CN109867075A - Transfer robot and its working method - Google Patents
Transfer robot and its working method Download PDFInfo
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- CN109867075A CN109867075A CN201711269297.1A CN201711269297A CN109867075A CN 109867075 A CN109867075 A CN 109867075A CN 201711269297 A CN201711269297 A CN 201711269297A CN 109867075 A CN109867075 A CN 109867075A
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- permanent magnet
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Abstract
The present invention relates to a kind of transfer robot and its working method, this transfer robot includes: ontology, is provided with freight house on the ontology, and the freight house is equipped with electronic cover board；The front end of the freight house is equipped with six degree of freedom manipulator；When carrying material, the intrinsic controller is suitable for opening electronic cover board, and the material of crawl is thrown in freight house by control six degree of freedom manipulator.This transfer robot and its working method pass through six degree of freedom manipulator and material are first put into freight house, then transport destination to, the carrying amount of material is improved by freight house, improves handling efficiency.
Description
Technical field
The invention belongs to logistic storage fields, and in particular to a kind of transfer robot and its working method.
Background technique
Transfer robot is very common in modern logistics storage field, is carried to material by one by transfer robot
Another place.
The problem of transfer robot is there are carrying amount is little at present, and car body is easy offset in handling process.
Summary of the invention
The object of the present invention is to provide a kind of transfer robot and its working methods, are carried with solving existing transfer robot
Measure small technical problem.
In order to solve the above-mentioned technical problems, the present invention provides a kind of transfer robots, comprising:
Freight house is provided on ontology, the ontology, the freight house is equipped with electronic cover board；
The front end of the freight house is equipped with six degree of freedom manipulator；
When carrying material, the intrinsic controller is suitable for opening electronic cover board, and control six degree of freedom manipulator will grab
Material be thrown in freight house.
Further, the transfer robot further includes wireless module, the magnetic controlled by controller positioned at body bottom portion
Mechanism, the vehicle wheel component positioned at body bottom portion, and the direct current generator driven by controller；
The direct current generator is suitable for driving vehicle wheel component rotation；
The controller is suitable for receiving wireless control directives by wireless module, i.e.,
In motion, magnetic mechanism is packed up for the transfer robot, after driving to the positioning table on destination, transfers magnetic
Mechanism makes ontology be parked in destination locations.
Further, the magnetic mechanism includes electromagnet, bracket, motor, belt, and the permanent magnetism below bracket
Body；Wherein
The motor drives bracket to move up and down by belt；
The bracket includes horizontally disposed transverse slat and the stringer board that transverse slat both ends are arranged in, and the electromagnet is fixed on transverse slat,
Permanent magnet movable passageway is formed between two pieces of stringer boards being oppositely arranged；
When magnetic mechanism is packed up, i.e.,
Controller control electromagnet obtains electric, and controls bracket decline, so that permanent magnet enters permanent magnet movable passageway mouth, by
Electromagnet absorption rises, and is detached from body bottom portion, into bracket, then controller control bracket drive permanent magnet together on
It rises, increases permanent magnet at a distance from positioning table, adsorption capacity decline.
Further, the magnetic mechanism further include: the current regulator controlled by controller, and in the inside of a stringer board
Face is equipped with pressure sensor；Wherein
The current regulator is for the electric current in regulating magnet；
One end of the permanent magnet is equipped with convex closure, and after permanent magnet enters bracket, the convex closure is adapted to abut against pressure sensor, described
Controller is suitable for the electric current of the signal control current regulator of pressure sensor.
Further, two pieces of stringer boards being oppositely arranged to being provided opposite to a pair of of elastic bumps, the pair of elastic bumps
Positioned at the lower part of pressure sensor；And
The edges at two ends of the permanent magnet is arc-shaped；
When permanent magnet enters in permanent magnet movable passageway and passes through elastic bumps, the elastic bumps are under the extruding of permanent magnet
Retraction, after permanent magnet warp, the elastic bumps pop-up；And
After electromagnet power-off, the elastic bumps are suitable for supports permanent magnets.
Another aspect, the present invention also provides a kind of working methods of transfer robot, comprising:
Freight house is provided on ontology, the ontology, the freight house is equipped with electronic cover board；
The front end of the freight house is equipped with six degree of freedom manipulator；
When carrying material, the intrinsic controller is suitable for opening electronic cover board, and control six degree of freedom manipulator will grab
Material be thrown in freight house.
Further, the transfer robot further includes wireless module, the magnetic controlled by controller positioned at body bottom portion
Mechanism, the vehicle wheel component positioned at body bottom portion, and the direct current generator driven by controller；
The direct current generator is suitable for driving vehicle wheel component rotation；
The controller is suitable for receiving wireless control directives by wireless module, i.e.,
The transfer robot in motion, is first packed up magnetic mechanism, after driving to the positioning table on destination, transfers magnetic
Mechanism is inhaled, ontology is made to be parked in destination locations.
Further, the magnetic mechanism includes electromagnet, bracket, motor, belt, and the permanent magnetism below bracket
Body；The motor drives bracket to move up and down by belt, and the bracket includes horizontally disposed transverse slat and is arranged in transverse slat two
The stringer board at end, the electromagnet are fixed on transverse slat, and permanent magnet movable passageway is formed between two pieces of stringer boards being oppositely arranged；Work as magnetic
Mechanism is inhaled when packing up, i.e., the described controller control electromagnet obtains electric, and bracket decline is controlled, so that permanent magnet enters permanent magnet shifting
Dynamic passway, is adsorbed by electromagnet and is risen, and is detached from body bottom portion, and into bracket, then the controller control bracket is driven
Permanent magnet rises together, increases permanent magnet at a distance from positioning table, adsorption capacity decline.
Further, the magnetic mechanism further include: the current regulator controlled by controller, and in the inside of a stringer board
Face is equipped with pressure sensor；Wherein the current regulator is for the electric current in regulating magnet；One end of the permanent magnet is set
After having convex closure, permanent magnet to enter bracket, the convex closure is adapted to abut against pressure sensor, and the controller is suitable for pressure sensor
The electric current of signal control current regulator.
Further, two pieces of stringer boards being oppositely arranged to being provided opposite to a pair of of elastic bumps, the pair of elastic bumps
Positioned at the lower part of pressure sensor；And the edges at two ends of the permanent magnet is arc-shaped；It is mobile to enter permanent magnet in permanent magnet
When in channel and by elastic bumps, the elastic bumps are retracted under the extruding of permanent magnet, after permanent magnet warp, the bullet
Property protrusion pop-up；And after electromagnet power-off, the elastic bumps are suitable for supports permanent magnets.
The invention has the advantages that this transfer robot and its working method are first by material by six degree of freedom manipulator
It is put into freight house, then transports destination to, the carrying amount of material is improved by freight house, improves handling efficiency.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of transfer robot of the invention；
Fig. 2 is the structural schematic diagram that bracket declines in transfer robot of the invention；
Fig. 3 is that transfer robot of the invention adsorbs the structural schematic diagram risen after permanent magnet；
Fig. 4 is the schematic block circuit diagram of transfer robot of the invention.
In figure: ontology 1, magnetic mechanism 2, electromagnet 21, bracket 22, transverse slat 221, stringer board 222, pressure sensor 223, bullet
Property protrusion 224, motor 23, belt 24, permanent magnet 25, convex closure 251, vehicle wheel component 3, freight house 4, electronic cover board 5, electronic strut
51, six degree of freedom manipulator 6.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
As shown in Figures 1 to 4, the present embodiment 1 provides a kind of transfer robot, comprising:
Freight house 4 is provided on ontology 1, the ontology, the freight house 4 is equipped with electronic cover board 5；
The front end of the freight house is equipped with six degree of freedom manipulator 6；
When carrying material, the intrinsic controller is suitable for opening electronic cover board 5, and control six degree of freedom manipulator 6 will grab
The material taken is thrown in freight house 4.
The electronic cover board can realize that the electronic strut is controlled by controller by electronic strut.
Transfer robot and its working method pass through six degree of freedom manipulator and material are first put into freight house, then transport purpose to
Ground is improved the carrying amount of material by freight house, improves handling efficiency.
The transfer robot further include wireless module, positioned at ontology 1 bottom by controller control magnetic mechanism 2,
Vehicle wheel component 3 positioned at 1 bottom of ontology, and the direct current generator driven by controller.
The direct current generator is suitable for that vehicle wheel component 3 is driven to act, and then realizes that this transfer robot is mobile；The controller
Suitable for receiving wireless control directives by wireless module, i.e., the described transfer robot in motion, is first packed up magnetic mechanism 2,
Permanent magnet is dismantled, the controller controls the travel route of this transfer robot according to wireless control directives, when driving to mesh
Ground positioning table after, transfer magnetic mechanism 2, that is, put down permanent magnet, ontology 1 made to be parked in destination locations.
The positioning table is located at material and stacks near ground, the metal that can be adsorbed by magnet using iron etc..
Magnetic mechanism of the invention can change permanent magnet and positioning table distance, when this conveying robot man-hour, permanent magnetism
Body and positioning table distance are close, therefore ontology can be steadily adsorbed on positioning table, realized and stablized handling work, will not be generated partially
It moves, after carrying, when the transfer robot needs to sail out of, permanent magnet is increased at a distance from positioning table, so that magnetic suck
Effect weakens significantly, so that transfer robot be made to release docked state, sails out of.
The traveling destination and travel route can be remotely controlled setting by wireless handheld terminal.
The controller can use single-chip microcontroller, and the wireless module can use WiFi module.
The magnetic mechanism 2 includes electromagnet 21, bracket 22, motor 23, belt 24, and forever positioned at 22 lower section of bracket
Magnet 25；Wherein the motor 23 drives bracket 22 to move up and down by belt 24；The bracket 22 includes horizontally disposed cross
Plate 221 and the stringer board 222 that 221 both ends of transverse slat are arranged in, the electromagnet 21 be fixed on transverse slat 221, and two pieces are oppositely arranged
Permanent magnet movable passageway is formed between stringer board 222；When magnetic mechanism 2 is packed up, i.e., the described controller control electromagnet 21 must be electric,
And the decline of bracket 22 is controlled, as shown in arrow F1 in Fig. 2, so that permanent magnet enters permanent magnet movable passageway mouth, by electromagnet 21
Absorption rises, and is detached from 1 bottom of ontology, and into bracket 22, then the controller control bracket 22 drives permanent magnet 25 together
Rise, as shown in arrow F2 in Fig. 3, increases permanent magnet at a distance from positioning table, adsorption capacity decline.So that ontology 1
It is smaller and smaller with the magnetic adsorbability of positioning table, so that robot is easier to dismantle.Due to passing through again after first adsorbing permanent magnet
Motor 23 moves upwards, and can prevent permanent magnet from burning with the excessive caused motor 23 of positioning table suction.
In the present embodiment, permanent magnet 25 with a thickness of d, then the height of stringer board 222 is 1.5d-3d.
The disassembly of permanent magnet 25 can be instructed by wireless handheld terminal in the present embodiment and be sent to controller,
Controller controls magnetic mechanism 2 and acts.
The magnetic mechanism 2 further include: the current regulator controlled by controller, and the medial surface in a stringer board 222
Equipped with pressure sensor 223；Wherein the current regulator is for the electric current in regulating magnet 21；The one of the permanent magnet 25
End is equipped with convex closure 251, and after permanent magnet 25 enters bracket 22, the convex closure 251 is adapted to abut against pressure sensor 223, the control
Device is suitable for the electric current of the signal control current regulator of pressure sensor 223.
Specifically, show that permanent magnet 25 has been attracted after convex closure 251 is adapted to abut against pressure sensor 223, it is then electric
Machine drives belt 24 to work so that bracket 22 moves upwards, the electromagnet 21 and permanent magnet 25 on bracket 22 also to
Upper movement, since 25 Distance positioning platform of permanent magnet is more and more remoter, so that the magnetic adsorbability of ontology 1 and positioning table is increasingly
It is small, so that robot is easier to dismantle.
In order to enable 2 steady operation of magnetic mechanism, two pieces of stringer boards 222 being oppositely arranged to being provided opposite to a pair of of elasticity
Protrusion 224, the pair of elastic bumps 224 are located at the lower part of pressure sensor 223；And the edges at two ends of the permanent magnet is in
It is arc-shaped；Enter in permanent magnet movable passageway in permanent magnet and when by elastic bumps 224, the elastic bumps 224 are in permanent magnetism
It is retracted under the extruding of body 25, after permanent magnet 25 passes through, the elastic bumps 224 are popped up；And after the power-off of electromagnet 21, institute
Elastic bumps 224 are stated suitable for supports permanent magnets 25.
The elastic bumps 224 can be located at the aperture position of permanent magnet movable passageway.
Wherein, the support force of elastic bumps 224 is enough after permanent magnet is detached from 1 bottom of ontology, and magnetic in electromagnet 21
After disappearance, permanent magnet is supported；But after bracket 22 declines, permanent magnet generates suction close to 1 bottom of ontology, and with positioning table
After drawing, elastic bumps 224 can at this time be retracted, falls permanent magnet.Those skilled in the art can be by the way that debug repeatedly can
To obtain the elastic force of more appropriate elastic bumps 224, therefore, the above-mentioned elastic force restriction to elastic bumps 224 is clear.
Embodiment 2
On that basis of example 1, the present embodiment 2 provides a kind of working method of transfer robot, comprising:
Freight house is provided on ontology, the ontology, the freight house is equipped with electronic cover board；
The front end of the freight house is equipped with six degree of freedom manipulator；
When carrying material, the intrinsic controller is suitable for opening electronic cover board, and control six degree of freedom manipulator will grab
Material be thrown in freight house.
The transfer robot further include wireless module, positioned at ontology 1 bottom by controller control magnetic mechanism 2,
Vehicle wheel component 3 positioned at 1 bottom of ontology, and the direct current generator driven by controller；The direct current generator is suitable for band motor car wheel
Component 3 rotates；The controller is suitable for receiving wireless control directives by wireless module, i.e., the described transfer robot is travelling
When, first magnetic mechanism 2 is packed up, i.e., disassembly permanent magnet transfers magnetic mechanism 2, i.e., after driving to the positioning table on destination
Permanent magnet is put down, ontology 1 is made to be parked in destination locations.
In the present embodiment, the magnetic mechanism 2 includes electromagnet 21, bracket 22, motor, belt 24, and is located at branch
The permanent magnet 25 of 22 lower section of frame；The motor drives bracket 22 to move up and down by belt 24, and the bracket 22 is set including level
The transverse slat 221 set and the stringer board 222 that 221 both ends of transverse slat are arranged in, the electromagnet 21 are fixed on transverse slat 221, and two pieces opposite
Permanent magnet movable passageway is formed between the stringer board 222 of setting；When magnetic mechanism 2 is packed up, i.e., the described controller controls electromagnet
21 it is electric, and control the decline of bracket 22, so that permanent magnet enters permanent magnet movable passageway mouth, adsorbed and risen by electromagnet 21, taken off
From 1 bottom of ontology, into bracket 22, then the controller control bracket 22 drives permanent magnet 25 to rise together, makes permanent magnetism
Iron increases at a distance from positioning table, adsorption capacity decline.So that ontology 1 and the magnetic adsorbability of positioning table are smaller and smaller, because
This makes robot be easier to dismantle.
In the present embodiment, permanent magnet 25 with a thickness of d, then the height of stringer board 222 is 1.5d-3d.
The disassembly of permanent magnet 25 can be instructed by wireless handheld terminal in the present embodiment and be sent to controller,
Controller controls magnetic mechanism 2 and acts.
The magnetic mechanism 2 further include: the current regulator controlled by controller, and the medial surface in a stringer board 222
Equipped with pressure sensor 223；Wherein the current regulator is for the electric current in regulating magnet 21；The one of the permanent magnet 25
End is equipped with convex closure 251, and after permanent magnet 25 enters bracket 22, the convex closure 251 is adapted to abut against pressure sensor 223, the control
Device is suitable for the electric current of the signal control current regulator of pressure sensor 223.
Specifically, show that permanent magnet 25 has been attracted after convex closure 251 is adapted to abut against pressure sensor 223, it is then electric
Machine drives belt 24 to work so that bracket 22 moves upwards, the electromagnet 21 and permanent magnet 25 on bracket 22 also to
Upper movement, since 25 Distance positioning platform of permanent magnet is more and more remoter, so that the magnetic adsorbability of ontology 1 and positioning table is increasingly
It is small, so that robot is easier to dismantle.
In order to enable 2 steady operation of magnetic mechanism, two pieces of stringer boards 222 being oppositely arranged to being provided opposite to a pair of of elasticity
Protrusion 224, the pair of elastic bumps 224 are located at the lower part of pressure sensor 223；And the edges at two ends of the permanent magnet is in
It is arc-shaped；Enter in permanent magnet movable passageway in permanent magnet and when by elastic bumps 224, the elastic bumps 224 are in permanent magnetism
It is retracted under the extruding of body 25, after permanent magnet 25 passes through, the elastic bumps 224 are popped up；And after the power-off of electromagnet 21, institute
Elastic bumps 224 are stated suitable for supports permanent magnets 25.
The elastic bumps 224 can be located at the aperture position of permanent magnet movable passageway.
Wherein, the support force of elastic bumps 224 is enough after permanent magnet is detached from 1 bottom of ontology, and magnetic in electromagnet 21
After disappearance, permanent magnet is supported；But after bracket 22 declines, permanent magnet generates suction close to 1 bottom of ontology, and with positioning table
After drawing, elastic bumps 224 can at this time be retracted, falls permanent magnet.Those skilled in the art can be by the way that debug repeatedly can
To obtain the elastic force of more appropriate elastic bumps 224, therefore, the above-mentioned elastic force restriction to elastic bumps 224 is clear.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (10)
1. a kind of transfer robot characterized by comprising
Freight house is provided on ontology, the ontology, the freight house is equipped with electronic cover board；
The front end of the freight house is equipped with six degree of freedom manipulator；
When carrying material, the intrinsic controller is suitable for opening electronic cover board, and control six degree of freedom manipulator will grab
Material be thrown in freight house.
2. transfer robot according to claim 1, which is characterized in that
The transfer robot further include wireless module, positioned at body bottom portion by controller control magnetic mechanism, be located at this
The vehicle wheel component of body bottom, and the direct current generator driven by controller；
The direct current generator is suitable for driving vehicle wheel component rotation；
The controller is suitable for receiving wireless control directives by wireless module, i.e.,
In motion, magnetic mechanism is packed up for the transfer robot, after driving to the positioning table on destination, transfers magnetic
Mechanism makes ontology be parked in destination locations.
3. transfer robot according to claim 2, which is characterized in that
The magnetic mechanism includes electromagnet, bracket, motor, belt, and the permanent magnet below bracket；Wherein
The motor drives bracket to move up and down by belt；
The bracket includes horizontally disposed transverse slat and the stringer board that transverse slat both ends are arranged in, and the electromagnet is fixed on transverse slat,
Permanent magnet movable passageway is formed between two pieces of stringer boards being oppositely arranged；
When magnetic mechanism is packed up, i.e.,
Controller control electromagnet obtains electric, and controls bracket decline, so that permanent magnet enters permanent magnet movable passageway mouth, by
Electromagnet absorption rises, and is detached from body bottom portion, into bracket, then controller control bracket drive permanent magnet together on
It rises, increases permanent magnet at a distance from positioning table, adsorption capacity decline.
4. transfer robot according to claim 3, which is characterized in that
The magnetic mechanism further include: the current regulator controlled by controller, and pressure is equipped in the medial surface of a stringer board
Sensor；Wherein
The current regulator is for the electric current in regulating magnet；
One end of the permanent magnet is equipped with convex closure, and after permanent magnet enters bracket, the convex closure is adapted to abut against pressure sensor, described
Controller is suitable for the electric current of the signal control current regulator of pressure sensor.
5. transfer robot according to claim 4, which is characterized in that
Two pieces of stringer boards being oppositely arranged to a pair of of elastic bumps have been provided opposite to, the pair of elastic bumps are located at pressure sensing
The lower part of device；And
The edges at two ends of the permanent magnet is arc-shaped；
When permanent magnet enters in permanent magnet movable passageway and passes through elastic bumps, the elastic bumps are under the extruding of permanent magnet
Retraction, after permanent magnet warp, the elastic bumps pop-up；And
After electromagnet power-off, the elastic bumps are suitable for supports permanent magnets.
6. a kind of working method of transfer robot characterized by comprising
Freight house is provided on ontology, the ontology, the freight house is equipped with electronic cover board；
The front end of the freight house is equipped with six degree of freedom manipulator；
When carrying material, the intrinsic controller is suitable for opening electronic cover board, and control six degree of freedom manipulator will grab
Material be thrown in freight house.
7. working method according to claim 6, which is characterized in that
The transfer robot further include wireless module, positioned at body bottom portion by controller control magnetic mechanism, be located at this
The vehicle wheel component of body bottom, and the direct current generator driven by controller；
The direct current generator is suitable for driving vehicle wheel component rotation；
The controller is suitable for receiving wireless control directives by wireless module, i.e.,
The transfer robot in motion, is first packed up magnetic mechanism, after driving to the positioning table on destination, transfers magnetic
Mechanism is inhaled, ontology is made to be parked in destination locations.
8. working method according to claim 7, which is characterized in that
The magnetic mechanism includes electromagnet, bracket, motor, belt, and the permanent magnet below bracket；
The motor drives bracket to move up and down by belt, and the bracket includes horizontally disposed transverse slat and is arranged in transverse slat two
The stringer board at end, the electromagnet are fixed on transverse slat, and permanent magnet movable passageway is formed between two pieces of stringer boards being oppositely arranged；
When magnetic mechanism is packed up, i.e.,
Controller control electromagnet obtains electric, and controls bracket decline, so that permanent magnet enters permanent magnet movable passageway mouth, by
Electromagnet absorption rises, and is detached from body bottom portion, into bracket, then controller control bracket drive permanent magnet together on
It rises, increases permanent magnet at a distance from positioning table, adsorption capacity decline.
9. working method according to claim 8, which is characterized in that
The magnetic mechanism further include: the current regulator controlled by controller, and pressure is equipped in the medial surface of a stringer board
Sensor；Wherein
The current regulator is for the electric current in regulating magnet；
One end of the permanent magnet is equipped with convex closure, and after permanent magnet enters bracket, the convex closure is adapted to abut against pressure sensor, described
Controller is suitable for the electric current of the signal control current regulator of pressure sensor.
10. working method according to claim 9, which is characterized in that
Two pieces of stringer boards being oppositely arranged to a pair of of elastic bumps have been provided opposite to, the pair of elastic bumps are located at pressure sensing
The lower part of device；And
The edges at two ends of the permanent magnet is arc-shaped；
When permanent magnet enters in permanent magnet movable passageway and passes through elastic bumps, the elastic bumps are under the extruding of permanent magnet
Retraction, after permanent magnet warp, the elastic bumps pop-up；And
After electromagnet power-off, the elastic bumps are suitable for supports permanent magnets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711269297.1A CN109867075A (en) | 2017-12-05 | 2017-12-05 | Transfer robot and its working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711269297.1A CN109867075A (en) | 2017-12-05 | 2017-12-05 | Transfer robot and its working method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109867075A true CN109867075A (en) | 2019-06-11 |
Family
ID=66916607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711269297.1A Pending CN109867075A (en) | 2017-12-05 | 2017-12-05 | Transfer robot and its working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109867075A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111086813A (en) * | 2019-12-30 | 2020-05-01 | 重庆禾秀丰电子有限公司 | Storage device for die steel |
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| JP2004231357A (en) * | 2003-01-30 | 2004-08-19 | Matsushita Electric Ind Co Ltd | Robot system |
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