CN113910289B - Ring joint - Google Patents
Ring joint Download PDFInfo
- Publication number
- CN113910289B CN113910289B CN202111024440.7A CN202111024440A CN113910289B CN 113910289 B CN113910289 B CN 113910289B CN 202111024440 A CN202111024440 A CN 202111024440A CN 113910289 B CN113910289 B CN 113910289B
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- China
- Prior art keywords
- rotating
- rotating ring
- driving piece
- rotating shaft
- piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Abstract
The application relates to the field of mechanical connecting pieces and discloses a ring joint which comprises a rotating disc, a central piece and a driving piece group, wherein the rotating disc comprises a rotating ring group and a rotating shaft group, the rotating ring group comprises a first rotating ring and a second rotating ring, and the rotating shaft group comprises a first rotating shaft and a second rotating shaft; the first rotating ring is rotationally connected with the second rotating ring through a first rotating shaft, and the second rotating ring is rotationally connected with the central piece through a second rotating shaft; the axis of the first rotating shaft is intersected with the axis of the second rotating shaft to form a cross shaft in a combined mode; the first rotating ring is driven by the driving piece group to swing circumferentially around the central piece, and the driving piece group comprises a first driving piece which drives the first rotating ring to rotate around a first rotating shaft and a second driving piece which drives the rotating ring to rotate around a second rotating shaft; the first driving piece and the second driving piece are arranged in opposite driving directions in the circumferential swinging process of the first rotating ring around the central piece. A joint capable of realizing universal rotation is provided.
Description
Technical Field
The application relates to the field of mechanical connectors, in particular to a joint ring.
Background
Robots can simulate certain actions of hands and arms to grasp, handle objects or operate an automated handling device of a tool in a fixed procedure. The robot includes a hand, an arm, and a robot joint for interconnecting the hand and the arm to enable movement of the hand relative to the arm. The existing robot has limited joint movement angle, so that the robot cannot perform multi-angle fine operation, and the use environment of the robot is limited.
Disclosure of Invention
The application mainly solves the technical problem that the motion angle of the existing joint is limited, so that multi-angle fine operation cannot be realized, and provides the annular joint capable of realizing universal rotation.
In order to solve the technical problem and achieve the above-mentioned purpose, the present application provides a joint, which is characterized by comprising a rotating disc, a central piece and a driving piece, wherein the rotating disc comprises a rotating ring set and a rotating shaft set, the rotating ring set comprises a first rotating ring and a second rotating ring, and the rotating shaft set comprises a first rotating shaft and a second rotating shaft; the first rotating ring is rotationally connected with the second rotating ring through the first rotating shaft, and the second rotating ring is rotationally connected with the central piece through the second rotating shaft; the axis of the first rotating shaft is intersected with the axis of the second rotating shaft to form a cross shaft in a combined mode; the first rotating ring swings circumferentially around the central piece under the drive of the driving piece, and the driving piece group comprises a first driving piece driving the first rotating ring to rotate around the first rotating shaft and a second driving piece driving the rotating ring to rotate around the second rotating shaft; the first driving piece and the second driving piece are oppositely arranged in the driving direction in the circumferential swinging process of the first rotating ring around the central piece.
In an embodiment, the center piece is a shaft part, the rotating disc is sleeved outside the center piece, and the first rotating ring is sleeved outside the second rotating ring.
In an embodiment, the first end of the center piece is provided with the rotating disc, the second end of the center piece is provided with the chassis, and the first driving piece and the second driving piece are longitudinally arranged between the rotating disc and the chassis.
In an embodiment, the first end of the first driving element and the first end of the second driving element are connected with the first rotating ring, the second end of the first driving element and the second driving element are connected with the chassis, the connection point of the first driving element and the first rotating ring is arranged at one side of the axis of the first rotating shaft, and the connection point of the second driving element and the first rotating ring is arranged at the connection point of the first rotating shaft and the first rotating ring.
In one embodiment, the axis of the first rotating shaft is perpendicular to the axis of the second rotating shaft.
In one embodiment, the connection point of the first driving element and the first rotating ring is arranged on the axis of the first rotating shaft, and the connection point of the second driving element and the first rotating ring is arranged on the axis of the second rotating shaft.
In an embodiment, the first driving member and the second driving member each include a main rod and a push rod connected to the first rotating ring and the chassis, the main rod is disposed between the two push rods, the push rod is connected to the main rod, and the push rod moves telescopically relative to the main rod.
In an implementation manner, the push rod is connected with the first rotating ring or the chassis through a connecting ball, sliding grooves matched with the connecting ball are formed in the first rotating ring and the chassis, and when the first driving piece and the second driving piece stretch up and down, the connecting ball slides radially in the sliding grooves.
In an embodiment, a plurality of detection points are circumferentially arranged on the first rotating ring at intervals, and distance detection devices for detecting the distance between the detection points and the chassis are arranged on the detection points.
In one embodiment, the first rotating ring is provided with a rotating hole for connecting with the connecting shaft.
Compared with the prior art, the annular joint has the following beneficial effects:
the first rotating ring rotates around the first rotating shaft under the drive of the first driving piece, the rotating disc rotates around the second rotating shaft under the drive of the second driving piece, the rotation of the rotating disc around the second rotating shaft forms revolution of the first rotating ring, and the first rotating ring forms circumferential swinging of the first rotating ring around the central piece under the rotation and revolution of the first rotating ring due to the restraint between the first rotating shaft, the second rotating shaft and the central piece, so that the variability of the use environment of the first rotating ring is increased in the use process of the first rotating ring serving as a rotating joint;
therefore, the application has the characteristics of reasonable structure, convenient use and the like.
Drawings
FIG. 1 is a front view of the present application;
FIG. 2 is a top view of the present application;
FIG. 3 is a schematic view of a first or second driving member according to the present application;
fig. 4 is an isometric view of the present application with the drive assembly removed.
The reference numerals in the figures illustrate: 1. a center piece; 2. a first rotating ring; 3. a second rotating ring; 4. a first rotation shaft; 5. a second rotation shaft; 6. a first driving member; 7. a second driving member; 8. a chassis; 9. a main rod; 10. a push rod; 11. a connecting ball; 12. a sliding groove; 13. a baffle; 14. a detection point; 15. and rotating the hole.
Detailed Description
In order to make the objects, features and advantages of the present application more comprehensible, the technical solutions according to the embodiments of the present application will be clearly described in the following with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The robot in the prior art has limited joint movement angle, so that the robot cannot perform multi-angle fine operation, and the use environment of the robot is limited.
The application provides a ring joint, which comprises a rotating disc, a central piece 1 and a driving piece group, wherein the rotating disc comprises a rotating ring group and a rotating shaft group, the rotating ring group comprises a first rotating ring 2 and a second rotating ring 3, and the rotating shaft group comprises a first rotating shaft 4 and a second rotating shaft 5; the first rotating ring 2 is rotationally connected with the second rotating ring 3 through a first rotating shaft 4, and the second rotating ring 3 is rotationally connected with the central piece 1 through a second rotating shaft 5; the axis of the first rotating shaft 4 intersects with the axis of the second rotating shaft 5 to form a cross in combination; the first rotating ring swings circumferentially around the central piece 1 under the drive of a driving piece group, and the driving piece group comprises a first driving piece 6 for driving the first rotating ring 2 to rotate around the first rotating shaft 4 and a second driving piece 7 for driving the rotating ring to rotate around the second rotating shaft 5; the first drive member 6 is arranged opposite to the drive direction of the second drive member 7 during the circumferential oscillation of the first rotation ring 2 around the central member 1.
Examples:
figures 1 to 4 show one embodiment of the annulus of the present application.
Referring to fig. 1 and 2, an embodiment of the present application shows a ring joint, which is used as a middle member and is respectively connected with two connecting shafts, and forms rotation between the two connecting shafts in the rotation process of the ring joint, the ring joint comprises a rotating disc, a central member 1 and a driving member set, the rotating disc comprises a rotating ring set and a rotating shaft set, the rotating ring set comprises a first rotating ring 2 and a second rotating ring 3, the rotating shaft set comprises a first rotating shaft 4 and a second rotating shaft 5, and the first rotating ring swings around the central member 1 circumferentially under the driving of the driving member set.
In the embodiment of the application, the first rotating ring 2 is rotatably connected with the second rotating ring 3 through the first rotating shaft 4, wherein the first rotating shaft 4 is fixedly connected with the second rotating ring 3, a first rotating hole 15 which is in clearance fit with the first rotating shaft 4 is arranged on the first rotating ring 2, and a clamping piece for clamping the first rotating shaft 4 in the first rotating hole 15 is arranged on the first rotating shaft 4, so that the first rotating shaft 4 always rotates in the first rotating hole 15.
Wherein, the clamping piece is detachably connected with the first rotating shaft 4, and in a preferable state, the clamping piece is in threaded or interference fit with the first rotating shaft 4 in a detachable mode.
The fixed connection mode between the first rotating shaft 4 and the second rotating ring 3 is that the first rotating shaft 4 and the first rotating ring 2 are integrally manufactured or the first rotating shaft 4 and the first rotating ring 2 are separately manufactured and then are connected by welding or bonding.
The first rotation shaft 4 includes a first rotation left shaft and a first rotation right shaft that are coaxially disposed, and the first rotation hole 15 includes a first rotation left Kong Jidi-rotation right hole that is coaxially disposed. The first rotating left shaft is in clearance fit with the first rotating left hole, and the first rotating right shaft is in clearance fit with the first rotating right hole.
In the embodiment of the application, the second rotating ring 3 is rotatably connected with the intermediate member through the second rotating shaft 5, wherein the second rotating shaft 5 is fixedly connected with the intermediate member, the second rotating ring 3 is provided with a second rotating hole 15 which is in clearance fit with the second rotating shaft 5, and the second rotating shaft 5 is provided with a clamping piece for clamping the second rotating shaft 5 in the second rotating hole 15, so that the second rotating shaft 5 always rotates in the second rotating hole 15.
Wherein, the clamping piece is detachably connected with the second rotating shaft 5, and the detachable mode between the clamping piece and the second rotating shaft 5 is screw thread or interference fit.
The fixed connection mode between the second rotating shaft 5 and the second rotating ring 3 is that the second rotating shaft 5 and the second rotating ring 3 are integrally manufactured or the second rotating shaft 5 and the second rotating ring 3 are separately manufactured and then connected by welding or bonding and the like.
The second rotation shaft 5 includes a second rotation left shaft and a second rotation right shaft that are coaxially disposed, and the second rotation hole 15 includes a second rotation left Kong Jidi two rotation right holes that are coaxially disposed. The second rotating left shaft is in clearance fit with the second rotating left hole, and the second rotating right shaft is in clearance fit with the second rotating right hole.
In the embodiment of the present application, the axis of the first rotating shaft 4 intersects with the axis of the second rotating shaft 5 to form a cross in combination, thereby preventing the first rotating shaft 4 and the second rotating shaft 5 from interfering during the rotation of the first rotating ring 2.
In a preferred state, the axis of the first rotating shaft 4 is perpendicular to the axis of the second rotating shaft 5.
In the embodiment of the application, the driving member group comprises a first driving member 6 for driving the first rotating ring 2 to rotate around the first rotating shaft 4 and a second driving member 7 for driving the first rotating ring 2 to rotate around the second rotating shaft 5, and the driving directions of the first driving member 6 and the second driving member 7 are opposite in the process of swinging around the central member 1 circumferentially.
The first rotating ring 2 rotates around the first rotating shaft 4 under the drive of the first driving piece 6, the rotating disc rotates around the second rotating shaft 5 under the drive of the second driving piece 7, the rotation of the rotating disc around the second rotating shaft 5 forms revolution of the first rotating ring 2, and the first rotating ring 2 forms circumferential swinging of the first rotating ring 2 around the central piece 1 under the rotation and revolution of the first rotating ring 2 due to the constraint between the first rotating shaft 4 and the second rotating shaft 5 and the central piece 1, so that the variability of the use environment of the first rotating ring 2 is increased in the use process of the first rotating ring serving as a rotating joint.
Wherein the rotation angle of the second rotation ring 3 around the second rotation axis 5 is plus or minus 45 deg., and the rotation angle of the first rotation ring 2 around the center piece 1 is 360 deg..
In the embodiment of the application, the ring joint is sequentially provided with a first rotating ring 2, a second rotating ring 3 and a central piece 1 from outside to inside, the inner diameter of the first rotating ring 2 is larger than the outer diameter of the second rotating ring 3, and the inner diameter of the second rotating ring 3 is larger than the outer diameter of the central piece 1, so that disc parts which are sequentially sleeved from inside to outside are formed. Since the set of driving elements acts on the first rotating ring 2, the first rotating ring 2 is a driving element and the second rotating ring 3 is a driven element.
In the embodiment of the application, the central member 1 may be a rotating ring or a shaft-like member. When the center piece 1 is a shaft part, a rotating disc is arranged at the first end of the center piece 1, a chassis 8 is arranged at the second end of the center piece 1, and the first driving piece 6 and the second driving piece 7 are longitudinally arranged between the rotating disc and the chassis 8 along the axis of the center piece 1. The chassis 8 has two functions, namely, a function as a connecting piece for connecting a connecting shaft, and a function of abutting against the first driving piece 6 and the second driving piece 7 for further driving the first rotating ring 2 to rotate around the central piece 1.
In the embodiment of the application, the first end of the first driving piece 6 and the first end of the second driving piece 7 are connected with the first rotating ring 2, the second end of the first driving piece 6 and the second driving piece 7 are connected with the chassis 8, the connection point of the first driving piece 6 and the first rotating ring 2 is arranged on one side of the axis of the first rotating shaft 4, the first driving piece 6 can drive the first rotating ring 2 to rotate around the first rotating shaft 4 when moving up and down axially to form rotation of the first rotating ring 2, and the connection point of the second driving piece 7 and the first rotating ring 2 is arranged at the connection position of the first rotating shaft 4 and the first rotating ring 2, so that the first rotating shaft 4 is connected with the second rotating ring 3 as a connection shaft, and the whole rotating ring is driven to rotate around the second rotating shaft 5 to form revolution of the first rotating ring 2.
In a preferred state, the connection point of the first driving piece 6 and the first rotating ring 2 is arranged on the axis of the first rotating shaft 4, and the connection point of the second driving piece 7 and the first rotating ring 2 is arranged on the axis of the second rotating shaft 5, so that interference between the first driving piece 6 and the second driving piece 7 in the moving process is avoided.
In the embodiment of the application, the first driving member 6 and the second driving member 7 are both hydraulic driving mechanisms, the first driving member 6 and the second driving member 7 each comprise a main rod 9, a push rod 10 connected with the first rotating ring 2 and the chassis 8, a main rod 9 is arranged between the two push rods 10, the push rod 10 is connected with the main rod 9, the push rod 10 and the main rod 9 are coaxially arranged, and the push rod 10 moves in a telescopic manner relative to the main rod 9, so as to drive the first rotating ring 2 to rotate.
Meanwhile, referring to fig. 3, the first driving member 6 and the second driving member 7 may also include a main rod 9 and a push rod 10, where the push rod 10 is connected with the first rotating ring 2, the main rod 9 is connected with the chassis 8, the push rod 10 is coaxially disposed with the main rod 9, and the push rod 10 stretches and contracts relative to the main rod 9, so as to drive the first rotating ring 2 to rotate.
In the embodiment of the present application, referring to fig. 4, a push rod 10 is connected to a first rotating ring 2 and a chassis 8 through a connecting ball 11, sliding grooves 12 adapted to the connecting ball 11 are provided on the first rotating ring 2 and the chassis 8, when the first driving member 6 or the second driving member 7 stretches up and down, the connecting ball 11 slides radially in the sliding grooves 12, and a blocking piece 13 for preventing the connecting ball 11 from sliding out of the sliding grooves 12 is provided at an edge of the sliding grooves 12.
In the embodiment of the present application, a plurality of detection points 14 are circumferentially arranged on the first rotating ring 2 at intervals, and a distance detection device for detecting the distance between the detection points 14 and the chassis 8 is arranged on the detection points 14, wherein the detection points 14 are specifically embodied as detection holes, the distance detection device is arranged in the detection holes, and the distance detection device obtains the rotating angle of the first rotating ring 2 through multi-point detection and calculation.
In the embodiment of the application, the first rotating ring 2 is provided with a rotating hole 15 for connecting the connecting shaft, thereby being applicable to various robots.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The foregoing is merely illustrative embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present application, and the application should be covered. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (5)
1. A ring joint is characterized by comprising a rotating disc, a central piece (1) and a driving piece group,
the center piece (1) is a shaft part, the first end of the center piece (1) is provided with the rotating disc, and the second end of the center piece (1) is provided with the chassis (8);
the rotating disc comprises a rotating ring group and a rotating shaft group, the rotating ring group comprises a first rotating ring (2) and a second rotating ring (3), and the rotating shaft group comprises a first rotating shaft (4) and a second rotating shaft (5); the first rotating ring (2) is rotationally connected with the second rotating ring (3) through the first rotating shaft (4), and the second rotating ring (3) is rotationally connected with the central piece (1) through the second rotating shaft (5); the axis of the first rotating shaft (4) is intersected with the axis of the second rotating shaft (5) to form a cross shaft in a combined way; the first rotating ring (2) swings circumferentially around the central piece (1) under the drive of the driving piece group;
the driving piece group comprises a first driving piece (6) for driving the first rotating ring (2) to rotate around the first rotating shaft (4) and a second driving piece (7) for driving the rotating ring to rotate around the second rotating shaft (5); the first driving piece (6) and the second driving piece (7) are longitudinally arranged between the rotating disc and the chassis (8); the first end of the first driving piece (6) and the first end of the second driving piece (7) are connected with the first rotating ring (2), the second end of the first driving piece (6) and the second driving piece (7) are connected with the chassis (8), the connecting point of the first driving piece (6) and the first rotating ring (2) is arranged on one side of the axis of the first rotating shaft (4), and the connecting point of the second driving piece (7) and the first rotating ring (2) is arranged at the connecting position of the first rotating shaft (4) and the first rotating ring (2);
the first driving piece (6) and the second driving piece (7) are oppositely arranged in the driving direction during the circumferential swinging process of the first rotating ring (2) around the central piece (1);
the connecting point of the first driving piece (6) and the first rotating ring (2) is arranged on the axis of the first rotating shaft (4), and the connecting point of the second driving piece (7) and the first rotating ring (2) is arranged on the axis of the second rotating shaft (5);
the first driving piece (6) and the second driving piece (7) comprise a main rod (9) and push rods (10) connected with the first rotating ring (2) and the chassis (8), the main rod (9) is arranged between the two push rods (10), the push rods (10) are connected with the main rod (9), and the push rods (10) move in a telescopic mode relative to the main rod (9);
the push rod (10) is connected with the first rotating ring (2) and the chassis (8) through a connecting ball (11), the first rotating ring (2) and the chassis (8) are provided with a sliding groove (12) matched with the connecting ball (11), and when the first driving piece (6) or the second driving piece (7) stretches up and down, the connecting ball (11) slides radially in the sliding groove (12).
2. The annulus according to claim 1, characterized in that the rotating disc is sleeved outside the centre piece (1), and the first rotating ring (2) is sleeved outside the second rotating ring (3).
3. The annulus according to claim 1, characterized in that the axis of the first rotation shaft (4) is arranged perpendicular to the axis of the second rotation shaft (5).
4. A joint according to any one of claims 1 to 3, characterized in that a plurality of detection points (14) are circumferentially arranged on the first rotating ring (2) at intervals, and distance detection means for detecting the distance between the detection points (14) and the chassis (8) are arranged on the detection points (14).
5. The joint according to claim 4, characterized in that the first rotating ring (2) is provided with a rotating hole (15) for connecting a connecting shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111024440.7A CN113910289B (en) | 2021-09-02 | 2021-09-02 | Ring joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111024440.7A CN113910289B (en) | 2021-09-02 | 2021-09-02 | Ring joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113910289A CN113910289A (en) | 2022-01-11 |
| CN113910289B true CN113910289B (en) | 2023-09-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111024440.7A Active CN113910289B (en) | 2021-09-02 | 2021-09-02 | Ring joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113910289B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05116086A (en) * | 1991-10-29 | 1993-05-14 | Honda Motor Co Ltd | Wrist device of robot |
| WO2006064625A1 (en) * | 2004-12-14 | 2006-06-22 | Honda Motor Co., Ltd. | Joint structure for robot |
| CN101863035A (en) * | 2010-07-02 | 2010-10-20 | 华中科技大学 | Flexible waist for robot |
| CN110171015A (en) * | 2019-05-21 | 2019-08-27 | 太原理工大学 | A kind of hydraulic-driven Three-degree-of-freedom spherical wrist of mobile decoupling |
| CN112173071A (en) * | 2020-11-26 | 2021-01-05 | 尚良仲毅(沈阳)高新科技有限公司 | Unmanned aerial vehicle and cross plate mechanism and control method thereof |
| CN112873266A (en) * | 2021-01-22 | 2021-06-01 | 北京理工大学 | Humanoid robot and two-degree-of-freedom modular humanoid robot joint thereof |
| CN113084700A (en) * | 2021-03-25 | 2021-07-09 | 上海智能制造功能平台有限公司 | Grinding device of machine arm and machine arm |
-
2021
- 2021-09-02 CN CN202111024440.7A patent/CN113910289B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05116086A (en) * | 1991-10-29 | 1993-05-14 | Honda Motor Co Ltd | Wrist device of robot |
| WO2006064625A1 (en) * | 2004-12-14 | 2006-06-22 | Honda Motor Co., Ltd. | Joint structure for robot |
| CN101863035A (en) * | 2010-07-02 | 2010-10-20 | 华中科技大学 | Flexible waist for robot |
| CN110171015A (en) * | 2019-05-21 | 2019-08-27 | 太原理工大学 | A kind of hydraulic-driven Three-degree-of-freedom spherical wrist of mobile decoupling |
| CN112173071A (en) * | 2020-11-26 | 2021-01-05 | 尚良仲毅(沈阳)高新科技有限公司 | Unmanned aerial vehicle and cross plate mechanism and control method thereof |
| CN112873266A (en) * | 2021-01-22 | 2021-06-01 | 北京理工大学 | Humanoid robot and two-degree-of-freedom modular humanoid robot joint thereof |
| CN113084700A (en) * | 2021-03-25 | 2021-07-09 | 上海智能制造功能平台有限公司 | Grinding device of machine arm and machine arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113910289A (en) | 2022-01-11 |
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