CN105459151A - RV reducer rotating shaft - Google Patents
RV reducer rotating shaft Download PDFInfo
- Publication number
- CN105459151A CN105459151A CN201410367275.9A CN201410367275A CN105459151A CN 105459151 A CN105459151 A CN 105459151A CN 201410367275 A CN201410367275 A CN 201410367275A CN 105459151 A CN105459151 A CN 105459151A
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- CN
- China
- Prior art keywords
- telescopic arm
- reductor
- rotating shaft
- connecting plate
- arm connecting
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The invention discloses an RV reducer rotating shaft. An RV reducer is used as the rotating shaft, and an input shaft and an output shaft are located on the same axis, so that the overall structure is compact, the size is small, and vibration and noise are limited to the maximum extent. The RV reducer rotating shaft is high in overload capacity, resistant to impact, small in inertia moment and suitable for occasions where frequent starting and forward and reversal rotation are conducted, and a low output rotating speed can be obtained; besides, a motor is used for controlling the RV reducer to rotate, and a telescopic arm is driven to rotate together; according to practical needs, the rotating angle is determined, and progressive rotation is conducted within the determined angle; in addition, anti-collision buffer heads and collision blocks are arranged, so that the rotating angle is limited, and safety is guaranteed. The telescopic arm is provided with two-level transmission mechanism, a first-level transmission arm body drives a second-level transmission arm body to be fed at a higher speed, and the working efficiency is high.
Description
Technical field
The present invention relates to manipulator control field, be specifically related to a kind of RV reductor rotating shaft.
Background technology
Existing revolute axes configuration has rotary cylinder and disc type reductor etc.Rotary cylinder due to environment temperature, operating pressure and the anglec of rotation to affect some occasion inapplicable.Disc type reductor is generally the mode of turbine and worm transmission, allows the range of speeds of input very low, and general volume is comparatively large, and transmission efficiency is not high, and backlash is all larger.
Mechanical-stretching arm can imitate some action and the function of human arm, be used for capturing by fixed routine or carrying object, but mechanical-stretching arm many employings air cylinder driven locate mode, linked transmission, the single-stage conveying patterns such as belt drive, the shortcoming that ubiquity one is common: translational speed is slow, inefficiency.
Due to the existence of the problems referred to above, the present inventor conducts in-depth research existing revolute axes configuration and telescopic arm structure, to design the structure that the fast rotating shaft of transmission efficiency high translational speed and telescopic arm combine.
Summary of the invention
In order to overcome the problems referred to above, present inventor has performed and study with keen determination, found that, by using RV reductor as rotating shaft, the axle center of power shaft and the axle center of output shaft on the same line, make compact overall structure, volume is little, and vibration & noise is limited in minimum degree.Its overload capacity is strong, shock-resistant, moment of inertia is little, be applicable to start frequent and rotating occasion, lower output speed can be obtained, and rotated by Electric Machine Control RV reductor, telescopic arm is driven together to rotate, according to actual needs, the angle rotated is determined, in the angle determined, reciprocating rotary, and be provided with crashproof buffer head and collision block, to limit the anglec of rotation, ensure safety; Wherein telescopic arm has two-stage transmission mechanism, carries out work with the principle being similar to pulley, and first order transmission arm drives the feeding at faster speed of second level transmission arm, and operating efficiency is high; Thus complete the present invention.
The object of the present invention is to provide following aspect:
(1) a RV reductor rotating shaft, is characterized in that, this RV reductor rotating shaft comprises from top to bottom successively,
Girder steel 1, it is hollow prism-shaped girder steel;
Motor 2, it is arranged at the bottom of girder steel 1 inside;
Reductor installing plate 3, it is installed with girder steel 1 and motor 2, and reductor installing plate 3 is in tabular, and intermediate position is provided with through hole;
RV reductor 4, its top is fixedly connected with reductor installing plate 3, and is connected with motor, the axle center conllinear of the axle center of RV reductor 4 power shaft, the axle center of RV reductor 4 output shaft and motor 2 main shaft; With
Telescopic arm connecting plate 5, it is tabular, and top is fixed on RV reductor, is fixedly connected with telescopic arm 6 bottom telescopic arm connecting plate 5;
Wherein, motor 2 drives telescopic arm connecting plate 5 to rotate by RV reductor 4,
Two sides of reductor installing plate 3 are respectively arranged with contiguous block 31, crashproof buffing pad 32 is provided with below two contiguous blocks 31, crashproof buffing pad 32 side is provided with crashproof buffer head 33, described crashproof buffer head 33 is made up of soft material, in bullet-shaped, two sides of telescopic arm connecting plate 5 are respectively arranged with collision block 51.
(2) the RV reductor rotating shaft according to above-mentioned (1), it is characterized in that, telescopic arm 6 comprises,
Telescopic arm driving mechanism 61, it comprises, telescopic arm drive motors 611 and reductor 612, and wherein, reductor 612 is fixed on telescopic arm connecting plate 5; Reductor 612 is fixedly connected with telescopic arm driven wheel 613; One-level slide block 614 is set bottom telescopic arm connecting plate 5;
First order telescopic arm 62, it is arranged telescopic arm and drive tooth bar 621, telescopic arm drives tooth bar 621 to be meshed with telescopic arm driven wheel 613, in first order telescopic arm 62 inside, two end anchorage 622 are set, two end anchorage 622 stretching belt gears 623, described belt gear 623 in the form of a ring, belt gear comprises one section of belt 624, the two ends docking of described belt 624 in the form of a ring, the two ends of described belt 624 are all connected on telescopic arm connecting plate 5, middle part and the second level telescopic arm 63 of belt are connected, two one-levels are set at first order telescopic arm 62 top and slide guide rail 625, one-level slides guide rail 625 and matches with one-level slide block 614, be respectively arranged with two secondarys in first order telescopic arm 62 down either side and slide guide rail 626, with
Second level telescopic arm 63, it comprises secondary slide block 631, and secondary slide block 631 and secondary slide guide rail 626 and match.
(3) the RV reductor rotating shaft according to above-mentioned (2), is characterized in that, the both sides at first order telescopic arm 62 top are respectively equipped with crashproof buffer head 33.
(4) the RV reductor rotating shaft according to above-mentioned (1), is characterized in that, telescopic arm connecting plate 5 reciprocating rotary.
(5) the RV reductor rotating shaft according to above-mentioned (1), is characterized in that, the anglec of rotation of telescopic arm connecting plate 5 is 90 °.
(6) the RV reductor rotating shaft according to above-mentioned (1), is characterized in that, two sides telescopic arm connecting plate 5 being provided with collision block 51 are adjacent.
(7) the RV reductor rotating shaft according to above-mentioned (1), is characterized in that, two crashproof buffer heads 33 are all positioned at below reductor installing plate 3, and crashproof buffer head 33 is identical with the height of collision block 51 in the vertical direction.
(8) the RV reductor rotating shaft according to above-mentioned (1), is characterized in that, the axle center of RV reductor 4 is axle center of RV reductor rotating shaft.
(9) the RV reductor rotating shaft according to above-mentioned (1), is characterized in that, girder steel 1 is provided with upright slide rail 11 and vertical tooth bar 12.
(10) the RV reductor rotating shaft according to above-mentioned (1), is characterized in that, two end anchorage 622 stretching belt gears 623.
Beneficial effect of the present invention is:
(1) use RV reductor as rotating shaft in the present invention, be the kind of drive of cycloidal-pin wheel, power shaft and output shaft, on same axle center, make compact overall structure, and its speed reducing ratio can be accomplished very large, and volume is little, saves space;
(2) the present invention uses RV reductor, and cycloidal-pin wheel total number of teeth in engagement is more, and overlap coefficient is large, has the stable mechanism of parts, makes vibration & noise be limited in minimum degree;
(3) the present invention uses RV reductor, its good mechanical property, and overload capacity is strong, and shock-resistant and moment of inertia is little makes it be applicable to start frequent and rotating occasion;
(4) the present invention uses the drive motors of RV reductor to be arranged on firm beam inside, makes overall structure simple, both saves space, attractive in appearance again;
(5) telescopic arm provided by the invention, structure is simple, and operating second level telescopic arm slides along identical direction with the speed doubling first order telescopic arm, makes the telescopic arm speed of service fast, efficiency is high, reduces high temperature sheet and is detained the aerial time;
(6) telescopic arm provided by the invention, due to slide block and slide guide rail with the use of, by rack pinion, ensure that the rectilinear motion of the first order and second level telescopic arm, make this telescopic arm positioning precision high, stable and reliable for performance.
Accompanying drawing explanation
Fig. 1 illustrates a kind of preferred embodiment RV reductor of the present invention revolute axes configuration front view;
Fig. 2 illustrates a kind of preferred embodiment RV reductor of the present invention revolute axes configuration left view;
Fig. 3 illustrates a kind of preferred embodiment RV reductor of the present invention revolute axes configuration right view;
Fig. 4 illustrates a kind of preferred embodiment RV reductor of the present invention rotating shaft steel beam structure schematic diagram;
Fig. 5 illustrates the position relationship schematic diagram of the present invention's a kind of preferred embodiment RV reductor rotating shaft and telescopic arm;
Fig. 6 illustrates a kind of preferred embodiment RV reductor of the present invention rotating shaft telescopic arm structure front view;
Fig. 7 illustrates the main top view of a kind of preferred embodiment RV reductor rotating shaft telescopic arm structure of the present invention;
Fig. 8 illustrates a kind of preferred embodiment RV reductor of the present invention rotating shaft telescopic arm structure sectional view.
Drawing reference numeral illustrates:
1-girder steel
11-upright slide rail
The vertical tooth bar of 12-
2-motor
3-reductor installing plate
31-contiguous block
The crashproof buffing pad of 32-
The crashproof buffer head of 33-
4-RV reductor
5-telescopic arm connecting plate
51-collision block
6-telescopic arm
61-telescopic arm driving mechanism
611-telescopic arm drive motors
612-reductor
613-telescopic arm driven wheel
614-one-level slide block
62-first order telescopic arm
621-telescopic arm drives tooth bar
622-termination holder
623-belt gear
624-belt
625-one-level slides guide rail
626-secondary slides guide rail
63-second level telescopic arm
631-secondary slide block
Detailed description of the invention
Below by the present invention is described in detail, the features and advantages of the invention will illustrate along with these and become more clear, clear and definite.
Word " exemplary " special here means " as example, embodiment or illustrative ".Here need not be interpreted as being better than or being better than other embodiment as any embodiment illustrated by " exemplary ".Although the various aspects of embodiment shown in the drawings, unless otherwise indicated, accompanying drawing need not be drawn in proportion.
In one preferred embodiment, as shown in Figure 1, Figure 2, shown in Fig. 3, a kind of RV reductor rotating shaft, this RV reductor rotating shaft comprises,
Girder steel 1, it is hollow prism-shaped girder steel, vertically places;
Motor 2, it is arranged at the bottom of girder steel 1 inside;
Reductor installing plate 3, it is installed with girder steel 1 and motor 2; Reductor installing plate 3 is in tabular, and intermediate position is provided with through hole;
RV reductor 4, its top is fixedly connected with reductor installing plate 3, and is connected with motor, the axle center of RV reductor 4 power shaft, the axle center of RV reductor 4 output shaft and the axle center conllinear of electric machine main shaft; With
Telescopic arm connecting plate 5, it is tabular, and top is fixed on RV reductor, and telescopic arm connecting plate 5 offers bolt hole, is fixedly connected with telescopic arm 6 by bolt hole;
Wherein, motor 2 drives telescopic arm connecting plate 5 to rotate by RV reductor 4,
Two sides of reductor installing plate 3 are respectively arranged with contiguous block 31, crashproof buffing pad 32 is provided with below two contiguous blocks 31, crashproof buffing pad 32 side is provided with crashproof buffer head 33, described crashproof buffer head 33 is made up of soft material, in bullet-shaped, two sides of telescopic arm connecting plate 5 are respectively arranged with collision block 51.
In one preferred embodiment, the anglec of rotation is fixed according to use needs, the anglec of rotation can be 0-360 ° arbitrarily angled, the position relationship of collision block 51 and crashproof buffer head 33 is determined according to the anglec of rotation of telescopic arm connecting plate 5, according to use needs in the present invention, the anglec of rotation of preferred selected telescopic arm connecting plate 5 is 90 °, the anglec of rotation is by programme controlled, when normal operation, sequence control stops when rotating to 90 ° automatically, normal when running collision block and crashproof buffer head inoperative; The effect of collision block and crashproof buffer head be when program go wrong or the system failure work, prevent from rotating excessively, collide other objects, play the effect of security protection.
In one preferred embodiment, two collision blocks are symmetrical arranged, and all near a side of telescopic arm connecting plate; Two crashproof buffer head structures are identical, are all positioned at below reductor installing plate, are in same level with collision block, namely hit buffer head identical with the position height of collision block in the vertical direction; When the angle that telescopic arm connecting plate 5 needs rotation is not 90 °, the position relationship of crashproof buffer head and collision block needs to change, can reach the effect of security protection.
In a preferred embodiment, telescopic arm connecting plate reciprocating rotary, after namely rotating to predetermined angular to a direction, stops, and rotate in the opposite direction, after reaching predetermined angle, stop, rotate in the opposite direction, move and so forth, in the present invention, preferred predetermined angular is 90 °.
In one preferred embodiment, the output speed of motor reduces and drives telescopic arm connecting plate to rotate around the axle center of RV reductor by RV reductor, namely the axle center of RV reductor is as the axle center of RV reductor rotating shaft, the kind of drive of cycloidal-pin wheel, power shaft and output shaft, on same axle center, make compact overall structure, and its speed reducing ratio can be accomplished very large, and volume is little, save space.
In one preferred embodiment, as shown in Figure 4, girder steel is vertically placed, and a side of girder steel is provided with upright slide rail 11 and vertical tooth bar 12 vertically, is moved along upright slide rail in the vertical direction by vertical rack drives whole RV reductor rotating shaft; Preferably select gear & rack structure to RV reductor rotating shaft transmitting power in the present invention, make it move up or down, by slide rail and slide block, limit its sliding process, make it the more accurate of motion, be convenient to control; Moved by the vertical direction of girder steel, drive telescopic arm connecting plate 5 vertical direction to move, and then drive telescopic arm vertical direction to move, thus make telescopic arm can vertical motion, be rotated by driven by motor again.
In one preferred embodiment, as shown in Figure 5, the telescopic arm connecting plate of RV reductor revolute axes configuration is connected with telescopic arm structure, telescopic arm connecting plate drives telescopic arm motion.
In one preferred embodiment, as shown in Fig. 6, Fig. 7, Fig. 8, telescopic arm 6 comprises,
Telescopic arm driving mechanism 61, it comprises, telescopic arm drive motors 611 and reductor 612, and wherein, reductor is fixed on telescopic arm connecting plate; Telescopic arm drive motors drives the telescopic arm driven wheel 613 be fixed on reductor by reductor; At telescopic arm connecting plate 5 bottom symmetrical, one-level slide block 614 is set;
First order telescopic arm 62, it is arranged telescopic arm and drive tooth bar 621, telescopic arm drives tooth bar 621 to be meshed with telescopic arm driven wheel 613, in first order telescopic arm inside, two end anchorage 622 are set, two end anchorage stretching belt gears 623, described belt gear comprises one section of belt 624, and the two ends docking of described belt 624 is in the form of a ring, the two ends of described belt 624 are all connected on telescopic arm connecting plate 5, and middle part and the second level telescopic arm 63 of belt are connected; Arrange two one-levels in first order telescopic arm top bilateral symmetry and slide guide rail 625, one-level slides guide rail 625 and matches with one-level slide block; Be respectively arranged with secondary in first order telescopic arm down either side and slide guide rail 626; With second level telescopic arm 63, it comprises secondary slide block 631, and secondary slide block 631 and secondary slide guide rail 626 and match.
In one preferred embodiment, reductor top and telescopic arm drive motors are fixed, and wherein, reductor speed according to actual needs can select the speed reducing ratio of reductor, effectively controls the sliding speed of first order telescopic arm; The preferred servomotor of telescopic arm drive motors, can not only effectively controlled motion characteristic and precision, realizes accurately locating, and stability when accelerating and slow down is fine.Fixed by flange and telescopic arm connecting plate bottom reductor, telescopic arm driven wheel is fixed on reductor.Wherein, telescopic arm drive motors drives telescopic arm driven wheel by reductor, and telescopic arm drives tooth bar to be meshed with telescopic arm driven wheel and drives first order telescopic arm.One-level slide block is symmetricly set on bottom telescopic arm connecting plate, first order telescopic arm top bilateral symmetry arranges two one-levels matched with one-level slide block and slides guide rail, one-level slide block slides on guide rail can do linear relative movement in one-level, ensure that the kinematic accuracy of first order telescopic arm.First order telescopic arm down either side is symmetrical arranged two secondarys and slides guide rail, on the telescopic arm of the second level symmetrically arranged with secondary slide the secondary slide block that guide rail matches, guide rail can do relative rectilinear slide because secondary slide block slides at secondary, ensure that the kinematic accuracy of second level telescopic arm.In first order telescopic arm inside, two end anchorage are set, two end anchorage are outside equipped with the belt gear of ring-type, and belt gear is by two end anchorage stretchings, belt gear comprises one section of belt, the two ends docking of described belt in the form of a ring, the two ends of described belt are all connected on telescopic arm connecting plate, middle part and the second level telescopic arm of belt are connected, the middle part of belt is fixedly connected with second level telescopic arm by clamping plate, simultaneously, second level telescopic arm and belt respectively on teeth groove is set, make it match, fixing more firm, under the driving of belt gear, when first order telescopic arm runs with a predetermined speed relative to telescopic arm connecting plate, second level telescopic arm runs to double predetermined speed relative to telescopic arm connecting plate, and the direction run is identical, achieve the quick and stable of operation.
In one preferred embodiment, the left and right sides at first order telescopic arm 62 top is equipped with crashproof buffer head 33.Wherein, crashproof buffer head is that elastomeric material is made, and when telescopic arm slides into extreme position, can play cushioning and protection, stops telescopic arm, prevents telescopic arm from skidding off, increase the service life of device simultaneously, reduces entreprise cost.
In one preferred embodiment, telescopic arm drive motors 611 drives telescopic arm driven wheel 613 by reductor 612, telescopic arm driven wheel 613 and the telescopic arm on first order telescopic arm 62 drive tooth bar 621 to be meshed, and drive first order telescopic arm to slide relative to telescopic arm connecting plate 5; First order telescopic arm drives termination holder 622 to slide with speed V relative to telescopic arm connecting plate, and termination holder drives second level telescopic arm to slide along identical direction with the speed doubling V by belt gear 623.Therefore, device provided by the invention, on automatic production line, can arrive assigned address quickly and accurately, improves operating efficiency.
In the present invention, select the RV reductor of disposable type can both realize the effect asked required for the present invention.
Predetermined speed described in the present invention refers to any one rational movement velocity.
Belt gear in the present invention is similar to pulley mechanism, and one end belt is motionless, and termination holder moves, and is equivalent to the motionless and pulley motion in one end in pulley mechanism, drives the belt of the other end to move with the speed being twice in termination holder.
More than in conjunction with detailed description of the invention and exemplary example to invention has been detailed description, but these explanations can not be interpreted as limitation of the present invention.It will be appreciated by those skilled in the art that when not departing from spirit and scope of the invention, can carry out multiple equivalencing, modification or improvement to technical solution of the present invention and embodiment thereof, these all fall within the scope of the present invention.Protection scope of the present invention is as the criterion with claims.
Claims (10)
1. a RV reductor rotating shaft, is characterized in that, this RV reductor rotating shaft comprises from top to bottom successively:
Girder steel (1), it is hollow prism-shaped girder steel;
Motor (2), it is arranged at the inner bottom of girder steel (1);
Reductor installing plate (3), it is tabular, and centre position is provided with through hole, it is installed with girder steel (1) and motor (2);
RV reductor (4), its top is fixedly connected with reductor installing plate (3), and be connected with motor, the axle center conllinear of the axle center of RV reductor (4) power shaft, the axle center of RV reductor (4) output shaft and motor (2) main shaft; With
Telescopic arm connecting plate (5), it is tabular, and top is fixed on RV reductor, is fixedly connected with telescopic arm (6) in telescopic arm connecting plate (5) bottom;
Wherein, motor (2) drives telescopic arm connecting plate (5) to rotate by RV reductor (4),
Two sides of reductor installing plate (3) are respectively arranged with contiguous block (31), two contiguous block (31) belows are provided with crashproof buffing pad (32), crashproof buffing pad (32) side is provided with crashproof buffer head (33), described crashproof buffer head (33) is made up of soft material, in bullet-shaped
Two sides of telescopic arm connecting plate (5) are respectively arranged with collision block (51).
2. RV reductor rotating shaft according to claim 1, is characterized in that, telescopic arm (6) comprising:
Telescopic arm driving mechanism (61), it comprises telescopic arm drive motors (611) and reductor (612), wherein, reductor (612) is fixed on telescopic arm connecting plate (5), reductor (612) is fixedly connected with telescopic arm driven wheel (613), one-level slide block (614) is set in telescopic arm connecting plate (5) bottom;
First order telescopic arm (62), it is arranged telescopic arm and drive tooth bar (621), telescopic arm drives tooth bar (621) to be meshed with telescopic arm driven wheel (613), two end anchorage (622) are set in first order telescopic arm (62) inside, outside two end anchorage (622), belt gear (623) is set, described belt gear (623) in the form of a ring, belt gear comprises one section of belt (624), the two ends docking of described belt (624) in the form of a ring, the two ends of described belt (624) are all connected on telescopic arm connecting plate (5), middle part and the second level telescopic arm (63) of belt are connected, two one-levels are set at first order telescopic arm (62) top and slide guide rail (625), one-level slides guide rail (625) and matches with one-level slide block (614), be respectively arranged with two secondarys in first order telescopic arm (62) down either side and slide guide rail (626), with
Second level telescopic arm (63), it comprises secondary slide block (631), and (631 slide guide rail (626) with secondary matches secondary slide block.
3. RV reductor rotating shaft according to claim 2, is characterized in that, the both sides at first order telescopic arm (62) top are respectively equipped with crashproof buffer head (33).
4. RV reductor rotating shaft according to claim 1, is characterized in that, telescopic arm connecting plate (5) reciprocating rotary.
5. RV reductor rotating shaft according to claim 1, is characterized in that, the anglec of rotation of telescopic arm connecting plate (5) is 90 °.
6. RV reductor rotating shaft according to claim 1, is characterized in that, two sides that telescopic arm connecting plate (5) is respectively arranged with collision block (51) are adjacent.
7. RV reductor rotating shaft according to claim 1, it is characterized in that, two crashproof buffer heads (33) are all positioned at reductor installing plate (3) below, hit buffer head (33) identical with the height of collision block (51) in the vertical direction.
8. RV reductor rotating shaft according to claim 1, is characterized in that, the axle center of RV reductor (4) is the axle center of described RV reductor rotating shaft.
9. RV reductor rotating shaft according to claim 1, is characterized in that, girder steel (1) is provided with upright slide rail (11) and vertical tooth bar (12).
10. RV reductor rotating shaft according to claim 1, is characterized in that, two end anchorage (622) stretching belt gear (623).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410367275.9A CN105459151A (en) | 2014-07-29 | 2014-07-29 | RV reducer rotating shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410367275.9A CN105459151A (en) | 2014-07-29 | 2014-07-29 | RV reducer rotating shaft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105459151A true CN105459151A (en) | 2016-04-06 |
Family
ID=55597523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410367275.9A Pending CN105459151A (en) | 2014-07-29 | 2014-07-29 | RV reducer rotating shaft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105459151A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109966112A (en) * | 2018-12-28 | 2019-07-05 | 北京航天测控技术有限公司 | A kind of precisely adjustable reciprocal rehabilitation joint |
-
2014
- 2014-07-29 CN CN201410367275.9A patent/CN105459151A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109966112A (en) * | 2018-12-28 | 2019-07-05 | 北京航天测控技术有限公司 | A kind of precisely adjustable reciprocal rehabilitation joint |
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Application publication date: 20160406 |
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