CN112643659B - Double-coordinate moving scram device of winding manipulator - Google Patents
Double-coordinate moving scram device of winding manipulator Download PDFInfo
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- CN112643659B CN112643659B CN202011414114.2A CN202011414114A CN112643659B CN 112643659 B CN112643659 B CN 112643659B CN 202011414114 A CN202011414114 A CN 202011414114A CN 112643659 B CN112643659 B CN 112643659B
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- connecting rod
- mounting plate
- base
- rotatably connected
- manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The utility model discloses a double-coordinate moving emergency stop device of a winding manipulator, belonging to the field of emergency stop devices of winding manipulators; a double-coordinate moving emergency stop device of a winding manipulator comprises a main shaft, a holding block, a spur rack, a first gear, a mounting plate, a base, a linkage mechanism and a locking mechanism; the rotation of the main shaft is limited by arranging the holding blocks on two sides of the main shaft respectively; the straight rack and the first gear are arranged below the holding blocks, so that the two holding blocks are far away from each other, and the limitation on the rotation of the manipulator is avoided when the manipulator winds wires; the limitation on the translation of the mounting plate is realized by arranging the linkage mechanisms between the mounting plate and the base and arranging two locking mechanisms on each linkage mechanism; the moving plate which slides up and down is arranged on the mounting plate, so that the manipulator can be scrammed while translating and rotating, and the safety of winding motion is improved.
Description
Technical Field
The utility model belongs to coiling machine tool hand scram device field, concretely relates to coiling machine tool hand's two coordinates remove scram device.
Background
With the continuous development of science and technology, the winding is mechanized, the winding quality and efficiency are greatly improved by adopting the winding manipulator to replace manual winding, and the safety problem of the winding manipulator becomes more and more important with the continuous popularization of the winding manipulator; mechanical action of the winding manipulator during winding is carried out in multiple directions, the winding manipulator rotates around the main shaft and translates on a plane, and when sudden stop of the winding manipulator is needed in an accident, the complex multi-directional mechanical movement brings difficulty for realization of the sudden stop.
Disclosure of Invention
To the not enough of prior art, this disclosed aim at provides a two-coordinate movement scram device of winding manipulator, has solved among the prior art problem that multidirectional removal of winding manipulator is difficult to the scram.
The purpose of the disclosure can be realized by the following technical scheme: a double-coordinate moving scram device of a winding manipulator comprises an installation plate, a spindle and a base, wherein the spindle is rotatably connected with the installation plate;
furthermore, two sides of the mounting plate are respectively provided with a baffle plate, a first spring is arranged between the holding block and the baffle plate, one end of the first spring is fixedly connected with the side surface of the holding block, and the other end of the first spring is fixedly connected with the side surface of the baffle plate;
furthermore, a linkage mechanism is arranged between the mounting plate and the base and comprises a first connecting rod and two second connecting rods;
furthermore, one end of the first connecting rod is rotatably connected with the mounting plate, the other end of the first connecting rod is rotatably connected with one of the second connecting rods, the first connecting rod is also rotatably connected with a third connecting rod, and one end of the third connecting rod is rotatably connected with the other second connecting rod;
furthermore, two third sliding grooves are formed in the base, and the two second connecting rods respectively slide on the base along the two third sliding grooves;
further, each second connecting rod is provided with a locking mechanism, and the locking mechanism is used for limiting the sliding of the second connecting rods.
Furthermore, a mounting groove is formed in the base and is vertically intersected with the third sliding groove;
furthermore, the locking mechanism comprises a supporting rod, the supporting rod is fixed on the base, the upper end part of the supporting rod is rotatably connected with a fourth connecting rod, one end of the fourth connecting rod is rotatably connected with a fifth connecting rod, the other end of the fourth connecting rod is connected with a second spring, one end of the second spring is fixedly connected with the fourth connecting rod, the other end of the second spring is fixedly connected with the base, and one end of the fifth connecting rod is rotatably connected with a sixth connecting rod;
furthermore, the sixth connecting rod is L-shaped, and the bottom edge of the sixth connecting rod slides up and down in the mounting groove;
furthermore, the lower end surface of the second connecting rod is provided with teeth, and the bottom edge of the sixth connecting rod is positioned below the teeth on the lower end surface of the second connecting rod.
Furthermore, a moving plate is connected to the mounting plate in a sliding manner and located below the spindle, and the moving plate slides up and down on the mounting plate;
furthermore, the lower ends of the two holding blocks are respectively and fixedly connected with a straight rack, a first gear is meshed below each straight rack, the two first gears are meshed with each other, and the two first gears are rotationally connected with the moving plate through rotating shafts;
furthermore, a second driving device is fixedly mounted on the mounting plate, and a driving shaft of the second driving device is connected with the moving plate;
further, when the moving plate moves downward, the moving plate collides with one end of the fourth link, which is close to the second spring.
Furthermore, one side of one of the first gears is engaged with a second gear, a first driving device is installed between the second gear and the mounting plate, and the first driving device is fixedly connected with the mounting plate and drives or limits the rotation of the second gear.
The beneficial effect of this disclosure: the multi-directional movement of the winding manipulator can be stopped suddenly at the same time, and the safety of the manipulator is improved.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic overall structure diagram of an embodiment of the present disclosure;
FIG. 2 is a schematic view of a mounting plate configuration of an embodiment of the present disclosure;
FIG. 3 is a schematic view of a base structure of an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a clasping mechanism of an embodiment of the present disclosure;
FIG. 5 is a schematic illustration of a linkage operating position according to an embodiment of the present disclosure;
FIG. 6 is a schematic illustration of the operation of the linkage and locking mechanism of the disclosed embodiment;
FIG. 7 is a schematic structural view of a linkage mechanism according to an embodiment of the disclosure;
FIG. 8 is a second link configuration schematic of an embodiment of the present disclosure;
FIG. 9 is a schematic structural view of a locking mechanism of an embodiment of the present disclosure;
fig. 10 is a schematic view of a moving plate structure of an embodiment of the disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
As shown in fig. 1, the double-coordinate moving emergency stop device of the winding manipulator comprises a mounting plate 2, a mounting hole 23 is formed in the center of the mounting plate 2, a spindle 3 is rotatably connected to the mounting hole 23, the manipulator is fixed on the spindle 3, the spindle 3 rotates to drive the manipulator to rotate, and the mounting plate 2 is driven by an external driving joint to perform upward, downward, leftward and rightward translation, so that the manipulator on the spindle 3 is driven to perform complex motion, and winding motion is further completed.
As shown in fig. 2, two first sliding grooves 21 are formed in the mounting plate 2, the two first sliding grooves 21 are respectively located at two sides of the mounting hole 23, and a baffle 22 is arranged at one end of each first sliding groove 21 far away from the mounting hole 23; as shown in fig. 4, each first sliding slot 21 is provided with a holding block 41, and a protrusion arranged on a side surface of the holding block 41 is matched with the first sliding slot 21, so that the holding block 41 slides on the mounting plate 2 along the first sliding slot 21;
when the two holding blocks 41 approach each other and simultaneously contact with the outer circle of the main shaft 31, the main shaft 31 stops rotating under the action of friction force, so that the rotation of the manipulator is stopped suddenly.
As shown in fig. 4, a plurality of first springs 42 are arranged between the baffle 22 and the holding block 41, one end of each first spring 42 is fixedly connected with the side surface of the baffle 22, the other end of each first spring 42 is fixedly connected with the side surface of the holding block 41, the first springs 42 always exert an elastic force on the holding block 41 in the whole movement process of the holding block 41, and the holding block 41 has a movement tendency of approaching the spindle 3 under the elastic force action of the first springs 42;
as shown in fig. 2, the mounting plate 2 is provided with a second sliding groove 25, the second sliding groove 25 is located below the mounting hole 23, a moving plate 45 is mounted in the second sliding groove 25, and the moving plate 45 can slide up and down in the second sliding groove 25;
two first gears 46 which are meshed with each other are mounted on the moving plate 45, the first gears 46 are rotatably connected with the moving plate 45 through rotating rods, a spur rack 44 is fixedly mounted at the lower end of each holding block 41, the two spur racks 44 are respectively meshed with the two first gears 46, when one first gear 46 rotates, the other first gear 46 synchronously and reversely rotates, so that the two spur racks 44 respectively slide towards opposite directions to drive the two holding blocks 41 to approach to or separate from each other, and when the two holding blocks 41 are far away from each other, the rotation of the rotating shaft 3 is not limited;
as shown in fig. 4, a first driving device 48 is fixedly mounted on the mounting plate 2, a second gear 47 is fixedly connected to a driving shaft of the first driving device 48 and is engaged with one of the first gears 46, when the first driving device 48 does not rotate, the second gear 7 does not rotate, and thus the first gear 46 can be locked, the sliding of the spur rack 44 and the holding block 41 is limited, and the situation that the holding block 41 is close to the rotating shaft 3 under the elastic force of the first spring 42 when the manipulator normally works is avoided, so that the rotation of the rotating shaft 3 is limited, and the normal winding work is affected.
Two sides of the mounting plate 2 are respectively provided with a second driving device 43, a driving shaft of the second driving device 43 is connected with a moving block 45, the second driving device 43 can drive the moving block 45 to slide up and down along the second sliding groove 25, when the moving block 45 drives two first gears 46 to be separated from two straight racks 44, the two holding blocks 41 approach to each other under the elastic force action of the first springs 42 and simultaneously contact with the outer circle of the rotating shaft 3, so that the rotation of the rotating shaft 3 is limited, and the manipulator stops rotating;
in this embodiment, when the emergency stop button is pressed, the second driving device 43 drives the moving block 45 to move downwards, the first gear 46 and the spur rack 44 are disengaged, the two holding blocks 41 approach each other, and the holding action on the rotating shaft 3 is completed.
As shown in fig. 5, two linkage mechanisms 5 are mounted at the lower end of the mounting plate 2, the base 1 is mounted at the lower end of the linkage mechanism 5, the base 1 is fixed on the ground, when the manipulator performs winding work, the linkage mechanism 5 performs corresponding transformation along with the movement of the mounting plate 2, the lower end of the linkage mechanism 5 slides on the base 1, and the movement track of the mounting plate 2 is not affected; when the manipulator needs to be stopped suddenly, the linkage mechanism 5 stops changing and is fixed with the base 1, so that the translation of the mounting plate 2 is limited;
as shown in fig. 7, the link mechanism 5 includes a first link 51 and two second links 52;
two connecting seats 24 are arranged on the lower end face of the mounting plate 2, one end of a first connecting rod 51 is rotatably connected with the connecting seats 24, the other end of the first connecting rod 51 is rotatably connected with a second connecting rod 52, and the upper end part of the second connecting rod 52 is rotatably connected with the lower end part of the first connecting rod 51;
the first connecting rod 51 is provided with a connecting pin 511, one end of the connecting pin 511 is fixedly connected with the first connecting rod 51, the other end of the connecting pin 511 is rotatably connected with a third connecting rod 53, and the lower end part of the third connecting rod 53 is rotatably connected with a second connecting rod 52;
as shown in fig. 8, the lower end of the second connecting rod 52 is provided with a sliding block 521, the ground of the sliding block 521 is provided with teeth 522, as shown in fig. 3, two third sliding chutes 11 are installed on the base 1, and the sliding block 521 and the third sliding chutes 11 are mutually matched, so that the two second connecting rods 52 in the linkage mechanism 5 are respectively in sliding connection with the two third sliding chutes 11 on the base 1;
when the two second connecting rods 52 in the linkage mechanism 5 are fixed with the base 1 at the same time, the first connecting rod 51 and the base 1 keep relatively static, so that the purpose of preventing the mounting plate 2 from translating is achieved, and if the rotating shaft 3 stops rotating at the moment, the mechanical hand can be suddenly stopped.
As shown in fig. 6, two locking mechanisms 6 are mounted at each linkage mechanism 5, the locking mechanisms 6 are mounted on the base 1, each locking mechanism 6 is located at the second connecting rod 52 on the linkage mechanism 5, and the locking mechanism 6 is used for limiting the sliding of the second connecting rod 52 on the base 1, so as to play a role of locking the linkage mechanism 5, and further limit the translational motion of the mounting plate 2;
as shown in fig. 9, the locking mechanism 6 includes a supporting frame 61, the upper end of the supporting frame 61 is rotatably connected with a fourth connecting rod 62, one end of the fourth connecting rod 62 is rotatably connected with a fifth connecting rod 63, the other end is fixedly connected with a second spring 65, one end of the second spring 65 is fixedly connected with the lower end face of the fourth connecting rod 62, the other end is fixedly connected with the upper end face of the base 1, the lower end of the fifth connecting rod 63 is rotatably connected with a sixth connecting rod 64, and the sixth connecting rod 64 is L-shaped;
as shown in fig. 3, the base 1 is provided with four mounting grooves 12, two mounting grooves 12 are provided at each third sliding groove 11, and the mounting grooves 12 are vertically intersected with the third sliding grooves 11;
the sixth link 64 is positioned in the mounting groove 12 and can interact up and down in the mounting groove 12, the bottom edge of the sixth link 64 is positioned below the second link 52, and when the sixth link 64 moves upwards along the mounting groove 12, the bottom edge of the sixth link 64 can be clamped on the tooth 522 at the bottom of the second link 52, so that the sliding of the second link 52 on the base 1 is limited;
in this embodiment, in the free state, no other external force acts on the fourth link 62 outside the second spring 65, and the second spring 65 is used to support the fourth link 62, so that the fourth link 62 carries the sixth link 64 in the free state and is located in the mounting groove 12, and the bottom edge of the sixth link 64 is located below the second link 52, at this time, the sixth link 64 cannot limit the sliding of the second link 52 on the base 1, and thus the robot arm does not affect the translation along with the mounting plate 2.
As shown in fig. 10, the upper end of the moving plate 45 is provided with a sliding plate 451, and the second sliding grooves 25 on the rest mounting plate 2 of the sliding plate 451 are mutually matched, so that the moving plate 45 can slide up and down on the mounting plate 1;
two sides of the sliding plate 451 are respectively provided with a first pressure lever 452, one side of each first pressure lever 452 is provided with a second pressure lever 453, when the second driving device 43 drives the moving plate 45 to move downwards, two first pressure levers 452 and second pressure levers 453 on the moving plate 45 collide with one end, close to the second spring 65, of the fourth connecting rod 62 in the four locking mechanisms 6 respectively, and one end, close to the second spring 65, of the fourth connecting rod 62 is made to move downwards, so that the sixth connecting rod 64 moves upwards along the mounting groove 12, the sliding of the second connecting rod 52 in the linkage mechanism 5 is limited, and the limitation on the translation of the mounting plate 2 is further completed;
when the second driving device 43 drives the moving plate 45 to move downwards, the first gear 46 and the spur rack 44 are disengaged, the two holding blocks 41 approach each other, and the rotation of the main shaft 3 is limited;
in conclusion, when the second driving device 43 drives the moving plate 45 to move downwards, the rotation of the spindle 3 is limited, and the translation of the mounting plate 2 is also limited, so that the multi-directional movement of the manipulator is stopped suddenly, and the safety of the winding action of the manipulator is improved.
The working principle is as follows:
the rotation of the main shaft 3 is limited by arranging the holding blocks 41 on the two sides of the main shaft 3 respectively; the straight rack 44 and the first gear 46 are arranged below the holding blocks 41, so that the two holding blocks 41 are far away from each other, and the limitation on the rotation of the manipulator is avoided when the manipulator winds wires; the limitation on the translation of the mounting plate 2 is realized by arranging the linkage mechanisms 5 between the mounting plate 2 and the base 1 and arranging two locking mechanisms 6 on each linkage mechanism 5; the moving plate 45 which slides up and down is arranged on the mounting plate 2, so that the manipulator can be scrammed while translating and rotating, and the safety of winding motion is improved.
The foregoing illustrates and describes the general principles, principal features, and advantages of the present disclosure. It will be understood by those skilled in the art that the present disclosure is not limited to the embodiments described above, which are presented solely for purposes of illustrating the principles of the disclosure, and that various changes and modifications may be made to the disclosure without departing from the spirit and scope of the disclosure, which is intended to be covered by the claims.
Claims (4)
1. A double-coordinate moving scram device of a winding manipulator comprises a mounting plate (2), a spindle (3) and a base (1), wherein the spindle (3) is rotatably connected with the mounting plate (2), and is characterized in that two sides of the spindle (3) are respectively provided with a holding block (41), and the holding blocks (41) are slidably connected with the mounting plate (2);
two sides of the mounting plate (2) are respectively provided with a baffle (22), a first spring (42) is arranged between the holding block (41) and the baffle (22), one end of the first spring (42) is fixedly connected with the side surface of the holding block (41), and the other end of the first spring is fixedly connected with the side surface of the baffle (22);
a linkage mechanism (5) is arranged between the mounting plate (2) and the base (1), and the linkage mechanism (5) comprises a first connecting rod (51) and two second connecting rods (52);
one end of the first connecting rod (51) is rotatably connected with the mounting plate (2), the other end of the first connecting rod is rotatably connected with one of the second connecting rods (52), the first connecting rod (51) is further rotatably connected with a third connecting rod (53), and one end of the third connecting rod (53) is rotatably connected with the other second connecting rod (52);
two third sliding grooves (11) are formed in the base (1), and the two second connecting rods (52) respectively slide on the base (1) along the two third sliding grooves (11);
and each second connecting rod (52) is provided with a locking mechanism (6), and the locking mechanism (6) is used for limiting the sliding of the second connecting rods (52).
2. The double-coordinate moving scram device of the winding manipulator of claim 1, wherein the base (1) is provided with a mounting groove (12), and the mounting groove (12) is vertically intersected with the third sliding groove (11);
the locking mechanism (6) comprises a supporting rod (61), the supporting rod (61) is fixed on the base (1), the upper end of the supporting rod (61) is rotatably connected with a fourth connecting rod (62), one end of the fourth connecting rod (62) is rotatably connected with a fifth connecting rod (63), the other end of the fourth connecting rod (62) is connected with a second spring (65), one end of the second spring (65) is fixedly connected with the fourth connecting rod (62), the other end of the second spring is fixedly connected with the base (1), and one end of the fifth connecting rod (63) is rotatably connected with a sixth connecting rod (64);
the sixth connecting rod (64) is L-shaped, and the bottom edge of the sixth connecting rod (64) slides up and down in the mounting groove (12);
the lower end face of the second connecting rod (52) is provided with teeth (522), and the bottom edge of the sixth connecting rod (64) is positioned below the teeth (522) on the lower end face of the second connecting rod (52).
3. The double-coordinate moving scram device of the winding manipulator as claimed in claim 2, wherein a moving plate (45) is connected to the mounting plate (2) in a sliding manner, the moving plate (45) is located below the spindle (3), and the moving plate (45) slides up and down on the mounting plate (2);
the lower ends of the two holding blocks (41) are respectively and fixedly connected with a straight rack (44), a first gear (46) is meshed below each straight rack (44), the two first gears (46) are meshed with each other, and the two first gears (46) are rotatably connected with the moving plate (45) through rotating shafts;
a second driving device (43) is fixedly arranged on the mounting plate (2), and a driving shaft of the second driving device (43) is connected with the moving plate (45);
when the moving plate (45) moves downwards, the moving plate (45) collides with one end, close to the second spring (65), of the fourth connecting rod (62).
4. The double-coordinate moving emergency stop device of the winding manipulator of claim 3, wherein one side of the first gear (46) is engaged with a second gear (47), a first driving device (48) is installed between the second gear (47) and the mounting plate (2), and the first driving device (48) is fixedly connected with the mounting plate (2) and drives or limits the rotation of the second gear (47).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011414114.2A CN112643659B (en) | 2020-12-03 | 2020-12-03 | Double-coordinate moving scram device of winding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011414114.2A CN112643659B (en) | 2020-12-03 | 2020-12-03 | Double-coordinate moving scram device of winding manipulator |
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| Publication Number | Publication Date |
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| CN112643659A CN112643659A (en) | 2021-04-13 |
| CN112643659B true CN112643659B (en) | 2022-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011414114.2A Active CN112643659B (en) | 2020-12-03 | 2020-12-03 | Double-coordinate moving scram device of winding manipulator |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3410317A (en) * | 1964-09-16 | 1968-11-12 | Ncr Co | Solenoid winding machine |
| JP2009264544A (en) * | 2008-04-28 | 2009-11-12 | Harmonic Drive Syst Ind Co Ltd | Brake device |
| CN102543421A (en) * | 2011-12-21 | 2012-07-04 | 吴江市合成电子机械厂 | Winding machine capable of braking in emergency |
| CN203784143U (en) * | 2014-03-11 | 2014-08-20 | 重庆市南方阻燃电线电缆厂 | Brake device of winding machine |
| CN105904452A (en) * | 2016-06-18 | 2016-08-31 | 朱旭红 | Fork clamp type mechanical arm |
| CN210240363U (en) * | 2019-05-31 | 2020-04-03 | 沧州会友线缆股份有限公司 | Twisting cage brake device of cabling machine |
| CN111906797A (en) * | 2020-08-07 | 2020-11-10 | 合肥市菲力克斯电子科技有限公司 | Moving device of double-coordinate winding manipulator |
-
2020
- 2020-12-03 CN CN202011414114.2A patent/CN112643659B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3410317A (en) * | 1964-09-16 | 1968-11-12 | Ncr Co | Solenoid winding machine |
| JP2009264544A (en) * | 2008-04-28 | 2009-11-12 | Harmonic Drive Syst Ind Co Ltd | Brake device |
| CN102543421A (en) * | 2011-12-21 | 2012-07-04 | 吴江市合成电子机械厂 | Winding machine capable of braking in emergency |
| CN203784143U (en) * | 2014-03-11 | 2014-08-20 | 重庆市南方阻燃电线电缆厂 | Brake device of winding machine |
| CN105904452A (en) * | 2016-06-18 | 2016-08-31 | 朱旭红 | Fork clamp type mechanical arm |
| CN210240363U (en) * | 2019-05-31 | 2020-04-03 | 沧州会友线缆股份有限公司 | Twisting cage brake device of cabling machine |
| CN111906797A (en) * | 2020-08-07 | 2020-11-10 | 合肥市菲力克斯电子科技有限公司 | Moving device of double-coordinate winding manipulator |
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| CN112643659A (en) | 2021-04-13 |
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