary embodiment of the present application;
FIG. 2 is a schematic view of the gripper shown in FIG. 1 with the first gripper arm in a first gripping position;
FIG. 3 is a schematic view of the gripper shown in FIG. 1 with the first gripping arm in a second gripping position;
FIG. 4 is a cross-sectional view of the holder shown in FIG. 1;
FIG. 5 is a schematic view of the extreme position of the first clamping arm near the second clamping arm;
fig. 6 is a schematic view of the third bar hinged to the second and fourth bars.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with aspects of the present application.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Also, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one, and the terms "a" and "an" are used individually. "plurality" or "plurality" means two or more. Unless otherwise indicated, the terms "front," "rear," "lower," and/or "upper," "top," "bottom," and the like are merely for convenience of description and are not limited to one position or one spatial orientation. The word "comprising" or "comprises", and the like, means that elements or items appearing before "comprising" or "comprising" are encompassed by the element or item recited after "comprising" or "comprising" and equivalents thereof, and that other elements or items are not excluded. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
Referring to fig. 1, fig. 1 is a schematic view of a holder 100 according to an exemplary embodiment of the present application.
The present application provides a gripper 100, which is described here by way of example, but not limitation. Holder 100 may be three-fingered, four-fingered, or more-fingered. The gripper 100 may be mounted at the end of a robotic arm, but is not limited thereto.
Referring to fig. 2 and 3, fig. 2 is a schematic view of the gripper 100 shown in fig. 1, wherein the first gripper arm 20 is in a first gripping position. Fig. 3 is a schematic view of the gripper 100 shown in fig. 1, wherein the first gripper arm 20 is in the second gripping position.
The present application provides a gripper 100 comprising a frame 10, a first gripper arm 20 and a second gripper arm 30. The first clamping arm 20 comprises a first rod 21, a second rod 22, a third rod 23 and a fourth rod 24 which are hinged in sequence, the first rod 21 and the fourth rod 24 are also hinged with the frame 10, and each hinge axis is parallel. The first rod 21 is used for being applied with torque, so as to drive the second rod 22, the third rod 23 and the fourth rod 24 to move. For example, torque may be applied to the first lever 21 by a motor.
The third lever 23 is provided with a first clamping surface 201, the second clamping arm 30 is provided with a second clamping surface 301, the first lever 21 can generate a first angular displacement close to the second clamping arm 30 under the action of torque, so that the first clamping surface 201 and the second clamping surface 301 can clamp the clamped object 200 in parallel, at this time, the first clamping arm 20 is in the first clamping position, and the first clamping surface 201 and the second clamping surface 301 are parallel and opposite, and the clamped object 200 can be a rectangular block, but is not limited thereto. The first angular displacement may be an angular displacement through which the first clamping arm 20 rotates from a limit position on a side remote from the second clamping arm 30 to a first clamping position, which may be defined as a first limit position.
As can be seen from the above description, when the first rod 21 generates the first angular displacement, the first clamping surface 201 and the second clamping surface 301 can clamp the clamped object in parallel, so that the clamp 100 can achieve the parallel clamping of the regular object with parallel sides.
In one embodiment, the first rod 21 is further adapted to generate a second angular displacement under torque to the second clamping arm 30, such that at least the first clamping surface 201, the second clamping surface 301 and the fourth rod 24 are capable of enveloping clamping the clamped object 300. At this time, the first clamping arm 20 is in the second clamping position, the first clamping surface 201 is inclined downward with respect to the second clamping surface 301, and a clamping space is formed at least between the first clamping surface 201, the second clamping surface 301, and the fourth lever 24. The clamped object 300 may be a sphere, but is not limited thereto. The second angular displacement may be the angular displacement that the first clamping arm 20 rotates past when reaching the second clamping position from the first extreme position. That is, when the first rod 21 generates the second angular displacement, at least the first clamping surface 201, the second clamping surface 301, and the fourth rod 24 can envelop and clamp the clamped object. So set up, this holder can also realize having the envelope clamp of circular arc curved surface object and get, satisfied the centre gripping demand of multiple different shape objects.
In the embodiment shown in fig. 2, the first clamping arm 20 is able to reach the first clamping position from the initial position or the first limit position when the first lever 21 is driven to rotate clockwise (S direction in fig. 2) by a first angle, and the first clamping arm 20 is able to reach the second clamping position from the initial position or the first limit position when the first lever 21 is driven to rotate clockwise by a second angle, the first angle and the second angle being angles through which the first lever 21 rotates in the same direction, and the second angle being larger than the second angle. When the first lever 21 is driven to rotate counterclockwise, the first clamp arm 20 is reset and the relaxation is achieved. The initial position referred to herein refers to a position where each of the first clamp arms 20 is located when the first lever 21 is not applied with torque, and may be a first limit position, but is not limited thereto.
The structure of the second clamping arm 30 is not limited in this application. For example, the second clamping arm 30 may be fixed or movable, and may be movable alone or in conjunction with the first clamping arm 20. The second clamp arm 30 may have the same structure as the first clamp arm 20 and may be symmetrical to the first clamp arm 20, or may have a different structure from the first clamp arm 20.
Referring to fig. 4 and 5, fig. 4 is a cross-sectional view of the clamper 100 shown in fig. 1. Fig. 5 is a schematic view of the extreme position of the first clamping arm 20 near the second clamping arm 30, which can be positioned as a second extreme position.
In one embodiment, the first clamping arm 20 further includes a stretch deformable elastic member 25, the elastic member 25 including, but not limited to, a tension spring. The elastic member 25 includes a first end 251 and a second end 252 in the stretching direction, the first end 251 being connected to the second lever 22, and the second end 252 being connected to the fourth lever 24. Wherein, the connection position of the first end 251 and the second rod 22 is close to the hinge point of the second rod 22 and the third rod 23, and the connection position of the second end 252 and the fourth rod 24 is close to the hinge point of the fourth rod 24 and the frame 10. So configured, when the first lever 21 is reset in the counterclockwise direction, the restoring force of the elastic member 25 can act on both the second lever 22 and the fourth lever 24, so that each lever in the first clamping arm 20 can be driven to be quickly and accurately reset from the first clamping position or the second clamping position to the initial position or the first limit position.
In one embodiment, as shown in fig. 4, the hinge point of the second rod 22 and the first rod 21 is a hinge point i, the hinge point of the second rod 22 and the third rod 23 is a hinge point ii, the hinge point of the first rod 21 and the frame 10 is a hinge point iii, the hinge point of the fourth rod 24 and the third rod 23 is a hinge point iv, and the hinge point of the fourth rod 24 and the frame 10 is a hinge point v. The frame 10, the first rod 21, the second rod 22, the third rod 23 and the fourth rod 24 together form a planar five-bar linkage.
In one embodiment, as shown in fig. 4, the distance from the hinge point i to the hinge point iii is smaller than the distance from the hinge point i to the hinge point ii, and smaller than the distance from the hinge point iv to the hinge point v. That is, the rod length of the third rod 23 is smaller than the rod lengths of the second rod 22 and the fourth rod 24, so that the movable space of the third rod 23 can be reduced, and thus the amplitude of the change in the position of the first clamping surface 201 provided to the third rod 23 can be reduced.
In one embodiment, as shown in fig. 4, the distance from the hinge point ii to the hinge point iv is smaller than the distance from the hinge point i to the hinge point ii and smaller than the distance from the hinge point iv to the hinge point v. That is, the rod length of the first rod 21 is smaller than the rod lengths of the second rod 22 and the fourth rod 24. By doing so, the rotational space of the first lever 21 can be reduced, and thus the movable space of the first clamp arm 20 as a whole can be reduced, with less space limitation.
In one embodiment, as shown in fig. 4, the second lever 22 is configured as a bent lever, the bent portion 221 is located between the hinge point i and the hinge point ii, wherein the fourth lever 24 is located at one side of the line L between the hinge point i and the hinge point ii, the bent portion 221 is located at the other side of the line L and protrudes toward a side away from the fourth lever 24, and the first end 251 of the elastic member 25 is connected to the bent portion 221. So set up, on the basis of satisfying hinge point I and hinge point II distance requirement, can increase the distance between second pole 22 and the fourth pole 24 through bend 221 to the length of adaptation elastic component 25. In the embodiment shown in fig. 4, the second lever 22 is an L-shaped lever, but is not limited thereto.
In one embodiment, the holder 100 further includes a motor 40, which may be a servo motor, and a worm gear assembly 50. The worm gear assembly 50 comprises a worm 51 and a worm wheel 52 which are in transmission connection, the motor 40 is connected with the worm 51, the worm wheel 52 is rotatably connected with the frame 10, and the worm wheel 52 is fixedly connected with the first rod 21. The worm gear 52 may be rotatably coupled to the housing 10 via bearings. By adopting the worm and gear assembly 50, on one hand, the function of reverse self-locking of the clamp holder 100 is realized, on the other hand, the clamp holder 100 has higher clamping force and transmission precision, the phenomenon of transmission jamming of the clamp holder 100 is avoided, and the actual operation capability and safety of the clamp holder 100 are improved.
In one embodiment, the first lever 21 is provided separately from the worm wheel 52, and the first lever 21 is connected to the worm wheel 52. For example, a convex portion protruding in the radial direction may be provided at a portion of the worm wheel 52 connected to the first lever 21, and the connection of the convex portion to the first lever 21 reduces the difficulty in mounting the worm wheel 52 to the first lever 21. In another embodiment, the worm gear 52 and the first rod 21 may be provided as a unitary structure.
In one embodiment, as shown in fig. 3, the second clamping arm 30 has the same structure as the first clamping arm 20 and is symmetrical with respect to a symmetry center plane a (refer to fig. 2) of the first clamping surface 201 and the second clamping surface 301, the second clamping arm 30 includes a fifth rod 31 symmetrically disposed with respect to the fourth rod 24, and the first clamping surface 201, the second clamping surface 301, the fourth rod 24, and the fifth rod 31 can envelope the clamped object 300 when the first rod 21 generates the second angular displacement. Therefore, four-point clamping can be realized on the clamped object, so that the clamping operation is more stable and reliable.
In one embodiment, as shown in fig. 4, the second clamping arm 30 further includes a sixth rod 32 symmetrically disposed with respect to the first rod 21, the sixth rod 32 being used for torque application, and the clamper 100 further includes a motor 40 and a worm gear assembly 50, the first rod 21 and the sixth rod 32 sharing the motor 40 and the worm gear assembly 50. Specifically, the worm wheel and worm assembly 50 includes two worm wheels 52, and the first lever 21 and the sixth lever 32 are engaged with the worm 51 through the worm wheels 52, respectively, to transmit power. This reduces the number of parts of the holder 100 and simplifies the structure. The motor 40 adopts a servo motor, and can realize the function of clamping the gripper 100 by force control.
The motor 40 is housed in a housing 60, and the housing 60 and the frame 10 remain relatively fixed. The bottom of the housing 60 is provided with a base 70, and the housing 60 and the base 70 together enclose a housing cavity for housing the motor 40.
Referring to fig. 6, fig. 6 is a schematic view of the third rod 23 hinged to the second rod 22 and the fourth rod 24.
In one embodiment, the third rod 23 includes a first plate-shaped portion 231, a second plate-shaped portion 232, and a connecting portion 233, the first plate-shaped portion 231 and the second plate-shaped portionThe parts 232 are all arranged on the hinge shaft O 1 、O 2 In a vertical plane and along said hinge axis O 1 、O 2 The first plate-like portion 231 is hinged to the second lever 22, the second plate-like portion 232 is hinged to the fourth lever 24, and both hinge shafts O 1 、O 2 The connection portion 233 connects the first plate-like portion 231 and the second plate-like portion 232, the connection portion 233 is provided with the first clamping surface 201, and the connection portion 233 is provided with a weight reducing hole 2330. The arrangement thus enables both the connection of the third lever 23 to the second lever 22 and to the fourth lever 24 and the arrangement of the first clamping surface 201.
The present application also provides a robotic arm comprising the gripper 100 described above.
The application also provides a robot, the robot includes main part and arm, the arm is installed in main part. Robots include, but are not limited to, bipedal robots, quadruped robots.
The foregoing description of the preferred embodiments of the present utility model is not intended to limit the utility model to the precise form disclosed, and any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present utility model are intended to be included within the scope of the present utility model.
Claims (11)
1. A holder, comprising:
a frame; and
The first clamping arm comprises a first rod, a second rod, a third rod and a fourth rod which are hinged in sequence, the first rod is hinged with the fourth rod and is also hinged with the frame, each hinge shaft is parallel, the third rod is provided with a first clamping surface, the second clamping arm is provided with a second clamping surface, the first rod is used for being applied with torque, and the first rod can generate a first angular displacement close to the second clamping arm under the action of torque, so that the first clamping surface and the second clamping surface can be used for clamping a clamped object in parallel.
2. The gripper of claim 1, wherein said first bar is further capable of producing a second angular displacement under torque proximate said second gripping arm, such that at least said first gripping surface, said second gripping surface, and said fourth bar are capable of enveloping gripping a gripped object.
3. Gripper according to claim 1 or 2, characterized in that the first gripper arm further comprises a stretch-deformable elastic member, the elastic member comprising a first end and a second end in the stretch direction, the first end being connected to the second rod and the second end being connected to the fourth rod, the first end being connected to the second rod close to the hinge point of the second rod to the third rod and the second end being connected to the fourth rod close to the hinge point of the fourth rod to the frame.
4. A holder according to claim 3, wherein the hinge point of the second lever and the first lever is a hinge point i, the hinge point of the second lever and the third lever is a hinge point ii, the second lever is provided as a curved lever, the curve is located between the hinge point i and the hinge point ii, the fourth lever is located on one side of the line connecting the hinge point i and the hinge point ii, the curve is located on the other side of the line and protrudes towards the side remote from the fourth lever, and the first end is connected to the curve.
5. The holder according to claim 4, wherein the hinge point of the first lever and the frame is a hinge point iii, the hinge point of the third lever and the fourth lever is a hinge point iv, the hinge point of the fourth lever and the frame is a hinge point v, and the distance from the hinge point i to the hinge point iii is smaller than the distance from the hinge point i to the hinge point ii and smaller than the distance from the hinge point iv to the hinge point v.
6. Gripper according to claim 5, characterized in that the distance from the hinge point ii to the hinge point iv is smaller than the distance from the hinge point i to the hinge point ii and smaller than the distance from the hinge point iv to the hinge point v.
7. The holder according to any one of claims 1, 2, 4, 5, 6, further comprising a motor and worm gear assembly, the worm gear assembly comprising a worm and a worm gear in driving connection, the motor being connected to the worm, the worm gear being rotatably connected to the frame, the worm gear being further fixedly connected to the first rod; and/or
The third rod comprises a first plate-shaped part, a second plate-shaped part and a connecting part, wherein the first plate-shaped part and the second plate-shaped part are arranged in a plane perpendicular to the hinge shaft and are spaced along the direction of the hinge shaft, the first plate-shaped part is hinged with the second rod, the second plate-shaped part is hinged with the fourth rod, the two hinge shafts are not collinear, the connecting part is connected with the first plate-shaped part and the second plate-shaped part, the connecting part is provided with a first clamping surface, and the connecting part is provided with a lightening hole.
8. The gripper according to any one of claims 2, 4, 5, 6, wherein the second gripper arm is identical in structure to the first gripper arm and is symmetrical about a central plane of symmetry when the first gripper surface is parallel to the second gripper surface, the second gripper arm comprising a fifth rod symmetrically arranged with respect to the fourth rod, the first gripper surface, the second gripper surface, the fourth rod, the fifth rod being capable of enveloping a gripped object upon a second angular displacement of the first rod.
9. The holder of claim 8, wherein the second holding arm further comprises a sixth bar symmetrically disposed with the first bar, the sixth bar for applied torque, the holder further comprising a motor and worm gear assembly, the first bar and the sixth bar sharing the motor and worm gear assembly.
10. A robotic arm comprising a gripper according to any one of claims 1 to 9.
11. A robot, comprising:
a main body portion; and
The robotic arm of claim 10, mounted to the body portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322437566.8U CN220741213U (en) | 2023-09-07 | 2023-09-07 | Clamp holder, mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322437566.8U CN220741213U (en) | 2023-09-07 | 2023-09-07 | Clamp holder, mechanical arm and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220741213U true CN220741213U (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322437566.8U Active CN220741213U (en) | 2023-09-07 | 2023-09-07 | Clamp holder, mechanical arm and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220741213U (en) |
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2023
- 2023-09-07 CN CN202322437566.8U patent/CN220741213U/en active Active
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