CN110193841A - A kind of lightweight manipulator - Google Patents
A kind of lightweight manipulator Download PDFInfo
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- CN110193841A CN110193841A CN201910459870.8A CN201910459870A CN110193841A CN 110193841 A CN110193841 A CN 110193841A CN 201910459870 A CN201910459870 A CN 201910459870A CN 110193841 A CN110193841 A CN 110193841A
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- horizontal
- manipulator
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- vertical
- supervisor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of lightweight manipulator, including for the manipulator to be fixed on external fixed point pedestal, be used to form the main frame of robot work range and for realizing the workpiece of manipulator function；The pedestal tensile strength is 298-315MPa, density 1.7-1.9g/cm3, weight accounts for the 4.5-5.5% of the manipulator total weight, including orthogonal fixed edge, has the fixation hole for cooperating with main frame on the fixed edge；The main frame includes orthogonal horizontal tube and the vertical pipe fixed vertical with horizontal tube in horizontal plane；The horizontal tube and vertical pipe are hollow magnesium base alloy eight-corner tube, and side has pilot hole arranged in a straight line, and the pilot hole is matched with rivet nut, and the main frame weight accounts for the 10-15% of the manipulator total weight, yield strength 200-220MPa.Manipulator self weight of the present invention is substantially reduced, and stability is promoted, the further modularization of the design of manipulator, to reduce the buying and operating cost of industrial robot.
Description
Technical field
The invention belongs to fields of industrial manufacturing, more particularly, to a kind of lightweight manipulator.
Background technique
Industry mechanical arm is generally used for automobile manufacture, warship and certain household appliances (television set, refrigerator, laundry
Machine) manufacture etc., so that robot is replaced the work that people completes high-volume, high quality requires in machinery manufacturing industry.Depending on the application
3 seed types can be divided into: carrying handgrip, for repair welding, gluing, the technique handgrip of riveting and for high request for transmit task
Tack welding tack welding handgrip.
Industry initial stage, industry mechanical arm are welded by square steel mostly, overall weight weight, and processing request is high.Later, aluminium closed
Gold gradually promotes and applies on hand in industrial machinery, and the existing Europe superscript industrial machine based on aluminium alloy and steelwork occurs
Tool hand and similar products, Europe superscript industry mechanical arm are based on modularized design principle, and all components (remove tray/briquetting/nonstandard company
Connect block) it is all prefabricated component standard component, the quick assembling of handgrip entirety is realized with this.Its modular unit be often divided into frame unit,
Clamping unit, positioning pin unit, sensor unit and sucker unit, associated component can be divided into aluminium alloy extrusions, aluminium alloy connection
Part, steel connector, round tube and various functional components.
When workpiece is larger, the size and quality of industry mechanical arm can also be increase accordingly, and existing industry mechanical arm is whole
Weight is still very big, and not only mechanical structure is not sufficiently stable, but also the load requirement of robot is high, and energy consumption is high, and operational efficiency is low, and
Need very high robot buying and operation cost.
In view of intensity and from the problem of weight bearing, enlarged mechanization handgrip design has to pass through stringent safety school
It tests, the design of existing mechanical arm is simply applied to using more light-weighted material, since knot is not achieved in the strength of materials
The problem of structure requirement, leads to the self weight that cannot reduce whole mechanization handgrip, and mechanical structure is not sufficiently stable cannot solve.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of lightweight manipulator, purposes
It is to carry out material and structure synchronization optimization by repartitioning mechanical arm module, and to mechanical arm module, in manipulator
Under conditions of arm intensity and load are constant, mechanical arm self weight is greatly reduced, thus solve the self weight of existing mechanization handgrip compared with
Again, the technical issues of causing overall structure to be not sufficiently stable.
To achieve the above object, according to one aspect of the present invention, a kind of lightweight manipulator is provided, including be used for
By the fixed pedestal on external fixed point of the manipulator, it is used to form the main frame of robot work range and is used for
Realize the workpiece of manipulator function；
The pedestal tensile strength is 298-315MPa, density 1.7-1.9g/cm3, thickness 10-25mm, weight accounts for institute
The 4.5-5.5% of manipulator total weight, including orthogonal fixed edge are stated, is had on the fixed edge for matching with main frame
The fixation hole of conjunction；
The main frame includes orthogonal horizontal tube and the vertical pipe fixed vertical with horizontal tube in horizontal plane, described
Horizontal tube includes horizontal supervisor and horizontal looped pipeline, and the vertical pipe includes vertical supervisor and vertical looped pipeline；The horizontal tube and perpendicular
Straight tube is hollow magnesium base alloy eight-corner tube, and side has pilot hole arranged in a straight line, and the pilot hole is sized for and staking
Nut matches, the 6-10% of Zhan Suoshu manipulator total weight, yield strength 200-220MPa.
Preferably, the lightweight manipulator, the material of the pedestal are Dow metal, and pedestal is one piece of machining
There are polished surface in metal plate, pedestal side, change rifle disk with robot by bolt and are connected, and the other side has vertical with plate face and mutual
Perpendicular fixed edge is had time on the fixed edge, corresponding with the pitch-row of eight-corner tube, for fixing eight-corner tube.
Preferably, the lightweight manipulator, supervisor include horizontal supervisor and vertical supervisor, are hollow magnesium base alloy eight
Cornue, cross section outer ring are illiciumverum annular, i.e., inner ring and outer ring are concentrically nested circle and octagon, and inner ring, which is equipped with, to be added
Strengthening tendons, the two symmetrical planes distance of outer ring octagon are 75mm to 85mm, and preferably 80mm is eight-corner tube specification general at present,
Inner ring diameter is between 60mm-70mm, yield strength 200-220MPa, density 1.7-1.9g/cm3, hardness 97-
100HRS。
Preferably, the lightweight manipulator, supervisor's length are less than or equal to 4078mm, the aperture of side pilot hole
It is sized for matching with rivet nut, common-use size 11mm, pitch-row is matched with lightweight connector, in 20mm to 40mm
Between, common-use size 30mm.
Preferably, the lightweight manipulator, looped pipeline include horizontal looped pipeline and vertical looped pipeline, are hollow magnesium base alloy eight
Cornue, outer ring cross section are octagonal annular, i.e., inner ring and outer ring are concentrically nested octagon or circle, and are equipped with and reinforce
The two symmetrical planes distance of muscle, outer ring octagon is 50mm, and inner ring diameter is between 35-42mm, yield strength 200-
220MPa, density 1.7-1.9g/cm3, hardness 97-100HRS.
Preferably, the lightweight manipulator, supervisor's length are less than or equal to 4078mm, the aperture of side pilot hole
It matches common-use size with rivet nut to be suitble to match with lightweight connector for 11mm, pitch-row, common-use size 30mm.
Preferably, the lightweight manipulator is fixed by horizontal connector between the horizontal tube, it is described it is horizontal even
Fitting includes isosceles right triangle floor and is used to connect respective horizontal pipe with what two right-angle sides of the floor were fixed
Side, the horizontal connector are obtained by integral workblank part by machining；The horizontal connector material is magnesium base alloy, rib
The thickness of plate and fixed edge is between 7-10mm, and the side cooperates with corresponding horizontal supervisor or horizontal looped pipeline, including middle face
And both wings, the both wings are logical with two sides adjacent with the side of middle face cooperation of respective horizontal supervisor or horizontal looped pipeline respectively
It crosses pilot hole to match, includes at least 3 pilot holes.
Preferably, the lightweight manipulator, it is solid by vertical connections between the horizontal tube and the vertical pipe
It is fixed.It is fixed between the horizontal tube and the vertical pipe by vertical connections；The vertical connections, including what is intersected vertically
Isosceles right triangle floor and the side that is used to connect respective horizontal pipe or vertical tube fixed with the floor bevel edge,
The vertical connections are obtained by integral workblank part by machining；Vertical connections material is magnesium base alloy, floor and fixation
The thickness range on side is 7-10mm, and the side cooperates with corresponding horizontal tube or vertical pipe, including middle face and both wings, described two
The wing is matched with two sides adjacent with the side of middle face cooperation of respective horizontal supervisor or horizontal looped pipeline by pilot hole respectively
It closes, includes at least 5 pilot holes.The fixed edge of the main frame and the pedestal is detachably connected, and connection type is bolt
The fixed edge of connection, bolt-through pedestal screws in the rivet nut of horizontal tube.
Preferably, the lightweight manipulator, which is characterized in that rivet nut can be installed on supervisor, connector is mark
Standardization；The fixed form of all parts is all, by the pilot hole with bolt-through connector, to screw in the drawing in supervisor's pilot hole
Riveting nut.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, due to using magnesium-based close
Golden material, standardized connections and rivet nut connection type, the beneficial effect that can be obtained have: one, making manipulator self weight bright
Aobvious to mitigate, stability is promoted, and reduces the design difficulty of mechanization handgrip, so that the further modularization of the design of manipulator, from
And reduce the buying and operating cost of industrial robot；Two, connection and removal efficiency are promoted；Three, connector is added using machine
Workpiece avoids aluminium alloy cast member bubble that may be present and shrinkage defect, improves the reliability of manipulator.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of lightweight industry mechanical arm；
Fig. 2 is supervisor's schematic cross-section figure；
Fig. 3 is looped pipeline schematic cross-section figure；
Fig. 4 is horizontal connector schematic diagram；
Fig. 5 is vertical connector schematic diagram.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which: 1 is pedestal, and 2 are
Level supervisor, 3 be vertical supervisor, and 4 be vertical looped pipeline, and 5 be horizontal looped pipeline, and 6, be horizontal connector, 7 be vertical connections, 11
It is positioning pin for clamping cylinder, 12,21 be supervisor eight-corner tube outer ring, and 22 be supervisor's eight-corner tube inner ring, and 23 add for supervisor's eight-corner tube
Strengthening tendons, 31 be looped pipeline eight-corner tube outer ring, and 32 be looped pipeline eight-corner tube inner ring, and 33 be looped pipeline eight-corner tube reinforcing rib, and 41 be horizontal connection
Part floor, 42 be face in horizontal connector side, and 43 be horizontal connector side both wings, and 51 be vertical connections floor, and 52 are
Face in vertical connections side, 53 be vertical connections side both wings.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below each other it
Between do not constitute conflict and can be combined with each other.
Lightweight manipulator provided by the invention, comprising:
Pedestal, for the manipulator is fixed and outside fixed point, tensile strength 298-315MPa, density to be
1.7-1.9g/cm3, preferably magnesium base alloy, thickness 10-25mm, weight accounts for the 4.5-5.5% of the manipulator total weight, including
Orthogonal fixed edge has the fixation hole for cooperating with main frame on the fixed edge；
Main frame is used to form robot work range, including orthogonal horizontal tube and and horizontal tube in horizontal plane
Vertically fixed vertical pipe, the horizontal tube include that horizontal be responsible for includes vertical supervisor and erect with horizontal looped pipeline, the vertical pipe
Straight looped pipeline.The horizontal tube and vertical pipe are hollow magnesium base alloy eight-corner tube, and side has pilot hole arranged in a straight line, described
It (is φ 11mm), pitch-row is suitble to match with lightweight connector (existing that pilot hole is sized for matching with rivet nut now
For 30mm).Supervisor includes horizontal supervisor and vertical supervisor, is hollow magnesium base alloy eight-corner tube, and cross section outer ring is illiciumverum
Annular, i.e. inner ring and outer ring are concentrically nested circle and octagon, and inner ring is equipped with reinforcing rib, two pairs of outer ring octagon
Plan range is referred to as 80mm, and inner ring diameter is between 60-70mm, yield strength 200-220MPa, density 1.7-1.9g/
cm3, hardness 97-100HRS；Supervisor's length is less than or equal to 4078mm, and the pore size of side pilot hole is suitble to and staking spiral shell
Parent phase cooperation (is 11mm), suitable match with lightweight connector of pitch-row (is 30mm) now now.Looped pipeline includes horizontal secondary
Pipe and vertical looped pipeline are hollow magnesium base alloy eight-corner tube, and outer ring cross section is octagonal annular, i.e. inner ring is concentric embedding with outer ring
The octagon or circle of set, and it is equipped with reinforcing rib, the two symmetrical planes distance of outer ring octagon is 50mm, and inner ring diameter exists
Between 35-42mm, yield strength 200-220MPa, density 1.7-1.9g/cm3, hardness 97-100HRS；Supervisor's length
Degree is less than or equal to 4078mm, and it (is 11mm), pitch-row is fitted that the pore size of side pilot hole is suitble to match with rivet nut now
It (is 30mm) that conjunction is matched with lightweight connector now.It is fixed between the horizontal tube by horizontal connector, the level
Connector, including isosceles right triangle floor and the side that is used to connect respective horizontal pipe fixed with the floor right-angle side
Face, three are added to obtain by a blank by machine；Connecting piece material is magnesium base alloy, and the thickness range of floor and fixed edge is 7-
10mm, the side cooperates with corresponding horizontal supervisor or horizontal looped pipeline, including middle face and both wings, and the both wings are respectively and accordingly
Two sides adjacent with the side of middle face cooperation of level supervisor or horizontal looped pipeline are matched by pilot hole, include at least 3
A pilot hole；It is fixed between the horizontal tube and the vertical pipe by vertical connections, the vertical connections, including isosceles
Right angled triangle floor and the side that is used to connect respective horizontal pipe fixed with the floor right-angle side, three is by a blank
Part adds to obtain by machine；Vertical connections material is magnesium base alloy, and the thickness range of floor and fixed edge is 7-10mm, the side
Side cooperates with corresponding horizontal tube or vertical pipe, including middle face and both wings, and the both wings are responsible for respectively with respective horizontal or level
Two sides adjacent with the side of middle face cooperation of looped pipeline are matched by pilot hole, include at least 5 pilot holes.The master
The fixed edge of frame and the pedestal is detachably connected, and connection type is to be bolted, the fixed edge rotation of bolt-through pedestal
Enter in the rivet nut of horizontal tube.
The eight-corner tube is using magnesium base alloy, and density is less than aluminium alloy, however its yield strength and thermoforming ability
Not as good as aluminium alloy, in order to rise the bending resistance and molding effect of main eight-corner tube, by constantly testing, using hollow design and extruding
The methods of molding enables Manesium base alloy tube to form；Main illiciumverum tube thickness increases Manesium base alloy tube under the premise of 10-20mm
Thickness greatly improve the bending resistance of magnesium base alloy, enable that magnesium base alloy forms and anti-bending strength can mutually be equal to aluminium alloy
Beauty.With identical weight bearing ability, using newly-designed main eight-corner tube, self weight is traditional aluminium alloy spoke knot
The 1/3 of structure eight-corner tube.
The main frame part, the 10-15% of Zhan Suoshu manipulator total weight, yield strength 200-220MPa.
Workpiece is detachably fixed by pilot hole and main frame, for realizing manipulator function, such as connection positioning
Pin carries out handgrip positioning, clamping cylinder is carried, and passes through rivet nut and its pilot hole phase with vertically or horizontally supervisor, looped pipeline
Cooperation.
The following are embodiments:
A kind of lightweight manipulator, as shown in Figure 1, comprising:
Pedestal is used for manipulator fixation and external fixed point, tensile strength 310MPa, density 1.8g/
cm3, material is magnesium alloy, thickness 15mm, and weight accounts for the 5% of the manipulator total weight, including orthogonal fixed edge,
There is the fixation hole for cooperating with main frame on the fixed edge；
Main frame is used to form robot work range, including orthogonal horizontal tube and and horizontal tube in horizontal plane
Vertically fixed vertical pipe, the horizontal tube include that horizontal be responsible for includes vertical supervisor and erect with horizontal looped pipeline, the vertical pipe
Straight looped pipeline.The horizontal tube and vertical pipe are hollow magnesium base alloy eight-corner tube, and side has pilot hole arranged in a straight line, described
Pilot hole is sized for matching with rivet nut, φ 11mm, and pitch-row is suitble to match with lightweight connector, is 30mm.It is main
Pipe includes horizontal supervisor and vertical supervisor, is hollow magnesium base alloy eight-corner tube, and cross section outer ring is octagonal annular, i.e., inner ring with
Outer ring is concentrically nested circle and octagon, and inner ring is equipped with eight reinforcing ribs, two symmetrical planes of outer ring octagon away from
From for 80mm, inner ring diameter is between 65mm, yield strength 210MPa, density 1.8g/cm3, hardness 98HRS；The master
Length of tube is less than or equal to 4078mm, and the pore size of side pilot hole is suitble to match with rivet nut, is 11mm, pitch-row is suitble to
30mm is combined into the matching of lightweight connector.Looped pipeline includes horizontal looped pipeline and vertical looped pipeline, is hollow magnesium base alloy eight-corner tube,
Outer ring cross section is octagonal annular, i.e., inner ring and outer ring are concentrically nested octagon or circle, and are equipped with reinforcing rib, outer ring
The two symmetrical planes distance of octagon is 50mm, and inner ring diameter is between 38mm, yield strength 210MPa, and density is
1.8g/cm3, hardness 98HRS；Supervisor's length is less than or equal to 4078mm, and the pore size of side pilot hole is suitble to and staking
Nut matches, and is 11mm now, pitch-row is suitble to match with lightweight connector, for 30mm.Pass through between the horizontal tube
Horizontal connector is fixed, the horizontal connector, including isosceles right triangle floor and is fixed with the floor right-angle side
For connecting the side of respective horizontal pipe, three is added to obtain by a blank by machine；Connecting piece material is magnesium base alloy, rib
Plate and fixed edge with a thickness of 8mm, the side cooperates with corresponding horizontal supervisor or horizontal looped pipeline, including middle face and both wings,
The both wings pass through assembly with two sides adjacent with the side of middle face cooperation of respective horizontal supervisor or horizontal looped pipeline respectively
Hole matches, and includes at least 3 pilot holes；It is fixed between the horizontal tube and the vertical pipe by vertical connections, it is described
Vertical connections are used to connect respective horizontal pipe including isosceles right triangle floor and with what the floor right-angle side was fixed
Side, three adds to obtain by a blank by machine；Vertical connections material is magnesium base alloy, the thickness of floor and fixed edge
For 8mm, the side cooperates with corresponding horizontal tube or vertical pipe, including middle face and both wings, the both wings respectively with corresponding water
Two sides adjacent with the side of middle face cooperation of flat supervisor or horizontal looped pipeline are matched by pilot hole, include at least 5
Pilot hole.The fixed edge of the main frame and the pedestal is detachably connected, and connection type is to be bolted, bolt-through base
The fixed edge of seat screws in the rivet nut of horizontal tube.
The main frame part, the 12% of Zhan Suoshu manipulator total weight, yield strength 210MPa.
Workpiece is detachably fixed by pilot hole and main frame, for realizing manipulator function, as shown in Figure 1, packet
Positioning pin, clamping cylinder etc. are included, is matched by rivet nut with its pilot hole with vertically or horizontally supervisor, looped pipeline.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of lightweight manipulator, which is characterized in that including the base for being fixed on the manipulator on external fixed point
Seat is used to form the main frame of robot work range and the workpiece for realizing manipulator function；
The pedestal tensile strength is 298-315MPa, density 1.7-1.9g/cm3, weight accounts for the manipulator total weight
4.5-5.5%, including orthogonal fixed edge have the fixation hole for cooperating with main frame on the fixed edge；
The main frame includes orthogonal horizontal tube and the vertical pipe fixed vertical with horizontal tube, the level in horizontal plane
Pipe includes horizontal supervisor and horizontal looped pipeline, and the vertical pipe includes vertical supervisor and vertical looped pipeline；The horizontal tube and vertical pipe
For hollow magnesium base alloy eight-corner tube, side has pilot hole arranged in a straight line, and the pilot hole is matched with rivet nut, institute
State the 10-15% that main frame weight accounts for the manipulator total weight, yield strength 200-220MPa.
2. lightweight manipulator as described in claim 1, which is characterized in that the base material is magnesium base alloy metal plate,
Thickness 10-25mm；There is polished surface in pedestal side, changes rifle disk with robot by bolt and is connected；The pedestal other side has and plate face
Vertically, and mutually perpendicular fixed edge, there is the pilot hole matched with rivet nut on the fixed edge, for fixed octagonal
Pipe.
3. lightweight manipulator as described in claim 1, which is characterized in that supervisor includes horizontal supervisor and vertical supervisor, is
Hollow magnesium base alloy eight-corner tube, cross section outer ring are octagonal annular, i.e., inner ring and outer ring are concentrically nested circle and positive eight
Side shape, inner ring are equipped with reinforcing rib, and inner ring diameter is between 60-70mm, yield strength 200-220MPa, density 1.7-
1.9g/cm3, hardness 97-100HRS.
4. lightweight manipulator as claimed in claim 3, which is characterized in that supervisor's length is less than or equal to 4078mm, side
The aperture of face pilot hole is matched with rivet nut, and the pitch-row of the pilot hole is in 20mm between 40mm.
5. lightweight manipulator as described in claim 1, which is characterized in that looped pipeline includes horizontal looped pipeline and vertical looped pipeline, is
Hollow magnesium base alloy eight-corner tube, outer ring cross section are octagonal annular, i.e., inner ring and outer ring be concentrically nested octagon or
Circle, and it is equipped with reinforcing rib, the two symmetrical planes distance of outer ring octagon is 50mm, and inner ring diameter is bent between 35-42mm
Taking intensity is 200-220MPa, density 1.7-1.9g/cm3, hardness 97-100HRS.
6. lightweight manipulator as claimed in claim 5, which is characterized in that supervisor's length is less than or equal to 4078mm, side
It (is 11mm), pitch-row is suitble to match with lightweight connector (now that the aperture of face pilot hole is matched with rivet nut now
For 30mm).
7. lightweight manipulator as described in claim 1, which is characterized in that solid by horizontal connector between the horizontal tube
Fixed, the horizontal connector includes isosceles right triangle floor and is used to connect with what two right-angle sides of the floor were fixed
The side of respective horizontal pipe, the horizontal connector are obtained by integral workblank part by machining；The horizontal connector material
For magnesium base alloy, the thickness of floor and fixed edge is between 7-10mm, and the side is responsible for corresponding level or horizontal looped pipeline
Cooperation, including middle face and both wings, the both wings are responsible for respectively with respective horizontal or the side phase with the cooperation of middle face of horizontal looped pipeline
Two adjacent sides are matched by pilot hole, include at least 3 pilot holes.
8. lightweight manipulator as described in claim 1, which is characterized in that pass through between the horizontal tube and the vertical pipe
Vertical connections are fixed；The vertical connections, including the isosceles right triangle floor that intersects vertically and with the floor
The fixed side for being used to connect respective horizontal pipe or vertical tube of bevel edge, the vertical connections are added by integral workblank part by machine
Work obtains；Vertical connections material is magnesium base alloy, and the thickness range of floor and fixed edge is 7-10mm, the side and corresponding
Horizontal tube or vertical pipe cooperation, including middle face and both wings, the both wings respectively with respective horizontal supervisor or horizontal looped pipeline with
Two sides that the side of middle face cooperation is adjacent are matched by pilot hole, include at least 5 pilot holes.
9. lightweight manipulator as described in claim 1, which is characterized in that the fixed edge of the main frame and the pedestal can
Dismantling connection, connection type are to be bolted, and the fixed edge of bolt-through pedestal screws in the rivet nut of horizontal tube.
10. lightweight manipulator as described in claim 1, which is characterized in that rivet nut, connector can be installed on supervisor
For standardization；The fixed form of all parts is all, by the pilot hole with bolt-through connector, to screw in supervisor's pilot hole
Rivet nut.
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| CN201910459870.8A CN110193841A (en) | 2019-05-30 | 2019-05-30 | A kind of lightweight manipulator |
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