CN115091506A - Balancing device for industrial robot - Google Patents
Balancing device for industrial robot Download PDFInfo
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- CN115091506A CN115091506A CN202210931504.XA CN202210931504A CN115091506A CN 115091506 A CN115091506 A CN 115091506A CN 202210931504 A CN202210931504 A CN 202210931504A CN 115091506 A CN115091506 A CN 115091506A
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- industrial robot
- cylinder
- angle
- sliding
- balancing device
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- 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
- B25J19/0008—Balancing devices
- B25J19/0012—Balancing devices using fluidic devices
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Abstract
The invention discloses a balancing device for an industrial robot, which comprises a fixed base, wherein four corners at the top end of the fixed base are fixedly provided with height rods, a lifting platform is connected between the four height rods in a sliding manner, one side at the top end of the lifting platform is provided with a displacement groove, a threaded column is rotatably connected inside the displacement groove, the middle part of the threaded column is provided with a direction mechanism, one side of the angle mechanism is fixedly provided with an installation mechanism, the direction mechanism comprises a displacement block, a direction platform, a rotating motor and a direction rod, and the angle mechanism comprises an angle seat, an angle arm, a movable block and a balance cylinder. The flexibility of the industrial robot is improved.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a balancing device for an industrial robot.
Background
Industrial robots are important automation equipment in modern manufacturing industry integrating multiple disciplines of advanced technologies such as machinery, electronics, control, computers, sensors and artificial intelligence, and become highly new technology industries which are well appreciated, and are widely applied to manufacturing industry as main automation equipment in modern manufacturing industry, and are also important marks for measuring comprehensive strength of manufacturing industry. The replacement of human labor by machines is a big trend in the future.
The rising of human cost is undoubtedly the important factor that promotes each trade robot and trade people, and industrial robot replaces artificial production can save more and more high cost of labor, and industrial robot can realize 24 hours of operation, only needs alone to watch or alone watch two or more industrial robot simultaneously, can effectively practice thrift the human resource cost. In addition, the intelligent factory of the industrial robot is used, the production mode of the automatic assembly line can save more fields, the planning of the factory is more compact, the land resource cost is saved, in the process of the traditional enterprise production, despite of a plurality of rules and regulations, the staff can not be completely executed in the executing process, the phenomenon that the staff is lazed is difficult to stop, the enterprise is difficult to ensure the productivity and the yield every day for a long time, the use of the industrial robot and a large amount of labor are reduced, the management of the staff by the enterprise is simpler and more efficient, the intelligent industrial robot is adopted for production, the safety of the work of the workers can be furthest guaranteed, safety accidents caused by negligence or fatigue of the work can not occur, in an industrial production workshop with high repeatability, the human staff are easy to have physiological fatigue, and the safety accidents can be caused, use industrial robot then can ensure safety, in future, in industry, industrial robot will undertake more and more work, intelligent and automatic trend, will lead to industrial robot to change production operational mode in the past, realize production automation through introducing industrial robot, further promote industrial production efficiency, promote the intelligent adjustment of industrial structure, avoid single joint load too big on industrial robot, generally install balancing unit in industrial robot's joint department, increase the loading capacity of processing robot joint department through balancing unit.
However, the conventional balancing device has limitations on balancing the joints of the industrial robot, so that the joints of the industrial robot connected with the conventional balancing device cannot be flexibly operated, and the flexibility of the industrial robot is reduced.
Disclosure of Invention
The invention aims to provide a balancing device for an industrial robot, which solves the problems that the traditional balancing device provided in the background technology has limitation on balancing processing of joints of the industrial robot, so that the joints of the industrial robot connected with the balancing device cannot be flexibly operated, and the flexibility of the industrial robot is reduced.
In order to achieve the purpose, the invention provides the following technical scheme: a balancing device for an industrial robot comprises a fixed base, wherein height rods are fixedly mounted on four corners of the top end of the fixed base, a lifting platform is slidably connected among the four height rods, a displacement groove is formed in one side of the top end of the lifting platform, a threaded column is rotatably connected inside the displacement groove, a direction mechanism is arranged in the middle of the threaded column, an angle mechanism is fixedly mounted at the top end of the direction mechanism, a mounting mechanism is fixedly mounted on one side of the angle mechanism, the direction mechanism comprises a displacement block, a direction table, a rotating motor and a direction rod, the angle mechanism comprises an angle seat, an angle arm, a movable block and a balance cylinder, the servo motor is started after being electrified and drives the threaded column to rotate, threads on the surface of the threaded column are matched with threads on the inner wall of the displacement block, and the displacement block is limited by the displacement groove which is matched with the shape and size, the displacement block slides along the threaded column to adjust the position of the joint of the industrial robot on which the balancing device is mounted.
As a preferred technical scheme of the present invention, a rotating motor is fixedly installed in the middle of the top end of the displacement block, a direction table is fixedly installed at an output end of the rotating motor, a direction groove is formed in the surface of the displacement block, a direction rod slidably connected with the direction groove is fixedly installed on one side of the bottom end of the direction table, the rotating motor is started after being powered on, the rotating motor drives the direction table to rotate, the direction of the industrial robot joint installed on the balancing device is adjusted, and the direction rod is driven to slide along the direction groove in the rotation process of the direction table, so that the rotation stability of the direction table is improved.
As a preferable technical scheme of the invention, the middle part of the displacement block is in threaded connection with the middle part of the threaded column, the displacement block is in sliding connection with the displacement groove, and the direction mechanism is arranged on the threaded column through the displacement block.
As a preferred technical scheme of the invention, an angle arm is rotatably connected inside an angle seat, a movable groove is formed in the bottom end of the angle arm, a movable block is slidably connected inside the movable groove, the movable end of a balance cylinder is rotatably connected with one side adjacent to the movable block, when pressure oil enters from a rodless cavity of the balance cylinder, the effective area of a piston is the largest, a cylinder barrel of the balance cylinder begins to extend out at the moment, the balance cylinder performs telescopic motion, the balance cylinder pushes the movable block from one side to enable the movable block to slide along the movable groove, and in the sliding process of the movable block, the angle arm is subjected to the pushing force of the movable block to deflect along the angle seat to adjust the angle of the clamped industrial robot joint.
As a preferred technical scheme of the invention, the bottom end of the angle seat and the fixed end of the balance cylinder are fixedly connected with the top end of the direction table, and the angle mechanism is arranged on the direction table through the angle seat and the balance cylinder.
As a preferred technical scheme of the invention, the mounting mechanism comprises a pushing cylinder, a mounting shell, two sliding rods, two sliding blocks, two clamping plates with rubber and a pushing plate, the mounting shell is fixedly mounted in the middle of the pushing cylinder, the sliding rods are slidably connected to both sides of the mounting shell, the sliding blocks positioned in the mounting shell are fixedly mounted at the opposite ends of the two sliding rods, pushing grooves are formed in the opposite sides of the two sliding blocks, the pushing plate is slidably connected between the two pushing grooves, the clamping plates with rubber are fixedly mounted at one ends of the two sliding blocks penetrating through the mounting shell, one side of the pushing plate is fixedly connected with the movable end of the pushing cylinder, an electromagnetic valve is opened on the pushing cylinder, compressed air is input into the pushing cylinder, a pushing piston reciprocates in a pushing cylinder barrel, and the pushing cylinder performs telescopic motion, the push cylinder pushes the push plate from one side, so that the push plate slides along the push groove, under the action of the push force of the push plate, two sliding blocks slide relatively in the installation shell, the sliding rod slides along the installation shell correspondingly at the moment, the sliding blocks drive the rubber clamping plates to perform synchronous motion in the sliding process, the rubber clamping plates are clamped from two sides of the joint of the industrial robot, and the joint of the industrial robot is installed on the installation mechanism.
As a preferable technical scheme of the invention, the fixed end of the pushing cylinder is fixedly connected with one side adjacent to the angle arm, and the mounting mechanism is mounted on one side of the angle arm through the pushing cylinder.
As a preferable technical scheme of the invention, the top ends of the four height rods are fixedly provided with baffle plates, a servo motor is fixedly arranged on one side of the lifting platform, the output end of the servo motor penetrates through the lifting platform and is fixedly connected with one end of the lifting platform adjacent to the threaded column, the middle part fixed mounting on unable adjustment base top has the lift cylinder, the expansion end of lift cylinder and the middle part fixed connection of elevating platform bottom, the solenoid valve is opened on the lift cylinder, inputs compressed air toward the lift cylinder in, promotes the piston and is reciprocating motion in the lift cylinder section of thick bamboo, the lift cylinder carries out concertina movement, the lift cylinder upwards promotes from the bottom of elevating platform makes the elevating platform take place to slide along the high pole, the top of high pole receives the baffle spacing, the bottom of high pole receives unable adjustment base's spacing, so the elevating platform slides between unable adjustment base and baffle along the high pole.
Compared with the prior art, the invention has the beneficial effects that:
1. by arranging the lifting cylinder, the height rod and the lifting platform, in the telescopic process of the lifting cylinder, the lifting cylinder drives the lifting platform to slide along the height rod from one side, so that the height of the joint of the industrial robot connected with the balancing device is indirectly adjusted;
2. by arranging the angle mechanism, the balance cylinder performs telescopic motion by injecting hydraulic oil, the balance cylinder pushes the movable block from one side, the movable block pushes the angle arm from one side in the sliding process along the movable groove, and the angle arm deflects along the angle seat to adjust the angle of the joint of the industrial robot connected with the balance device;
3. by arranging the threaded column and the displacement block, the displacement block slides along the threaded column in the rotating process of the threaded column, so that the position of the joint angle of the industrial robot connected with the balancing device is indirectly adjusted;
4. by arranging the direction mechanism, the rotating motor drives the direction table to rotate, and the direction table drives the direction rod to slide along the direction groove when rotating, so that the rotating stability of the direction table is improved, and the direction of the joint angle of the industrial robot connected with the balancing device is adjusted;
5. through setting up lift cylinder, high pole, elevating platform, angle mechanism, screw thread post, displacement piece and direction mechanism, nimble carry out height, angle, position and direction to the industrial robot joint that links to each other with balancing unit and adjust, the industrial robot joint department that links to each other with it is nimble to be operated, has improved industrial robot self's flexibility ratio.
Drawings
FIG. 1 is a side view of the present invention;
FIG. 2 is an internal schematic view of the present invention;
FIG. 3 is a side view of the steering mechanism of the present invention;
FIG. 4 is a schematic structural view of the angle mechanism of the present invention;
FIG. 5 is a schematic structural diagram of the mounting mechanism of the present invention.
In the figure: 1. a fixed base; 2. a servo motor; 3. an angle mechanism; 31. an angle seat; 32. an angle arm; 33. a movable groove; 34. a movable block; 35. a balancing cylinder; 4. an installation mechanism; 41. a push cylinder; 42. mounting a shell; 43. a slide lever; 44. a sliding block; 45. a rubber splint is arranged; 46. a push groove; 47. a push plate; 5. a direction mechanism; 51. a displacement block; 52. a directional groove; 53. a direction table; 54. a rotating electric machine; 55. a steering column; 6. a lifting platform; 7. a height bar; 8. a lifting cylinder; 9. a threaded post; 10. a displacement slot; 11. and a baffle plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-5, the invention provides a balancing device for an industrial robot, comprising a fixed base 1, wherein four corners of the top end of the fixed base 1 are fixedly provided with height rods 7, a lifting platform 6 is slidably connected between the four height rods 7, one side of the top end of the lifting platform 6 is provided with a displacement groove 10, a threaded column 9 is rotatably connected inside the displacement groove 10, the middle part of the threaded column 9 is provided with a direction mechanism 5, the top end of the direction mechanism 5 is fixedly provided with an angle mechanism 3, one side of the angle mechanism 3 is fixedly provided with an installation mechanism 4, the direction mechanism 5 comprises a displacement block 51, a direction platform 53, a rotating motor 54 and a direction rod 55, the angle mechanism 3 comprises an angle seat 31, an angle arm 32, a movable block 34 and a balance cylinder 35, the servo motor 2 is started after being electrified, the servo motor 2 drives the threaded column 9 to rotate, threads on the surface of the threaded column 9 are matched with threads on the inner wall of the displacement block 51, the displacement block 51 is limited by the displacement groove 10 matching with the shape and size of the displacement block, so that the displacement block 51 slides along the threaded column 9 to adjust the position of the joint of the industrial robot mounted on the balancing device.
The middle part fixed mounting on displacement piece 51 top has rotating electrical machines 54, rotating electrical machines 54's output end fixed mounting has direction platform 53, direction groove 52 has been seted up on displacement piece 51's surface, one side fixed mounting of direction platform 53 bottom has direction pole 55 with direction groove 52 sliding connection, rotating electrical machines 54 starts after circular telegram, rotating electrical machines 54 drives direction platform 53 and rotates, adjust the articulated direction of industrial robot of balancing unit installation, direction platform 53 pivoted in-process drives direction pole 55 and takes place to slide along direction groove 52, improve direction platform 53 pivoted stability.
The middle part of the displacement block 51 is in threaded connection with the middle part of the threaded column 9, the displacement block 51 is in sliding connection with the displacement groove 10, and the direction mechanism 5 is installed on the threaded column 9 through the displacement block 51.
The inside rotation of angle seat 31 is connected with angle arm 32, movable groove 33 has been seted up to angle arm 32's bottom, movable groove 33's inside sliding connection has movable block 34, balance cylinder 35's expansion end rotates with one side that movable block 34 is adjacent to be connected, when pressure oil enters from balance cylinder 35 rodless chamber, the piston effective area is the biggest, balance cylinder 35's cylinder begins to stretch out this moment, balance cylinder 35 carries out concertina movement, balance cylinder 35 promotes movable block 34 from one side, make movable block 34 take place to slide along movable groove 33, at the in-process that movable block 34 slided, angle arm 32 receives the thrust of movable block 34 and takes place the angle deflection along angle seat 31, adjust the articulated angle of industrial robot of centre gripping.
The bottom of angle seat 31 and the stiff end of compensating cylinder 35 all with direction platform 53's top fixed connection, angle mechanism 3 passes through angle seat 31 and compensating cylinder 35 and installs on direction platform 53.
The mounting mechanism 4 comprises a pushing cylinder 41, a mounting shell 42, two sliding rods 43, two sliding blocks 44, two rubber clamping plates 45 and a pushing plate 47, the mounting shell 42 is fixedly mounted in the middle of the pushing cylinder 41, the sliding rods 43 are slidably connected to both sides of the mounting shell 42, the sliding blocks 44 located in the mounting shell 42 are fixedly mounted at opposite ends of the two sliding rods 43, pushing grooves 46 are formed in opposite sides of the two sliding blocks 44, the pushing plate 47 is slidably connected between the two pushing grooves 46, the rubber clamping plates 45 are fixedly mounted at one ends of the two sliding blocks 44 penetrating through the mounting shell 42, one side of the pushing plate 47 is fixedly connected with a movable end of the pushing cylinder 41, an electromagnetic valve on the pushing cylinder 41 is opened, compressed air is input into the pushing cylinder 41, a pushing piston reciprocates in the pushing cylinder 41, and the pushing cylinder 41 performs telescopic motion, the pushing cylinder 41 pushes the pushing plate 47 from one side, so that the pushing plate 47 slides along the pushing groove 46, under the action of the pushing force of the pushing plate 47, the two sliding blocks 44 slide relatively in the mounting shell 42, at the moment, the sliding rod 43 slides correspondingly along the mounting shell 42, the sliding blocks 44 drive the rubber clamping plates 45 to move synchronously in the sliding process, the rubber clamping plates 45 are clamped from two sides of the joint of the industrial robot, and the joint of the industrial robot is mounted on the mounting mechanism 4.
The fixed end of the push cylinder 41 is fixedly connected to the side adjacent to the angle arm 32, and the mounting mechanism 4 is mounted on the side of the angle arm 32 via the push cylinder 41.
The equal fixed mounting in top of four high poles 7 has baffle 11, one side fixed mounting of elevating platform 6 has servo motor 2, servo motor 2's output passes elevating platform 6 and the adjacent one end fixed connection of screw post 9, the middle part fixed mounting on 1 top of unable adjustment base has lift cylinder 8, the expansion end of lift cylinder 8 and the middle part fixed connection of 6 bottoms of elevating platform, the solenoid valve is opened on the lift cylinder 8, toward the interior input compressed air of lift cylinder 8, it is reciprocating motion to promote the piston in 8 section of thick bamboos of lift cylinder, lift cylinder 8 carries out concertina movement, lift cylinder 8 upwards promotes from the bottom of elevating platform 6 and makes elevating platform 6 take place to slide along high pole 7, the top of high pole 7 receives baffle 11 spacingly, the bottom of high pole 7 receives unable adjustment base 1 spacing, so elevating platform 6 slides between unable adjustment base 1 and baffle 11 along high pole 7.
When the invention is used: before a worker uses the balancing device, the balancing device needs to be connected with the joint of the industrial robot, the electromagnetic valve on the pushing cylinder 41 is opened, compressed air is input into the pushing cylinder 41, the pushing piston does reciprocating motion in the cylinder of the pushing cylinder 41, the pushing cylinder 41 does telescopic motion, the pushing cylinder 41 pushes the pushing plate 47 from one side, so that the pushing plate 47 slides along the pushing groove 46, under the action of the pushing force of the pushing plate 47, the two sliding blocks 44 slide relatively in the mounting shell 42, at the moment, the sliding rods 43 slide correspondingly along the mounting shell 42, the sliding blocks 44 drive the rubber clamping plates 45 to do synchronous motion in the sliding process, the rubber clamping plates 45 are clamped from two sides of the joint of the industrial robot, so that the joint of the industrial robot is mounted on the mounting shell 4, the electromagnetic valve on the lifting cylinder 8 is opened, and compressed air is input into the lifting cylinder 8, the pushing piston does reciprocating motion in the lifting cylinder 8, the lifting cylinder 8 makes telescopic motion, the lifting cylinder 8 pushes upwards from the bottom of the lifting table 6 to enable the lifting table 6 to slide along the height rod 7, the top of the height rod 7 is limited by the baffle 11, the bottom of the height rod 7 is limited by the fixing base 1, so that the lifting table 6 slides between the fixing base 1 and the baffle 11 along the height rod 7, the height of the joint of the installed industrial robot is adjusted in the sliding process of the lifting table 6, the servo motor 2 is started after being electrified, the servo motor 2 drives the threaded column 9 to rotate, threads on the surface of the threaded column 9 are matched with threads on the inner wall of the displacement block 51, the displacement block 51 is limited by the displacement groove 10 matched with the displacement block in shape and size, so that the displacement block 51 slides along the threaded column 9, and the position of the joint of the industrial robot installed on the balancing device is adjusted, the rotating electrical machines 54 starts after the circular telegram, the rotating electrical machines 54 drives the direction platform 53 to rotate, adjust the articulated direction of industrial robot of balancing unit installation, direction platform 53 pivoted in-process drives direction pole 55 and takes place to slide along direction groove 52, improve direction platform 53 pivoted stability, when pressure oil gets into from the rodless chamber of balancing jar 35, the piston effective area is the biggest, the cylinder of balancing jar 35 begins to stretch out this moment, balancing jar 35 carries out concertina movement, balancing jar 35 promotes movable block 34 from one side, make movable block 34 take place to slide along movable slot 33, at the in-process that movable block 34 slided, angle arm 32 receives the thrust of movable block 34 and takes place the angle deflection along angle seat 31, adjust the articulated angle of industrial robot of centre gripping, industrial robot joint department is nimble to be operated, industrial robot self flexibility ratio has been improved.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (8)
1. A balancing device for an industrial robot, comprising a stationary base (1), characterized in that: equal fixed mounting in four corners on unable adjustment base (1) top has high pole (7), four sliding connection has elevating platform (6) between high pole (7), displacement groove (10) have been seted up to one side on elevating platform (6) top, the inside rotation of displacement groove (10) is connected with screw thread post (9), the middle part of screw thread post (9) is equipped with direction mechanism (5), the top fixed mounting of direction mechanism (5) has angle mechanism (3), one side fixed mounting of angle mechanism (3) has installation mechanism (4), direction mechanism (5) are including displacement piece (51), direction platform (53), rotating electrical machines (54) and direction pole (55), angle mechanism (3) are including angle seat (31), angle arm (32), movable block (34) and balance cylinder (35).
2. A balancing device for an industrial robot according to claim 1, characterized in that: the middle part of displacement piece (51) top fixed mounting has rotating electrical machines (54), the output end fixed mounting of rotating electrical machines (54) has direction platform (53), direction groove (52) have been seted up on the surface of displacement piece (51), one side fixed mounting of direction platform (53) bottom has direction pole (55) with direction groove (52) sliding connection.
3. A balancing device for an industrial robot according to claim 1, characterized in that: the middle part of the displacement block (51) is in threaded connection with the middle part of the threaded column (9), and the displacement block (51) is in sliding connection with the displacement groove (10).
4. A balancing device for an industrial robot according to claim 1, characterized in that: the inside rotation of angle seat (31) is connected with angle arm (32), movable groove (33) have been seted up to the bottom of angle arm (32), the inside sliding connection in movable groove (33) has movable block (34), the expansion end of balancing cylinder (35) rotates with one side that movable block (34) are adjacent to be connected.
5. A balancing device for an industrial robot according to claim 1, characterized in that: the bottom of angle seat (31) and the stiff end of balance cylinder (35) all with the top fixed connection of direction platform (53).
6. A balancing device for an industrial robot according to claim 1, characterized in that: the mounting mechanism (4) comprises a pushing cylinder (41), a mounting shell (42), two sliding rods (43), two sliding blocks (44), two rubber clamping plates (45) and a pushing plate (47), the middle of the push cylinder (41) is fixedly provided with an installation shell (42), two sides of the installation shell (42) are respectively connected with a sliding rod (43) in a sliding manner, one ends of the two sliding rods (43) opposite to each other are respectively fixedly provided with a sliding block (44) positioned in the installation shell (42), one side of the two sliding blocks (44) opposite to each other is respectively provided with a push groove (46), a push plate (47) is connected between the two push grooves (46) in a sliding manner, one end of each sliding block (44) penetrates through the installation shell (42) and is respectively fixedly provided with a rubber clamping plate (45), one side of the pushing plate (47) is fixedly connected with the movable end of the pushing cylinder (41).
7. A balancing device for an industrial robot according to claim 6, characterized in that: the fixed end of the pushing cylinder (41) is fixedly connected with one side adjacent to the angle arm (32).
8. A balancing device for an industrial robot according to claim 1, characterized in that: four the equal fixed mounting in top of high pole (7) has baffle (11), one side fixed mounting of elevating platform (6) has servo motor (2), the output of servo motor (2) passes elevating platform (6) and the adjacent one end fixed connection of screw post (9), the middle part fixed mounting on unable adjustment base (1) top has lift cylinder (8), the expansion end of lift cylinder (8) and the middle part fixed connection of elevating platform (6) bottom.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210931504.XA CN115091506B (en) | 2022-08-04 | 2022-08-04 | Balancing device for industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210931504.XA CN115091506B (en) | 2022-08-04 | 2022-08-04 | Balancing device for industrial robot |
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| CN115091506A true CN115091506A (en) | 2022-09-23 |
| CN115091506B CN115091506B (en) | 2023-01-10 |
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| CN202210931504.XA Active CN115091506B (en) | 2022-08-04 | 2022-08-04 | Balancing device for industrial robot |
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| CN216992582U (en) * | 2022-03-08 | 2022-07-19 | 常德新永益石材有限公司 | Cutting device is used in building stone processing |
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| CN107696012A (en) * | 2017-09-20 | 2018-02-16 | 广东拓斯达科技股份有限公司 | A kind of robot of equilbrium running |
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| Publication number | Publication date |
|---|---|
| CN115091506B (en) | 2023-01-10 |
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