CN212352024U - High-precision module adjusting manipulator - Google Patents
High-precision module adjusting manipulator Download PDFInfo
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- CN212352024U CN212352024U CN202021147618.8U CN202021147618U CN212352024U CN 212352024 U CN212352024 U CN 212352024U CN 202021147618 U CN202021147618 U CN 202021147618U CN 212352024 U CN212352024 U CN 212352024U
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Abstract
The utility model discloses a high-precision module adjusting manipulator, which comprises a base, a support column and an mechanical arm, wherein the mechanical arm is connected with the top of the support column, and a manipulator mechanism is arranged at one end of the mechanical arm, which is far away from the support column; the manipulator mechanism comprises a fixed frame, a sliding rod is arranged inside the fixed frame, a rotating rod is arranged below the sliding rod, a first moving block is sleeved on the right rod body of the rotating rod in a threaded mode, clamping plates are fixed to the inner sides of the bottoms of the first moving block and the second moving block, first through holes are longitudinally formed in the surfaces of the clamping plates at equal intervals, and sliding extrusion rods are nested inside the first through holes. The utility model discloses an elasticity of powerful spring makes the extrusion head extrude fixedly to the article surface effectively, can adapt to the different positions of article, when can increasing the anomalous article centre gripping in surface frictional force between article for article are difficult for dropping.
Description
Technical Field
The utility model relates to a manipulator field, concretely relates to high accuracy module adjustment manipulator.
Background
A robot refers to an automatic operating device that can simulate some action functions of human hands and arms and is used for grabbing, carrying objects or operating tools according to a fixed program. The device mainly comprises an actuating mechanism, a driving mechanism and a control system. It can replace the heavy labor of people to realize the mechanization and automation of production, and can be operated under harmful environment to protect the personal safety, thus being widely applied to the departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.
At present, most of the existing mechanical hands can only clamp articles with regular surfaces, and the articles with irregular surfaces are easy to drop when being clamped.
Therefore, it is necessary to invent a high precision module adjustment robot to solve the above problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a high accuracy module adjustment manipulator, it rotates to drive the bull stick through positive and negative motor work, the bull stick rotates and drives first movable block and second movable block and be close to each other, thereby make two splint be close to each other and press from both sides article and get, before splint and article surface contact, each extrusion head on the splint is earlier with article surface contact, in-process that two splint last are close to, the extrusion head atress promotes the extrusion pole that slides, make powerful spring shrink, the elasticity of powerful spring makes the extrusion head can be effectively with article surface contact, can carry out the centre gripping to article effectively, can adapt to the different positions of article, when can be to the anomalous article centre gripping of surface, through extrusion head greatly increased with article between frictional force, make article be difficult for dropping, with the above-mentioned weak point in the solution technique.
In order to achieve the above object, the present invention provides the following technical solutions: the high-precision module adjusting manipulator comprises a base, a support column and a mechanical arm, wherein the support column is fixedly connected with the upper side of the base, the mechanical arm is connected with the top of the support column, and a manipulator mechanism is arranged at one end, far away from the support column, of the mechanical arm;
the manipulator mechanism comprises a fixed frame, a positive and negative motor is fixed on the outer wall of the right side of the fixed frame, a slide bar is arranged in the fixed frame, a rotating rod is arranged below the slide bar, opposite threads are respectively arranged on the left rod body and the right rod body of the rotating rod, a first moving block is sleeved on the right rod body of the rotating rod in a threaded manner, a second moving block is sleeved on the left rod body of the rotating rod in a threaded manner, clamping plates are fixed on the inner sides of the bottoms of the first moving block and the second moving block, first through holes are longitudinally and equidistantly formed in the surfaces of the clamping plates, a fixed plate is fixed on the outer sides of the bottoms of the first moving block and the second moving block, second through holes are longitudinally and equidistantly formed in the surface of the fixed plate, the number of the second through holes is the same as that of the first through holes, the second through holes correspond to the first through holes, and a sliding extrusion, one end of the sliding extrusion rod penetrates through the first through hole to be connected with an extrusion head, the other end of the sliding extrusion rod penetrates through the second through hole, a limiting ring block and a strong spring are sleeved on the surface, located between the fixing plate and the clamping plate, of the rod body of the sliding extrusion rod, the limiting ring block is fixedly connected with the sliding extrusion rod, one end of the strong spring is connected with the fixing plate, and the other end of the strong spring is fixedly connected with the limiting ring block.
Preferably, the two ends of the sliding rod are fixedly connected with the inner walls of the two sides of the fixing frame respectively, the left end of the rotating rod is movably connected with the inner wall of the left side of the fixing frame through a bearing, and the right end of the rotating rod movably penetrates through the right side wall of the fixing frame to be connected with the output end of the positive and negative motor.
Preferably, the first moving block is provided with a first threaded hole and a first sliding hole, the inner wall of the first threaded hole is provided with a thread matched with the thread of the right rod body of the rotating rod, the first moving block is in threaded connection with the right rod body of the rotating rod through the first threaded hole, the first sliding hole is located above the first threaded hole, the first moving block is sleeved on the sliding rod through the first sliding hole, and the first moving block is in sliding connection with the sliding rod through the first sliding hole.
Preferably, a second threaded hole and a second sliding hole are formed in the second moving block, threads matched with the threads of the left rod body of the rotating rod are arranged on the inner wall of the second threaded hole, the second moving block is in threaded connection with the left rod body of the rotating rod through the second threaded hole, the second sliding hole is located above the second threaded hole, the second moving block is sleeved on the sliding rod through the second sliding hole, and the second moving block is in sliding connection with the sliding rod through the second sliding hole.
Preferably, the sliding extrusion rod is connected with the first through hole in a sliding mode, and the sliding extrusion rod is connected with the second through hole in a sliding mode.
Preferably, the diameter of the limit ring block is larger than that of the first through hole, and the diameter of the limit ring block is larger than that of the second through hole.
Preferably, the mechanical arm is hinged to the supporting column, a first hydraulic cylinder is arranged between the supporting column and the mechanical arm, the cylinder body of the first hydraulic cylinder is hinged to the supporting column, and the telescopic end of the first hydraulic cylinder is hinged to the mechanical arm.
Preferably, the middle part of the upper side of the fixing frame is fixed with a connecting block, the connecting block is hinged with the mechanical arm, a second hydraulic cylinder is arranged between the fixing frame and the mechanical arm, the cylinder body of the second hydraulic cylinder is hinged with the mechanical arm, and the telescopic end of the second hydraulic cylinder is hinged with the fixing frame.
In the technical scheme, the utility model provides a technological effect and advantage:
1. the rotating rod is driven to rotate through the work of the positive and negative motors, the rotating rod drives the first moving block and the second moving block to be close to each other, so that two clamping plates are close to each other to clamp an article, each extrusion head on each clamping plate is firstly in surface contact with the article before the clamping plates are in surface contact with the article, and in the continuous closing process of the two clamping plates, the extrusion heads are stressed to push the sliding extrusion rods, so that the strong springs contract, the extrusion heads can be effectively in surface contact with the article through the elasticity of the strong springs, the article can be effectively clamped, different positions of the article can be adapted, when the article with an irregular surface can be clamped, the friction force between the extrusion heads and the article is greatly increased, and the article is not easy to drop;
2. the angle between the mechanical arm and the supporting column can be adjusted through the stretching of the first hydraulic cylinder, and the angle between the mechanical arm mechanism and the mechanical arm can be adjusted through the stretching of the second hydraulic cylinder, so that the mechanical arm mechanism can clamp articles conveniently, and the motion flexibility is enhanced.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to these drawings.
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of the manipulator mechanism of the present invention;
fig. 3 is a sectional view of the manipulator mechanism of the present invention;
FIG. 4 is an enlarged view of the point A of FIG. 3 according to the present invention;
fig. 5 is a side view of the first moving block of the present invention;
fig. 6 is a sectional view of a second moving block according to the present invention.
Description of reference numerals:
the device comprises a base 1, a support column 2, a mechanical arm 3, a mechanical arm 4, a first hydraulic cylinder 5, a fixed frame 6, a connecting block 7, a second hydraulic cylinder 8, a positive and negative motor 9, a sliding rod 10, a rotating rod 11, a first moving block 12, a first threaded hole 13, a second moving block 14, a second threaded hole 15, a clamping plate 16, a first through hole 17, a fixed plate 18, a second through hole 19, a sliding extrusion rod 20, an extrusion head 21, a limiting ring block 22, a strong spring 23, a first sliding hole 24 and a second sliding hole 25.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings.
The utility model provides a high-precision module adjusting manipulator as shown in figures 1-6, which comprises a base 1, a support column 2 and a mechanical arm 3, wherein the support column 2 is fixedly connected with the upper side of the base 1, the mechanical arm 3 is connected with the top of the support column 2, and a mechanical arm mechanism 4 is arranged at one end of the mechanical arm 3 away from the support column 2;
the manipulator mechanism 4 comprises a fixed frame 6, a positive and negative motor 9 is fixed on the outer wall of the right side of the fixed frame 6, a sliding rod 10 is arranged inside the fixed frame 6, a rotating rod 11 is arranged below the sliding rod 10, opposite threads are respectively arranged on the left rod body and the right rod body of the rotating rod 11, a first moving block 12 is sleeved on the right rod body of the rotating rod 11 in a threaded manner, a second moving block 14 is sleeved on the left rod body of the rotating rod 11 in a threaded manner, a clamping plate 16 is fixed on the inner sides of the bottoms of the first moving block 12 and the second moving block 14, first through holes 17 are longitudinally and equidistantly formed in the surface of the clamping plate 16, a fixed plate 18 is fixed on the outer sides of the bottoms of the first moving block 12 and the second moving block 14, second through holes 19 are longitudinally and equidistantly formed in the surface of the fixed plate 18, and the number of the second through holes 19 is the same, the second through hole 19 corresponds to the first through hole 17, a sliding extrusion rod 20 is nested in the first through hole 17, one end of the sliding extrusion rod 20 penetrates through the first through hole 17 and is connected with an extrusion head 21, the other end of the sliding extrusion rod 20 penetrates through the second through hole 19, a limiting ring block 22 and a strong spring 23 are sleeved on the rod body surface of the sliding extrusion rod 20, the rod body surface is located between the fixing plate 18 and the clamping plate 16, the limiting ring block 22 is fixedly connected with the sliding extrusion rod 20, one end of the strong spring 23 is connected with the fixing plate 18, and the other end of the strong spring 23 is fixedly connected with the limiting ring block 22.
Further, in the above technical solution, two ends of the sliding rod 10 are respectively fixedly connected with inner walls of two sides of the fixed frame 6, a left end of the rotating rod 11 is movably connected with an inner wall of a left side of the fixed frame 6 through a bearing, and a right end of the rotating rod 11 movably penetrates through a right side wall of the fixed frame 6 to be connected with an output end of the positive and negative motor 9, so that the positive and negative motor 9 can work to drive the rotating rod 11 to rotate, and the first moving block 12 and the second moving block 14 are driven to move on the rotating rod 11.
Further, in the above technical solution, the first moving block 12 is provided with a first threaded hole 13 and a first sliding hole 24, the inner wall of the first threaded hole 13 is provided with a thread matched with the thread of the right shaft of the rotating rod 11, the first moving block 12 is connected with the right shaft of the rotating rod 11 through the first threaded hole 13 by a thread, the first sliding hole 24 is located above the first threaded hole 13, the first moving block 12 is sleeved on the sliding rod 10 through the first sliding hole 24, the first moving block 12 is connected with the sliding rod 10 in a sliding manner through the first sliding hole 24, and the sliding rod 10 limits the first moving block 12, so that the first moving block 12 can only move horizontally, and the rotating rod 11 is convenient to rotate to drive the first moving block 12 to move horizontally.
Further, in the above technical solution, a second threaded hole 15 and a second sliding hole 25 are formed in the second moving block 14, a thread matched with the thread of the left rod body of the rotating rod 11 is arranged on the inner wall of the second threaded hole 15, the second moving block 14 is in threaded connection with the left rod body of the rotating rod 11 through the second threaded hole 15, the second sliding hole 25 is located above the second threaded hole 15, the second moving block 14 is sleeved on the sliding rod 10 through the second sliding hole 25, the second moving block 14 is in sliding connection with the sliding rod 10 through the second sliding hole 25, and the sliding rod 10 limits the second moving block 14, so that the second moving block 14 can only move horizontally, and the rotating rod 11 is convenient to rotate to drive the second moving block 14 to move horizontally.
Further, in the above technical solution, the sliding connection is set between the sliding extrusion rod 20 and the first through hole 17, and the sliding connection is set between the sliding extrusion rod 20 and the second through hole 19, so that the sliding extrusion rod 20 can move in the first through hole 17 and the second through hole 19 when being stressed.
Further, in the above technical solution, the diameter of the limiting ring block 22 is greater than the diameter of the first through hole 17, and the diameter of the limiting ring block 22 is greater than the diameter of the second through hole 19, so as to limit the sliding extrusion rod 20, so that the sliding extrusion rod 20 is stably installed, and the sliding extrusion rod 20 is prevented from separating from the first through hole 17 and the second through hole 19.
The implementation mode is specifically as follows: the positive and negative motor 9 works to drive the rotating rod 11 to rotate, because the first moving block 12 is in threaded connection with the right rod body of the rotating rod 11 through the first threaded hole 13, and the second moving block 14 is in threaded connection with the left rod body of the rotating rod 11 through the second threaded hole 15, the rotating rod 11 rotates to drive the first moving block 12 and the second moving block 14 to approach each other, so that the clamping plates 16 at the bottoms of the first moving block 12 and the second moving block 14 approach each other to clamp an article, before the clamping plates 16 contact the surface of the article, each extrusion head 21 on the clamping plates 16 contacts the surface of the article, in the continuous approach process of the two clamping plates 16, the extrusion heads 21 are forced to push the sliding extrusion rod 20, so that the strong spring 23 contracts, the extrusion heads 21 can effectively contact the surface of the article through the elasticity of the strong spring 23, the article can be effectively clamped, and can adapt to different positions of the article, when can be to the anomalous article centre gripping of surface, through extrusion head 21 greatly increased with article between frictional force for article are difficult for dropping, and this embodiment has specifically solved the current manipulator that exists among the prior art and can only mostly carry out the centre gripping to the article that the surface is regular, when to the anomalous article centre gripping of surface, the problem that drops easily.
As shown in fig. 1, in the above technical solution, the mechanical arm 3 is hinged to the support column 2, the first hydraulic cylinder 5 is arranged between the support column 2 and the mechanical arm 3, the cylinder body of the first hydraulic cylinder 5 is hinged to the support column 2, the telescopic end of the first hydraulic cylinder 5 is hinged to the mechanical arm 3, and the angle between the mechanical arm 3 and the support column 2 can be adjusted by the extension and retraction of the first hydraulic cylinder 5, so as to adjust the angle of the mechanical arm mechanism 4.
Further, in the above technical scheme, 6 upside middle parts of mount are fixed with connecting block 7, connecting block 7 links to each other with the arm 3 within a definite time is articulated, be provided with second pneumatic cylinder 8 between mount 6 and arm 3, the cylinder body of second pneumatic cylinder 8 links to each other with the arm 3 within a definite time is articulated, the flexible end of second pneumatic cylinder 8 links to each other with the mount 6 within a definite time is articulated, can adjust the angle between manipulator mechanism 4 and arm 3 through the flexible of second pneumatic cylinder 8, conveniently presss from both sides article and gets.
The implementation mode is specifically as follows: articulated linking to each other between arm 3 and support column 2, through 5 work pulling of first pneumatic cylinder or promotion arm 3, make arm 3 rotate, thereby adjust the angle between arm 3 and support column 2, mechanical hand mechanism 4 links to each other through articulated between connecting block 7 and arm 3, work through second pneumatic cylinder 8, pulling or promote mount 6, can adjust the angle between mount 6 and arm 3, thereby can adjust the angle between mechanical hand mechanism 4 and arm 3, the convenience is got article clamp, the action flexibility ratio has been strengthened, the result of use is improved, this embodiment has specifically solved the angle that is difficult to adjust the manipulator that exists among the prior art, it is inconvenient to get the problem of getting article clamp.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (8)
1. High accuracy module adjustment manipulator, including base (1), support column (2) and arm (3), its characterized in that: the supporting column (2) is fixedly connected with the upper side of the base (1), the mechanical arm (3) is connected with the top of the supporting column (2), and a mechanical arm mechanism (4) is arranged at one end, far away from the supporting column (2), of the mechanical arm (3);
the manipulator mechanism (4) comprises a fixed frame (6), a positive and negative motor (9) is fixed on the outer wall of the right side of the fixed frame (6), a slide bar (10) is arranged inside the fixed frame (6), a rotating bar (11) is arranged below the slide bar (10), a left bar body and a right bar body of the rotating bar (11) are respectively provided with opposite threads, a first moving block (12) is sleeved on the right bar body of the rotating bar (11) in a threaded manner, a second moving block (14) is sleeved on the left bar body of the rotating bar (11) in a threaded manner, clamping plates (16) are fixed on the inner sides of the bottoms of the first moving block (12) and the second moving block (14), first through holes (17) are longitudinally formed in the surface of each clamping plate (16) at equal intervals, a fixed plate (18) is fixed on the outer sides of the bottoms of the first moving block (12) and the second moving block (14), and second through holes (19) are longitudinally formed in the surface of, the number of second through-hole (19) is the same with the number of first through-hole (17), and second through-hole (19) is corresponding with first through-hole (17), the inside nested slip extrusion pole (20) that has of first through-hole (17), the one end of slip extrusion pole (20) is run through first through-hole (17) and is connected with extrusion head (21), the other end of slip extrusion pole (20) runs through second through-hole (19), slip extrusion pole (20) are in the pole body surface cup jointed spacing ring piece (22) and powerful spring (23) between fixed plate (18) and splint (16), fixed connection between spacing ring piece (22) and slip extrusion pole (20), the one end of powerful spring (23) is connected with fixed plate (18), the other end and the spacing ring piece (22) fixed connection of powerful spring (23).
2. The high precision modular tuning robot of claim 1, wherein: the two ends of the sliding rod (10) are fixedly connected with the inner walls of the two sides of the fixing frame (6) respectively, the left end of the rotating rod (11) is movably connected with the inner wall of the left side of the fixing frame (6) through a bearing, and the right end of the rotating rod (11) movably penetrates through the right side wall of the fixing frame (6) to be connected with the output end of the positive and negative motor (9).
3. The high precision modular tuning robot of claim 1, wherein: the first moving block (12) is provided with a first threaded hole (13) and a first sliding hole (24), threads matched with threads of a right rod body of the rotating rod (11) are arranged on the inner wall of the first threaded hole (13), the first moving block (12) is in threaded connection with the right rod body of the rotating rod (11) through the first threaded hole (13), the first sliding hole (24) is located above the first threaded hole (13), the first moving block (12) is sleeved on the sliding rod (10) through the first sliding hole (24), and the first moving block (12) is in sliding connection with the sliding rod (10) through the first sliding hole (24).
4. The high precision modular tuning robot of claim 1, wherein: the second movable block (14) is provided with a second threaded hole (15) and a second sliding hole (25), threads matched with the threads of the left rod body of the rotating rod (11) are arranged on the inner wall of the second threaded hole (15), the second movable block (14) is in threaded connection with the left rod body of the rotating rod (11) through the second threaded hole (15), the second sliding hole (25) is located above the second threaded hole (15), the second movable block (14) is sleeved on the sliding rod (10) through the second sliding hole (25), and the second movable block (14) is in sliding connection with the sliding rod (10) through the second sliding hole (25).
5. The high precision modular tuning robot of claim 1, wherein: the sliding extrusion rod (20) is connected with the first through hole (17) in a sliding mode, and the sliding extrusion rod (20) is connected with the second through hole (19) in a sliding mode.
6. The high precision modular tuning robot of claim 1, wherein: the diameter of the limiting ring block (22) is larger than that of the first through hole (17), and the diameter of the limiting ring block (22) is larger than that of the second through hole (19).
7. The high precision modular tuning robot of claim 1, wherein: articulated linking to each other between arm (3) and support column (2), be provided with first pneumatic cylinder (5) between support column (2) and arm (3), articulated linking to each other between the cylinder body of first pneumatic cylinder (5) and support column (2), articulated linking to each other between flexible end and arm (3) of first pneumatic cylinder (5).
8. The high precision modular tuning robot of claim 1, wherein: the utility model discloses a hydraulic cylinder, including mount (6), connecting block (7) and arm (3), be provided with second pneumatic cylinder (8) between mount (6) and arm (3), the cylinder body of second pneumatic cylinder (8) links to each other with arm (3) are articulated between, the flexible end of second pneumatic cylinder (8) links to each other with mount (6) are articulated between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021147618.8U CN212352024U (en) | 2020-06-19 | 2020-06-19 | High-precision module adjusting manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021147618.8U CN212352024U (en) | 2020-06-19 | 2020-06-19 | High-precision module adjusting manipulator |
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| CN212352024U true CN212352024U (en) | 2021-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021147618.8U Active CN212352024U (en) | 2020-06-19 | 2020-06-19 | High-precision module adjusting manipulator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113561212A (en) * | 2021-09-23 | 2021-10-29 | 深圳市羽翼数码科技有限公司 | Unbalanced stress type clamping manipulator for production of special-shaped mobile phone accessories |
| CN114714384A (en) * | 2022-04-19 | 2022-07-08 | 江苏安方电力科技有限公司 | Automatic clamping manipulator for irregular materials such as electric power fittings |
| CN115026860A (en) * | 2022-08-09 | 2022-09-09 | 陕西清腾畅建筑工程有限公司 | Mechanical arm for electrical installation |
| CN115621891A (en) * | 2022-10-12 | 2023-01-17 | 马鞍山中南光电新能源有限公司 | Photovoltaic power plant auto-lock regulator cubicle |
| CN116494218A (en) * | 2023-06-30 | 2023-07-28 | 深圳市恒润鑫五金有限公司 | Multi-joint industrial robot capable of self-adapting operation |
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2020
- 2020-06-19 CN CN202021147618.8U patent/CN212352024U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113561212A (en) * | 2021-09-23 | 2021-10-29 | 深圳市羽翼数码科技有限公司 | Unbalanced stress type clamping manipulator for production of special-shaped mobile phone accessories |
| CN113561212B (en) * | 2021-09-23 | 2021-12-07 | 深圳市羽翼数码科技有限公司 | Unbalanced stress type clamping manipulator for production of special-shaped mobile phone accessories |
| CN114714384A (en) * | 2022-04-19 | 2022-07-08 | 江苏安方电力科技有限公司 | Automatic clamping manipulator for irregular materials such as electric power fittings |
| CN115026860A (en) * | 2022-08-09 | 2022-09-09 | 陕西清腾畅建筑工程有限公司 | Mechanical arm for electrical installation |
| CN115026860B (en) * | 2022-08-09 | 2022-11-04 | 陕西清腾畅建筑工程有限公司 | Mechanical arm for electrical installation |
| CN115621891A (en) * | 2022-10-12 | 2023-01-17 | 马鞍山中南光电新能源有限公司 | Photovoltaic power plant auto-lock regulator cubicle |
| CN115621891B (en) * | 2022-10-12 | 2023-11-03 | 合肥中南光电有限公司 | Self-locking electrical cabinet of photovoltaic power station |
| CN116494218A (en) * | 2023-06-30 | 2023-07-28 | 深圳市恒润鑫五金有限公司 | Multi-joint industrial robot capable of self-adapting operation |
| CN116494218B (en) * | 2023-06-30 | 2023-09-15 | 深圳市恒润鑫五金有限公司 | Multi-joint industrial robot capable of self-adapting operation |
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