CN207870975U - Transmission component, the surgical instrument of operating robot and operating robot - Google Patents
Transmission component, the surgical instrument of operating robot and operating robot Download PDFInfo
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- CN207870975U CN207870975U CN201720948429.2U CN201720948429U CN207870975U CN 207870975 U CN207870975 U CN 207870975U CN 201720948429 U CN201720948429 U CN 201720948429U CN 207870975 U CN207870975 U CN 207870975U
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- drive link
- drive
- enforcement division
- operating robot
- surgical instrument
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Abstract
The utility model provides the surgical instrument and operating robot of a kind of transmission component, operating robot, wherein transmission component includes：First drive link, one end and the operation enforcement division of the first drive link are rotatablely connected by the first axis pin；Second drive link, the second drive link are connected with drive component；Drive rod, one end of drive rod and one end of the second drive link are rotatablely connected, and the other end of drive rod passes through the second axis pin and operation enforcement division rotation connection；Wherein, drive component drives the movement of the second drive link, and drive rod is driven to move for the second drive link so that operation enforcement division is rotated around the first axis pin.Transmission component provided by the utility model, realize motion mode of the enforcement division along a fixed-axis rotation that will perform the operation, so that operation enforcement division has the degree of freedom of a rotation and interior in a limited space can realize reliable rotation, the flexibility that operation enforcement division moves is improved.
Description
Technical field
The utility model is related to Medical robot technical fields, in particular to a kind of transmission component, operating robot
Surgical instrument and operating robot.
Background technology
Currently, robot assisted micro-wound surgical operation is increasingly becoming the development trend of micro-wound surgical operation, in the relevant technologies
In, due to micro-wound surgical operation own characteristic so that the activity space of robot is greatly limited, and causes robot can not be certainly
Complicated by moving, and due to the surgical instrument of operating robot, volume is big, further has compressed the activity of robot
Space.Therefore, how to design a operating robot that neatly can be assembled and move interior in a limited space becomes urgent need solution
Certainly the problem of.
Utility model content
At least one in order to solve the above-mentioned technical problem, the embodiment of the first aspect of the utility model proposes a kind of biography
Dynamic component.
A kind of second aspect embodiment of the utility model, it is also proposed that surgical instrument of operating robot.
A kind of third aspect embodiment of the utility model, it is also proposed that operating robot.
In view of this, the embodiment of first aspect according to the present utility model, the utility model proposes a kind of transmission groups
Part is used for the surgical instrument of operating robot, and the surgical instrument of operating robot includes drive component and operation enforcement division, transmission
Component includes：First drive link, one end and the operation enforcement division of the first drive link are rotatablely connected by the first axis pin；Second transmission
Bar, the second drive link are connected with drive component；Drive rod, one end of drive rod and one end of the second drive link are rotatablely connected,
The other end of drive rod passes through the second axis pin and operation enforcement division rotation connection；Wherein, drive component drives the second drive link fortune
Dynamic, drive rod is driven to move for the second drive link so that operation enforcement division is rotated around the first axis pin.
Transmission component provided by the utility model, can by drive component drive the second drive link and drive rod movement with
So that operation enforcement division is rotated around the first axis pin, thereby realizes operation enforcement division along the motion mode of a fixed-axis rotation, make
The enforcement division that must perform the operation has the degree of freedom of a rotation and interior realize can reliably rotate in a limited space, such
Rotation is similar to the carpal front and back rotation of human body, thus improves the flexibility of operation enforcement division movement so that in practical control
Can be more flexible, convenient when system operation enforcement division, improve the surgical instrument for the operating robot for having the transmission component
Functionality improves the flexibility of surgical procedure.
In addition, the transmission component in above-described embodiment provided by the utility model can also have following supplementary technology special
Sign：
In the above-mentioned technical solutions, it is preferable that the first drive link is hollow structure, and the setting of the second drive link is in the first transmission
In bar.
In the technical scheme, the first drive link is hollow structure and the second drive link is arranged in the first drive link, is led to
It crosses the second drive link in the first drive link, reduces the volume of the surgical instrument of transmission component and operating robot, into
And efficiently reduce occupancy of the surgical instrument to space of transmission component operating robot so that the structure of device is compacter
Rationally.
In any of the above-described technical solution, it is preferable that further include：Guide pad, guide pad are arranged in the first drive link, lead
Block is provided with guide groove, drive rod is embedded in guide groove.
In the technical scheme, it by guide pad being arranged and by drive rod in the guide groove of guide pad, realizes and is oriented to
Block plays the role of guiding to drive rod, can improve transmission efficiency in this way and be effectively guaranteed the standard of the drive rod direction of motion
True property and the stability of movement.
In any of the above-described technical solution, it is preferable that be provided with position limiting structure in the first drive link, position limiting structure is for the
The limit of one drive link.
In the technical scheme, the position limiting structure for being limited to the first drive link is provided in the first drive link, to prevent
Only because the first drive link more spend movement cause perform the operation enforcement division rotation excessively due to can not normal reset, and thus limit operation execute
The slewing area in portion.
In any of the above-described technical solution, it is preferable that ranging from 50 ° to 100 ° of the rotational angle for enforcement division of performing the operation.
In the technical scheme, ranging from 50 ° to 100 ° of the rotational angle for enforcement division of performing the operation, that is, enforcement division of performing the operation is in
Between position allow ranging from 25 ° to 50 ° of angle of rotation to same direction, it is preferable 45 ° general, can either ensure hand in this way
The functionality of art enforcement division rotation, while also avoiding causing operation enforcement division can not normal reset because rotating excessively.
The embodiment of the utility model second aspect additionally provides a kind of surgical instrument of operating robot, including：Driving
Component；Operation enforcement division；And above-mentioned transmission component, drive component and operation enforcement division are connected with transmission component respectively.
The surgical instrument of operating robot provided by the utility model, by using above-mentioned transmission component, realize by
Motion mode of the enforcement division of performing the operation along a fixed-axis rotation so that operation enforcement division has the degree of freedom of a rotation and can
Reliable rotation is realized in a limited space, improves the flexibility of operation enforcement division movement so that in actually control operation
Can be more flexible, convenient when enforcement division, the functionality of the surgical instrument of operating robot is improved, surgical procedure is improved
Flexibility.
In addition, the surgical instrument of the operating robot in above-described embodiment provided by the utility model can also have it is as follows
Additional technical feature：
In the above-mentioned technical solutions, it is preferable that drive component includes：Link block, the second drive link are connected with link block；
Lead screw, link block are set on lead screw；The output shaft of motor, motor is connected with lead screw；Wherein, motor driving lead screw rotates simultaneously
Drive link block along the axial movement of lead screw, so that the second drive link moves.
In the technical scheme, by the way that lead screw is arranged with by the linear motion for being changed into link block of motor, in turn
The second drive link is driven to move so that operation enforcement division rotation, realizes by drive component to the second drive link direction of motion
Transformation, while the flexibility of structure setting in device is improved, while also allowing for subsequent maintenance and replacement.
In any of the above-described technical solution, it is preferable that be arranged with fixed ring on the second drive link；Link block is provided with installation
Slot, fixed ring are folded in mounting groove.
In the technical scheme, by fixed ring with the cooperation of the mounting groove on link block to connect the second drive link and company
Connect block so that the second drive link is consistent with the movement of link block, promotes the control essence for the second drive link and operation enforcement division
Degree.
In any of the above-described technical solution, it is preferable that one end of lead screw is provided with the first terminal pad, on the output shaft of motor
It is provided with the second terminal pad；Wherein, the upper setting of one in the first terminal pad and the second terminal pad is fluted, setting on another
There are protrusion, groove to be adapted with protrusion, by groove with raised cooperation so that the second terminal pad drives the rotation of the first terminal pad.
In the technical scheme, lead screw is connected with the output shaft of motor by the first terminal pad and the second terminal pad,
In protrusion or groove are respectively arranged in two terminal pads, more improve flexibility and the versatility of apparatus structure in this way, together
When also allow for the first terminal pad during motor rotation and found accurately with the second terminal pad, realize being reliably connected for the two.
In any of the above-described technical solution, it is preferable that operation enforcement division includes scissors, nipper, electric hook, elastic separating plier, holds needle
Device or endoscope.
In the technical scheme, operation enforcement division includes scissors, nipper, electric hook, elastic separating plier, needle holder or endoscope, on
The various operation enforcement divisions stated are required for complicated motion control during actual use, and the operation of the operating robot
Instrument can realize reliable, the high-precision rotation for various operation enforcement divisions, promote the surgical instrument behaviour of operating robot
The flexibility of work ensures being normally carried out for operation.
The embodiment of the utility model third aspect additionally provides a kind of operating robot, including：Above-mentioned surgical machine
The surgical instrument of people.
Operating robot provided by the utility model is realized by using the surgical instrument of above-mentioned operating robot
Motion mode of the enforcement division that will perform the operation along a fixed-axis rotation so that operation enforcement division has the degree of freedom and energy of a rotation
It is enough in a limited space in realize that reliable rotation, such rotation are similar to the carpal front and back rotation of human body, are thus promoted
The flexibility of operation enforcement division movement so that can be more flexible, convenient when actually controlling operation enforcement division, improve hand
The functionality of art robot improves the flexibility of surgical procedure.
The additional aspect and advantage of the utility model will become apparent in following description section, or new by this practicality
The practice of type is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the utility model will in the description from combination following accompanying drawings to embodiment
Become apparent and is readily appreciated that, wherein：
Fig. 1 is a kind of structural schematic diagram of embodiment of the utility model；
Fig. 2 is the close-up schematic view of part A in structure shown in Fig. 1；
Fig. 3 is the close-up schematic view of part B in structure shown in Fig. 1；
Fig. 4 is a kind of structural schematic diagram of embodiment of the utility model；
Fig. 5 is the close-up schematic view of C portion in structure shown in Fig. 4；
Fig. 6 is a kind of structural schematic diagram of the transmission component of embodiment of the utility model；
Fig. 7 is the close-up schematic view of the parts D in structure shown in Fig. 6；
Fig. 8 is a kind of drive component structural schematic diagram of embodiment of the utility model.
Wherein, the correspondence in Fig. 1 to Fig. 8 between reference numeral and component names is：
102 first drive links, 104 first axis pins, 106 second drive links, 1062 fixed rings, 108 drive rods, 110 second
Axis pin, the surgical instrument of 2 operating robots, 22 operation enforcement divisions, 24 drive components, 242 link blocks, 2422 mounting grooves, 244
Bar, 2,442 first terminal pads, 246 motors, 2,462 second terminal pads.
Specific implementation mode
In order to be more clearly understood that the above objects, features, and advantages of the utility model, below in conjunction with the accompanying drawings and have
The utility model is further described in detail in body embodiment.It should be noted that in the absence of conflict, this Shen
The feature in embodiment and embodiment please can be combined with each other.
Many details are elaborated in the following description in order to fully understand the utility model, still, this practicality
Novel to be implemented different from other modes described here using other, therefore, the scope of protection of the utility model is simultaneously
It is not limited by following public specific embodiment.
Referring to Fig. 1 to Fig. 8 descriptions according to transmission component, the operating robot described in the utility model some embodiments
Surgical instrument and operating robot.
As shown in Figures 1 to 7, the utility model provides a kind of transmission component, is used for the surgical instrument of operating robot
2, the surgical instrument 2 of operating robot includes drive component 24 and operation enforcement division 22, and transmission component includes：First drive link
102, one end and the operation enforcement division 22 of the first drive link 102 are rotatablely connected by the first axis pin 104；Second drive link 106, the
Two drive links 106 are connected with drive component 24；Drive rod 108, one end of one end of drive rod 108 and the second drive link 106
The other end of rotation connection, drive rod 108 is rotatablely connected by the second axis pin 110 and operation enforcement division 22；Wherein, drive component
24 driving the second drive link 106 movements, drive rod 108 is driven to move for the second drive link 106 so that operation enforcement division 22 is around first
Axis pin 104 rotates.
Transmission component provided by the utility model can drive the second drive link by 24 drive component 24 of drive component
106 and drive rod 108 move so that operation enforcement division 22 rotated around the first axis pin 104, thereby realize enforcement division of performing the operation
22 along a fixed-axis rotation motion mode so that operation enforcement division 22 have one rotation degree of freedom and can be limited
Space in realize that reliable rotation, such rotation are similar to the carpal front and back rotation of human body, thus improve operation and hold
The flexibility that row portion 22 moves so that can be more flexible, convenient when actually controlling operation enforcement division 22, it improves and has this
The functionality of the surgical instrument 2 of the operating robot of transmission component, improves the flexibility of surgical procedure.
In one embodiment of the utility model, it is preferable that as shown in Figures 4 to 7, the first drive link 102 is hollow
Structure, the second drive link 106 are arranged in the first drive link 102.
In this embodiment, the first drive link 102 is hollow structure and the second drive link 106 is arranged in the first drive link
In 102, by the way that the second drive link 106 in the first drive link 102, is reduced the operation of transmission component and operating robot
The volume of instrument 2, and then efficiently reduce occupancy of the surgical instrument 2 to space of transmission component operating robot so that dress
The structure set is compacter rationally.
In one embodiment of the utility model, it is preferable that further include：Guide pad, guide pad setting is in the first transmission
In bar 102, guide pad is provided with guide groove, and drive rod 108 is embedded in guide groove.
In this embodiment, it by guide pad being arranged and by drive rod 108 in the guide groove of guide pad, realizes and is oriented to
Block plays the role of guiding to drive rod 108, can improve transmission efficiency in this way and be effectively guaranteed 108 side of moving of drive rod
To accuracy and movement stability.
In one embodiment of the utility model, it is preferable that be provided with position limiting structure in the first drive link 102, limit
Structure is used for the limit of the first drive link 102.
In this embodiment, the position limiting structure for being limited to the first drive link 102 is provided in the first drive link 102,
With prevent because the degree movement of the first drive link more than 102 cause to perform the operation enforcement division 22 rotate excessively due to can not normal reset, and thus limit
Surely the slewing area for enforcement division 22 of performing the operation.
In one embodiment of the utility model, it is preferable that ranging from 50 ° of the rotational angle of operation enforcement division 22 are extremely
100°。
In this embodiment, ranging from 50 ° to 100 ° of rotational angle of operation enforcement division 22, that is, enforcement division 22 of performing the operation by
Centre position allows ranging from 25 ° to 50 ° of the angle of rotation to same direction, preferable 45 ° general, can either ensure in this way
The functionality that enforcement division 22 of performing the operation rotates, while also avoiding causing operation enforcement division 22 can not normal reset because rotating excessively.
The utility model additionally provides a kind of surgical instrument 2 of operating robot, as shown in Figures 1 to 8, including：Driving
Component 24；Operation enforcement division 22；And above-mentioned transmission component, drive component 24 and operation enforcement division 22 respectively with transmission component phase
Connection.
The surgical instrument 2 of operating robot provided by the utility model, by using above-mentioned transmission component, realize by
Perform the operation enforcement division 22 along a fixed-axis rotation motion mode so that operation enforcement division 22 have one rotation degree of freedom and
It interior in a limited space can realize reliable rotation, improve the flexibility of the operation movement of enforcement division 22 so that in practical control
Can be more flexible, convenient when system operation enforcement division 22, the functionality of the surgical instrument 2 of operating robot is improved, is improved
The flexibility of surgical procedure.
In one embodiment of the utility model, it is preferable that as depicted in figs. 1 and 2, drive component 24 includes：Connection
Block 242, the second drive link 106 are connected with link block 242；Lead screw 244, link block 242 are set on lead screw 244；Motor
246, the output shaft of motor 246 is connected with lead screw 244；Wherein, motor 246 drives lead screw 244 to rotate and drives link block 242
Along the axial movement of lead screw 244, so that the second drive link 106 moves.
In this embodiment, by the way that lead screw 244 is arranged to transport the straight line for being changed into link block 242 of motor 246
It is dynamic, and then drive the second drive link 106 to move so that the operation rotation of enforcement division 22, realizes and be driven by drive component 24 to the second
Transformation in 106 direction of motion of bar, while improving the flexibility of structure setting in device, at the same also allow for subsequent maintenance and
It replaces.
In one embodiment of the utility model, it is preferable that as shown in figure 5, being arranged with fixation on the second drive link 106
Ring 1062；Link block 242 is provided with mounting groove 2422, and fixed ring 1062 is folded in mounting groove 2422.
In this embodiment, by fixed ring 1062 with the cooperation of the mounting groove 2422 on link block 242 to connect second
Drive link 106 and link block 242 so that the second drive link 106 is consistent with the movement of link block 242, is promoted for the second transmission
The control accuracy of bar 106 and operation enforcement division 22.
In one embodiment of the utility model, it is preferable that as shown in Figure 2 and Figure 8, one end of lead screw 244 is provided with
First terminal pad 2442 is provided with the second terminal pad 2462 on the output shaft of motor 246；Wherein, the first terminal pad 2442 and
One in two terminal pads 2462 upper setting is fluted, is provided with protrusion on another, groove is adapted with protrusion, passes through groove
Cooperation with protrusion is so that the second terminal pad 2462 drives the rotation of the first terminal pad 2442.
In this embodiment, lead screw 244 and the output shaft of motor 246 pass through the first terminal pad 2442 and the second terminal pad
2462 are connected, and protrusion or groove are respectively arranged in two of which terminal pad, more improves the flexibility of apparatus structure in this way
And versatility, while also allowing for the first terminal pad 2442 during motor 246 rotates and being found accurately with the second terminal pad 2462,
Realize being reliably connected for the two.
In one embodiment of the utility model, it is preferable that operation enforcement division 22 includes scissors, nipper, electric hook, separation
Pincers, needle holder or endoscope.
In this embodiment, operation enforcement division 22 includes scissors, nipper, electric hook, elastic separating plier, needle holder or endoscope, on
The various operation enforcement divisions 22 stated are required for complicated motion control during actual use, and the hand of the operating robot
Art instrument 2 can be realized for 22 reliable, the high-precision rotation of various operation enforcement divisions, and the surgical device of operating robot is promoted
The flexibility that tool 2 operates ensures being normally carried out for operation.
The utility model additionally provides a kind of operating robot, including：The surgical instrument 2 of above-mentioned operating robot.
Operating robot provided by the utility model is realized by using the surgical instrument 2 of above-mentioned operating robot
Motion mode of the enforcement division 22 that will perform the operation along a fixed-axis rotation so that operation enforcement division 22 has the degree of freedom of a rotation simultaneously
And interior in a limited space can realize reliable rotation, such rotation is similar to the carpal front and back rotation of human body, thus
Improve the flexibility that operation enforcement division 22 moves so that can be more flexible, convenient when actually controlling operation enforcement division 22,
The functionality for improving operating robot improves the flexibility of surgical procedure.
In the present invention, term " multiple " then refers to two or more, unless otherwise restricted clearly.Term
The terms such as " installation ", " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection,
Can be detachably connected, or be integrally connected；" connected " can be directly connected, and can also pass through the indirect phase of intermediary
Even.For the ordinary skill in the art, it can understand above-mentioned term in the present invention as the case may be
Concrete meaning.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least the one of the utility model
In a embodiment or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment
Or example.Moreover, the particular features, structures, materials, or characteristics of description can be in any one or more embodiments or example
In can be combined in any suitable manner.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (11)
1. a kind of transmission component is used for the surgical instrument of operating robot, the surgical instrument of the operating robot includes driving
Component and operation enforcement division, which is characterized in that the transmission component includes：
First drive link, one end and the operation enforcement division of first drive link are rotatablely connected by the first axis pin；
Second drive link, second drive link are connected with the driving component；
Drive rod, one end of the drive rod and one end of second drive link are rotatablely connected, the other end of the drive rod
It is rotatablely connected by the second axis pin and the operation enforcement division；
Wherein, the driving component drives the second drive link movement, second drive link to drive the drive rod movement
So that the operation enforcement division is rotated around first axis pin.
2. transmission component according to claim 1, which is characterized in that
First drive link is hollow structure, and second drive link is arranged in first drive link.
3. transmission component according to claim 2, which is characterized in that further include：
Guide pad, the guide pad are arranged in first drive link, and the guide pad is provided with guide groove, the drive rod
In the guide groove.
4. transmission component according to claim 2, which is characterized in that
Position limiting structure is provided in first drive link, the position limiting structure is used for the limit of first drive link.
5. transmission component according to any one of claim 1 to 4, which is characterized in that
Ranging from 50 ° to 100 ° of the rotational angle of the operation enforcement division.
6. a kind of surgical instrument of operating robot, which is characterized in that including：
Drive component；
Operation enforcement division；And
Transmission component as described in any one of claim 1 to 5, the driving component and the operation enforcement division respectively with institute
Transmission component is stated to be connected.
7. the surgical instrument of operating robot according to claim 6, which is characterized in that the driving component includes：
Link block, second drive link are connected with the link block；
Lead screw, the link block are set on the lead screw；
Motor, the output shaft of the motor are connected with the lead screw；
Wherein, the motor drives the lead screw to rotate and drives the link block along the axial movement of the lead screw, so that institute
State the movement of the second drive link.
8. the surgical instrument of operating robot according to claim 7, which is characterized in that
It is arranged with fixed ring on second drive link；
The link block is provided with mounting groove, and the fixed ring is folded in the mounting groove.
9. the surgical instrument of operating robot according to claim 7, which is characterized in that
One end of the lead screw is provided with the first terminal pad, and the second terminal pad is provided on the output shaft of the motor；
Wherein, the upper setting of one in first terminal pad and second terminal pad is fluted, is provided on another convex
It rises, the groove is adapted with the protrusion, by the cooperation of the groove and the protrusion so that the second terminal pad drive the
One terminal pad rotates.
10. the surgical instrument of the operating robot according to any one of claim 6 to 9, which is characterized in that
The operation enforcement division includes scissors, nipper, electric hook, elastic separating plier, needle holder or endoscope.
11. a kind of operating robot, which is characterized in that including：
The surgical instrument of operating robot as described in any one of claim 6 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948429.2U CN207870975U (en) | 2017-07-31 | 2017-07-31 | Transmission component, the surgical instrument of operating robot and operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720948429.2U CN207870975U (en) | 2017-07-31 | 2017-07-31 | Transmission component, the surgical instrument of operating robot and operating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207870975U true CN207870975U (en) | 2018-09-18 |
Family
ID=63500409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720948429.2U Active CN207870975U (en) | 2017-07-31 | 2017-07-31 | Transmission component, the surgical instrument of operating robot and operating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207870975U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107320191A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | Transmission component, the operating theater instruments of operating robot and operating robot |
-
2017
- 2017-07-31 CN CN201720948429.2U patent/CN207870975U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107320191A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | Transmission component, the operating theater instruments of operating robot and operating robot |
| CN107320191B (en) * | 2017-07-31 | 2021-10-15 | 成都博恩思医学机器人有限公司 | Transmission assembly, surgical instrument of surgical robot and surgical robot |
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Address after: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Patentee after: CHENGDU BORNS MEDICAL ROBOT Co.,Ltd. Address before: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Patentee before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |