CN113251130A - Quick-release instrument - Google Patents
Quick-release instrument Download PDFInfo
- Publication number
- CN113251130A CN113251130A CN202110663277.2A CN202110663277A CN113251130A CN 113251130 A CN113251130 A CN 113251130A CN 202110663277 A CN202110663277 A CN 202110663277A CN 113251130 A CN113251130 A CN 113251130A
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- China
- Prior art keywords
- instrument
- rod
- shaft
- instrument rod
- button
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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.)
- Pending
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/0018—Shaft assemblies for gearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D1/00—Couplings for rigidly connecting two coaxial shafts or other movable machine elements
- F16D1/06—Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end
- F16D1/08—Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end with clamping hub; with hub and longitudinal key
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/0018—Shaft assemblies for gearings
- F16H57/0037—Special features of coaxial shafts, e.g. relative support thereof
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H2057/0062—Tools specially adapted for assembly of transmissions
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mutual Connection Of Rods And Tubes (AREA)
Abstract
The invention provides a quick-release instrument, wherein an instrument driving seat comprises a rotating assembly and a driving sliding block, the rotating assembly is detachably connected with a lock nut used for fixing a rod body of an instrument rod, and the driving sliding block is detachably connected with an installation end of the instrument rod. The instrument driving seat can effectively realize the detachable installation of the instrument rod, realizes the actual requirements of one-time use of the instrument rod and multiple use of the driving seat, and greatly reduces the use and maintenance cost of the robot instrument. On demountable installation's basis, through lock nut and dismouting subassembly, satisfied apparatus pole quick assembly disassembly's demand, raise the efficiency.
Description
Technical Field
The invention relates to the technical field of transmission devices, in particular to a quick-release instrument.
Background
The robot transmission dismantles the difficulty in the existing market, and during daily use, it is very inconvenient to change transmission, and when maintaining transmission, for solving the problem that transmission dismantles the difficulty, this application has provided an apparatus of dismantling fast to satisfy the demand that transmission dismantled fast and installed fast.
The connection between the existing robot instrument rod and the rear-end driving seat is relatively complex, and the requirements of disassembly and quick assembly and disassembly of the disposable instrument rod cannot be met.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a quick-release instrument, which realizes disposable use of a detachable front-end instrument rod and can enable the disassembly and the assembly between the instrument rod and a driving seat to be more rapid and convenient.
The invention provides a quick-release instrument for an instrument, which comprises an instrument rod and an instrument driving seat for mounting the instrument rod, wherein the instrument driving seat comprises a rotating assembly and a driving sliding block, the rotating assembly is detachably connected with a lock nut for fixing the instrument rod, and the driving sliding block is detachably connected with a mounting end of the instrument rod;
the rotating assembly comprises a rotating shaft, the instrument rod is installed in the rotating shaft, and the locking nut is detachably connected to the instrument rod in a penetrating mode and can be in threaded connection with the rotating shaft;
the driving sliding block comprises a thread fixing shaft which can be matched and connected with the installation end of the instrument rod, and a disassembly and assembly button is arranged on the radial outer side of the thread fixing shaft.
Furthermore, a positioning block is arranged on the instrument rod, and the locking nut prevents the instrument rod from moving along the axial direction through the positioning block in a locking state.
Furthermore, a rotating gear is installed on the radial outer side of the rotating shaft, and a pressing elastic sheet capable of preventing the rotating gear from rotating is connected to the rotating shaft.
Furthermore, the pressing elastic sheet is connected with an elastic sheet button.
Furthermore, the installation end of the instrument rod penetrates out of the rotating shaft and is in threaded connection with the driving sliding block.
Furthermore, the radial side wall of the thread fixing shaft is an outer hexagonal stud.
Further, the disassembly and assembly button comprises a hexagonal clamping groove capable of preventing the threaded fixing shaft from rotating.
Furthermore, the disassembly and assembly button is connected with a return spring, and a limit stop is arranged at a position close to the disassembly and assembly button.
Further, the device also comprises a screw rod, wherein the driving slide block is arranged on the screw rod and used for enabling the driving slide block to slide in a reciprocating mode.
A quick-release apparatus comprises the apparatus driving seat for the quick-release apparatus, and an apparatus rod is detachably mounted on the apparatus driving seat.
The quick-release instrument can effectively and detachably mount the instrument rod, realizes the one-time detachable replacement of the instrument rod and the actual requirement of multiple-use of the driving seat, and greatly reduces the use cost of the robot instrument.
On demountable installation's basis, through lock nut and dismouting button, satisfied in the operation apparatus pole quick assembly disassembly's demand, raise the efficiency.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
FIG. 1 is a schematic view of the driving seat of the instrument of the present invention;
FIG. 2 is a schematic cross-sectional view of the instrument drive socket of the present invention;
FIG. 3 is a view of the instrument shaft in mating relationship with the rotation assembly;
FIG. 4 is a diagram showing the fitting relationship between the pressing spring and the rotary gear;
FIG. 5 is a view showing the fitting relationship between the detachable button and the threaded shaft.
In the figure: 1-instrument rod, 2-rotating shaft, 3-rotating gear, 4-driving slider, 5-lock nut, 6-disassembly button, 7-return spring, 8-threaded fixed shaft, 9-limit stop, 10-spring button, 11-pressing spring, 12-positioning block, 13-driving joint and 14-screw rod.
Detailed Description
In order to clearly illustrate the inventive concept of the present invention, the present invention is described below with reference to examples.
In the description of the present invention, it should be noted that the terms "upper", "lower", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Example 1
As shown in fig. 1, the quick release device provided by the invention comprises a rotating assembly and a driving slider 4, wherein the rotating assembly is detachably connected with a lock nut 5 for fixing a rod body of the device rod 1, and the driving slider 4 is detachably connected with a mounting end of the device rod 1.
The rotating assembly comprises a rotating shaft 2, the instrument rod 1 is installed in the rotating shaft 2, and a lock nut 5 is detachably connected to the instrument rod 1 in a penetrating mode and can be in threaded connection with the rotating shaft 2;
the driving slider 4 comprises a thread fixing shaft 8 which can be matched and connected with the installation end of the instrument rod 1, and a disassembly and assembly button 6 is arranged on the radial outer side of the thread fixing shaft 8.
The invention respectively realizes the detachable installation of the instrument rod in the aspects of rotation and sliding motion. The instrument rod of the quick-release instrument mainly has two actions in the using process, one is the rotation motion of the instrument, and the other is the opening and closing motion of the using end of the instrument, wherein the rotation motion of the instrument rod is mainly driven by the rotation component, and the opening and closing motion is mainly realized by the sliding motion of the driving sliding block to the instrument rod.
The invention mainly relates to an improvement on the detachable installation angle of an instrument rod based on the structures of a rotating assembly and a driving slider, effectively realizes the detachable installation of the whole instrument rod on an instrument driving seat through a locking nut for fixing the rod body of the instrument rod and the detachable connection of the driving slider and the installation end of the instrument rod, can realize the quick detachment and installation of the instrument rod on the basis of the detachable connection, effectively realizes the disposable use of the instrument rod, and greatly improves the efficiency.
In the invention, the instrument rod is in matching connection with the rotating assembly and the driving sliding block, the instrument rod passes through the rotating assembly, and the connecting tail end (mounting end) of the instrument rod is in threaded connection with the driving sliding block. In order to more clearly express the technical solution of the present invention, the connection relationship between the instrument rod and the rotating assembly and the driving slider will be described in detail below with different embodiments.
Example 2
Referring to fig. 1-2, and with reference to fig. 3-4, the present embodiment is described from the perspective of rotationally attaching and detaching a lock nut, i.e., an instrument rod 1, a rotation assembly according to the present invention includes a rotation gear 3 and a rotation shaft 2 connected to the rotation gear 3, and a lock nut 5 detachably threaded on the instrument rod 1 and capable of being threadedly connected to the rotation shaft 2.
The instrument rod 1 in this embodiment is installed in the rotating shaft 2, and specifically, the flat shaft section included in the instrument rod 1 is matched with the rotating shaft 2, and the rotating shaft 2 is provided with a slot of a hollow structure matched with the flat shaft section in shape, so that the instrument rod 1 can pass through the slot, and the instrument rod 1 rotates along with the rotating shaft 2 through the mutual matching of the flat shaft section 15 and the slot.
The lock nut 5 threaded on the rod body of the instrument rod 1 can fix the rod body of the instrument rod 1 on the rotating shaft 2, and specifically, after the instrument rod 1 is installed in the rotating shaft 2 in place, the lock nut 5 is in threaded connection with the rotating shaft 2, so that the lock nut 5 can generate radial acting force on the instrument rod 1, and the lock nut 5 can surround and fix the instrument rod 1. It should be noted that, a positioning block 12 is disposed at an end of the flat shaft section of the instrument rod 1 away from the rotating shaft 2, the locking nut 5 can encase the positioning block 12, and after the locking nut 5 is locked, the positioning block 12 can be made to cling to an end face of the rotating shaft 2, so as to prevent the instrument rod 1 from moving in the axial direction.
In order to prevent the rotation shaft 2 from rotating with the rotation gear 3 when the lock nut 5 is rotated, the rotation shaft 2 is connected with a pressing spring piece 11 capable of preventing the rotation gear 3 from rotating, the pressing spring piece 11 is connected with a spring piece button 10, the spring piece button 10 needs to be pressed before the lock nut 5 is screwed, the pressing spring piece 11 is clamped into a groove in the rotation gear 3, the rotation gear 3 and the rotation shaft 2 cannot rotate, and then the lock nut 5 is rotated, so that the threaded connection of the lock nut 5 on the rotation shaft 2 is realized.
Through pressing shell fragment and lock nut, only need block rotatory gear after, twist soon lock nut and can make the dismouting of apparatus pole on the rotation axis, easy operation is convenient, satisfies apparatus pole quick assembly disassembly's actual demand.
Example 3
With reference to fig. 2 and fig. 5, the present embodiment is illustrated from the perspective of the instrument stem in terms of its slidable attachment and detachment. The instrument rod 1 is connected to the rotating assembly and the driving slider 4 at the same time, the installation end of the instrument rod 1 penetrates through the rotating shaft 2 and then is connected to the driving slider 4 located in the driving seat, the installation end of the instrument rod 1 is in threaded connection with the driving slider 4, and the instrument rod 1 can slide back and forth along with the driving slider 4 by connecting the installation end of the instrument rod 1 to the driving slider 4 in a threaded manner.
Specifically, a thread fixing shaft 8 capable of being in threaded connection with the installation end of the instrument rod 1 is arranged on the driving slider 4, the radial side wall of the thread fixing shaft 8 is an outer hexagonal stud, a dismounting button 6 is arranged on the driving seat, and the dismounting button 6 comprises a hexagonal clamping groove capable of clamping the outer hexagonal stud and preventing the thread fixing shaft 8 from rotating, so that the rotation of the thread fixing shaft 8 is limited.
When the installation, after the installation end of the instrument rod 1 penetrates out of the rotating shaft 2, because the thread fixing shaft 8 cannot rotate under the limitation of the hexagonal clamping groove on the disassembly and assembly button 6, the thread on the installation end of the instrument rod 1 can be matched and connected with the thread on the thread fixing shaft 8 by rotating the instrument rod 1, and the two are combined together.
In this embodiment, the disassembly and assembly button 6 is connected with a return spring 7, the return spring 7 is specifically arranged between the disassembly and assembly button 6 and the driving slider 4, and the return spring 7 is specifically a compression spring, so that the disassembly and assembly button 6 can be automatically reset after being pressed. Through pressing the dismouting button 6, make the hexagonal draw-in groove carry on spacing fixedly to screw thread fixed axle 8, and then revolve wrong apparatus pole 1 again, make the connection end connection of apparatus pole 1 on screw thread fixed axle 8.
Example 4
Referring to fig. 1-2 and fig. 5, in order to avoid the loosening of the instrument rod 1 caused by mistakenly pressing the dismounting button 6 in the normal use process, a limit stop 9 capable of preventing the dismounting button 6 from being pressed is further arranged on the instrument driving seat, so that the dismounting button 6 cannot be pressed in the normal use range.
The press operation of the dismounting button 6 is completed by matching with the installation of the instrument rod 1. Specifically, the instrument lever 1 is attached and detached as an example.
When the instrument rod 1 is disassembled, firstly, the elastic sheet 11 button 10 needs to be pressed, the pressing elastic sheet 11 blocks the rotary gear 3, then the locking nut 5 is screwed and loosened anticlockwise, the instrument rod 1 can drive the driving sliding block 4 to move outwards along the axial direction, namely, the instrument driving seat is far away from the direction, the dismounting button 6 is enabled to break away from the constraint of the limit baffle 9 when the dismounting button moves outwards, the dismounting button 6 can be normally pressed, the hexagonal clamping groove in the dismounting button 6 blocks the outer hexagonal stud on the thread fixing shaft 8, then the instrument rod 1 is screwed anticlockwise, the instrument rod 1 and the thread fixing shaft 8 move relatively, finally, the instrument rod 1 and the driving sliding block 4 fall off, then the instrument rod 1 is pulled out outwards and taken out, and the disassembly of the instrument rod 1 is completed.
When the instrument rod 1 is installed, the elastic sheet button 10 needs to be pressed at first, then the instrument rod 1 penetrates through the rotating shaft 2, the instrument rod 1 is rotated clockwise until being screwed down, the driving sliding block is pushed backwards to a normal station, finally the locking nut 5 is installed in the locking nut 5, and the instrument rod 1 is installed on the instrument driving seat through being screwed down clockwise.
In the installation process, because the form that can not drive slider 4 through pulling out apparatus pole 1 and remove makes dismouting button 6 can normally press this moment, in order to guarantee that dismouting button 6 can block screw thread fixed axle 8, need make drive slider 4 can slide. The end face of the instrument driving seat is provided with a driving joint 13, the driving joint 13 is connected with a screw 14 located inside a driving slider, the driving slider 4 is installed on the screw 14 and can convert the rotary motion of the screw 14 into the linear motion of the driving slider 4, the driving joint 13 is screwed manually to enable the driving slider 4 to slide, and then the dismounting button 6 can be pressed normally, the dismounting button 6 is enabled to clamp a hexagonal stud, and the instrument rod 1 is in threaded connection with the threaded fixing shaft 8.
The limit stop 9 in the invention can prevent the dismounting button 6 from being used in normal operation, and only after the front locking nut 5 is taken down and pulled out for a certain distance, the dismounting of the instrument rod 1 on the thread fixing shaft 8 can be carried out, thus ensuring the normal safe use of the instrument.
In addition, because the disassembly and assembly button 6 is connected with the return spring 7, the return spring 7 in the form of a compressed spring can ensure that a gap is reserved between the disassembly and assembly button 6 and the driving slider 4 under the condition that the disassembly and assembly button 6 is not pressed, so that when the driving slider 4 is pushed inwards, the limit stop 9 enters the gap, and the protection effect of the limit stop 9 under the normal operation condition is recovered.
Example 5
The invention also provides a quick-release instrument which specifically comprises the instrument driving seat for the instrument, wherein the instrument rod is detachably arranged on the instrument driving seat.
The quick-release instrument can detachably connect the instrument rod to the instrument driving seat, so that the instrument rod is disposable, the driving seat can be reused, and the use and maintenance cost of the robot is greatly reduced.
Finally, it is to be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not intended to be limiting. It will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention, and these changes and modifications are to be considered as within the scope of the invention.
Claims (10)
1. A quick-release instrument comprises an instrument rod and an instrument driving seat used for installing the instrument rod, wherein the instrument driving seat comprises a rotating assembly and a driving sliding block;
the rotating assembly comprises a rotating shaft, the instrument rod is installed in the rotating shaft, and the locking nut is detachably connected to the instrument rod in a penetrating mode and can be in threaded connection with the rotating shaft;
the driving sliding block comprises a thread fixing shaft which can be matched and connected with the installation end of the instrument rod, and a disassembly and assembly button is arranged on the radial outer side of the thread fixing shaft.
2. The instrument of claim 1, wherein the instrument rod is provided with a positioning block, and the lock nut prevents the instrument rod from moving in the axial direction through the positioning block in the locked state.
3. The apparatus according to claim 1, wherein a rotary gear is mounted radially outside the rotary shaft, and a pressing spring plate capable of preventing the rotary gear from rotating is connected to the rotary shaft.
4. The apparatus according to claim 3, wherein said push dome is connected to a dome button.
5. The instrument of claim 1, wherein the mounting end of the instrument rod extends through the rotatable shaft and is threaded onto the drive slide.
6. The instrument of claim 1 wherein the radial sidewall of the threaded fixation shaft is an outer hex stud.
7. The apparatus of claim 6, wherein the disassembly and assembly button comprises a hex socket configured to prevent rotation of the threaded fixation shaft.
8. The apparatus according to claim 7, wherein a return spring is connected to the disassembly and assembly button, and a limit stop is arranged at a position close to the disassembly and assembly button.
9. The instrument of claim 8, further comprising a threaded rod, the drive slide being mounted on the threaded rod for enabling reciprocal sliding movement of the drive slide.
10. The instrument of claim 9, wherein the instrument rod is removably mounted to the instrument drive socket.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110663277.2A CN113251130A (en) | 2021-06-16 | 2021-06-16 | Quick-release instrument |
| PCT/CN2022/093317 WO2022242638A1 (en) | 2021-05-19 | 2022-05-17 | Detachable manipulator and surgical robot comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110663277.2A CN113251130A (en) | 2021-06-16 | 2021-06-16 | Quick-release instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113251130A true CN113251130A (en) | 2021-08-13 |
Family
ID=77188043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110663277.2A Pending CN113251130A (en) | 2021-05-19 | 2021-06-16 | Quick-release instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113251130A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022242638A1 (en) * | 2021-05-19 | 2022-11-24 | 成都博恩思医学机器人有限公司 | Detachable manipulator and surgical robot comprising same |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107320156A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | The control device and micro-wound operation robot of a kind of ultrasound knife |
| CN107374735A (en) * | 2017-07-31 | 2017-11-24 | 成都中科博恩思医学机器人有限公司 | Transmission component, the operating theater instruments of operating robot and operating robot |
| CN108697477A (en) * | 2016-03-04 | 2018-10-23 | 柯惠Lp公司 | Robotic surgical sub-assembly |
| CN111012385A (en) * | 2018-10-09 | 2020-04-17 | 成都博恩思医学机器人有限公司 | Surgical instrument transmission mechanism |
| CN111012389A (en) * | 2018-10-09 | 2020-04-17 | 成都博恩思医学机器人有限公司 | Quick-release structure for connecting instrument transmission seat and isolation seat of minimally invasive surgical instrument |
| CN111904511A (en) * | 2020-09-02 | 2020-11-10 | 常州安康医疗器械有限公司 | Minimally invasive anastomat with guide mechanism |
| CN112971995A (en) * | 2021-05-19 | 2021-06-18 | 成都博恩思医学机器人有限公司 | Separable manipulator device |
-
2021
- 2021-06-16 CN CN202110663277.2A patent/CN113251130A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108697477A (en) * | 2016-03-04 | 2018-10-23 | 柯惠Lp公司 | Robotic surgical sub-assembly |
| CN107320156A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | The control device and micro-wound operation robot of a kind of ultrasound knife |
| CN107374735A (en) * | 2017-07-31 | 2017-11-24 | 成都中科博恩思医学机器人有限公司 | Transmission component, the operating theater instruments of operating robot and operating robot |
| CN111012385A (en) * | 2018-10-09 | 2020-04-17 | 成都博恩思医学机器人有限公司 | Surgical instrument transmission mechanism |
| CN111012389A (en) * | 2018-10-09 | 2020-04-17 | 成都博恩思医学机器人有限公司 | Quick-release structure for connecting instrument transmission seat and isolation seat of minimally invasive surgical instrument |
| CN111904511A (en) * | 2020-09-02 | 2020-11-10 | 常州安康医疗器械有限公司 | Minimally invasive anastomat with guide mechanism |
| CN112971995A (en) * | 2021-05-19 | 2021-06-18 | 成都博恩思医学机器人有限公司 | Separable manipulator device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022242638A1 (en) * | 2021-05-19 | 2022-11-24 | 成都博恩思医学机器人有限公司 | Detachable manipulator and surgical robot comprising same |
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Application publication date: 20210813 |