CN218614030U - Hinge support device and robot - Google Patents
Hinge support device and robot Download PDFInfo
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- CN218614030U CN218614030U CN202220326418.1U CN202220326418U CN218614030U CN 218614030 U CN218614030 U CN 218614030U CN 202220326418 U CN202220326418 U CN 202220326418U CN 218614030 U CN218614030 U CN 218614030U
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Abstract
The utility model discloses a hinge support device and robot, include: a first connecting member; a spindle fixedly connected with the first connecting piece; the second connecting piece is provided with a first mounting seat and a second mounting seat which are oppositely arranged, the first mounting seat and the second mounting seat are respectively positioned on two sides of the first connecting piece, the first mounting seat is connected with the mandrel through a first bearing, the second mounting seat is connected with the mandrel through a second bearing, the first mounting seat is provided with a first limiting blocking shoulder for axially limiting the outer ring of the first bearing, and the second mounting seat is provided with a second limiting blocking shoulder for axially limiting the outer ring of the second bearing; the first locking piece is connected with the mandrel and used for tightly pressing the inner ring of the first bearing, and the first locking piece and the first limiting retaining shoulder are respectively positioned at two ends of the first bearing; and the second locking piece is connected with the mandrel and used for pressing the inner ring of the second bearing, and the second locking piece and the second limiting retaining shoulder are respectively positioned at two ends of the second bearing. Axial play can be eliminated and pretension can be achieved.
Description
Technical Field
The utility model relates to a hinge support technical field, more specifically say, relate to a hinge support device. Furthermore, the utility model discloses still relate to a robot including above-mentioned hinge support device.
Background
In the mechanical field, two structural members are usually connected by a hinge support to realize relative rotation between the two structural members. For example, when designing a robot drive wheel suspension, the swing arm of the robot is mounted on the robot chassis by a hinge mount to enable the swing arm to make a swinging motion.
The hinge support includes the bearing, and the fit-up gap of bearing has the influence to the ability that the hinge support bore radial force and moment of flexure, and in addition, the fit-up gap of bearing makes the motion of hinge support produce virtual displacement easily for two structures produce and rock relatively, or angular deviation etc. appear.
In the prior art, the assembly precision of a bearing is generally controlled by controlling the machining tolerance of a part, or the machining tolerance is compensated by additionally installing an elastic body at the matching position of the bearing. However, the assembly precision of the bearing is controlled by controlling the machining tolerance of the part, so that on one hand, the machining cost is high, on the other hand, the assembly precision consistency of the bearing is poor due to the difference of the machining precision of different components, and in addition, the existence of the assembly clearance of the bearing cannot be avoided when the machining tolerance of the part does not meet the requirement. And make up the machining tolerance through installing the elastomer additional in bearing cooperation department, although can eliminate bearing fit clearance, the mechanism rigidity is weak, and anti bending capability is not enough.
In summary, how to provide a hinge support device, which ensures the assembly accuracy and the rigidity thereof at the same time, is a problem to be solved by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a hinge support device, the assembly precision is high, and the rigidity is high.
Another object of the present invention is to provide a robot including the above hinge support device, which has high motion precision.
In order to achieve the above object, the present invention provides the following technical solutions:
a hinge stand apparatus comprising:
a first connecting member;
a spindle fixedly connected with the first connecting piece;
the first mounting seat is connected with the mandrel through a first bearing, the second mounting seat is connected with the mandrel through a second bearing, the first mounting seat is provided with a first limiting blocking shoulder used for axially limiting the outer ring of the first bearing, and the second mounting seat is provided with a second limiting blocking shoulder used for axially limiting the outer ring of the second bearing;
the first locking piece is connected with the mandrel and used for pressing an inner ring of the first bearing, and the first locking piece and the first limit retaining shoulder are respectively positioned at two ends of the first bearing;
and the second locking piece is connected with the mandrel and used for pressing the inner ring of the second bearing, and the second locking piece and the second limiting retaining shoulder are respectively positioned at two ends of the second bearing.
Optionally, the mandrel is provided with a threaded hole, and the first locking member comprises a locking screw connected with the threaded hole, and the head of the locking screw is used for pressing the inner ring of the first bearing.
Optionally, the mandrel is provided with an external threaded rod, the second locking member comprises a pre-tightening nut connected with the external threaded rod, and one end of the pre-tightening nut presses the inner ring of the second bearing.
Optionally, the device further comprises a compression nut connected with the external threaded rod, and the compression nut compresses one end of the pretension nut, which is far away from the second bearing.
Optionally, a first spring washer and a first flat washer are arranged between the head of the locking screw and the inner ring of the first bearing;
and/or a second flat gasket is arranged between the pretightening nut and the inner ring of the second bearing;
and/or a second spring washer is arranged between the compression nut and the pre-tightening nut.
Optionally, the matching surface of the mandrel and the first connecting piece comprises at least one straight plane, and the straight plane is used for limiting the relative rotation of the mandrel and the first connecting piece.
Optionally, the mandrel is provided with a third limit stop shoulder for pressing against a side of the first connector.
Optionally, the bearing device further comprises a cushion block sleeved on the mandrel, the cushion block and the third limiting blocking shoulder are located on two sides of the first connecting piece, and the cushion block is in close contact with the inner ring of the first bearing or the second bearing.
Optionally, the first bearing and the second bearing are both angular contact ball bearings or deep groove ball bearings, and the first bearing and the second bearing are mounted back to back.
A robot comprises a chassis and any one of the hinge support devices, wherein the first connecting piece of the hinge support device is fixedly arranged on the chassis, and the second connecting piece of the hinge support device is a swing arm of the robot.
The utility model provides a hinge support device, because first spacing fender shoulder can carry out axial spacing to the outer lane of first bearing, first retaining member links to each other with the mandrel, compresses tightly the inner circle of first bearing, and first retaining member and first spacing fender shoulder are located the both ends of first bearing respectively, therefore, utilize first retaining member and first spacing fender shoulder can realize the spacing to first bearing; furthermore, the second limiting retaining shoulder can axially limit the outer ring of the second bearing, the second locking member is connected with the mandrel and compresses the inner ring of the second bearing, and the second locking member and the second limiting retaining shoulder are respectively positioned at two ends of the second bearing, so that the second bearing can be limited by the second locking member and the second limiting retaining shoulder; when the second locking piece presses the inner ring of the second bearing, the pressing force of the second locking piece is transmitted to the second mounting seat through the outer ring of the second bearing, and then is transmitted to the first mounting seat through the second connecting piece, and then is transmitted to the first bearing through the first mounting seat, and the inner ring of the first bearing is pressed by the first locking piece. In addition, the axial clearance between the first bearing and the second bearing is eliminated, and the pre-tightening of the first bearing and the second bearing is realized, so that the virtual displacement caused by the relative rotation between the second connecting piece and the first connecting piece can be avoided, and the relative shaking or angular deviation of the second connecting piece and the first connecting piece can be avoided.
Furthermore, the utility model discloses do not rely on the mode of management and control parts machining tolerance to come the assembly precision of management and control bearing, also not compensate machining tolerance through installing the elastomer additional in bearing cooperation department, but through carrying out the mode of the spacing and pre-compaction of axial to first bearing and second bearing, eliminate the fit clearance of first bearing and second bearing, improved structural rigidity, and the processing cost is low, the assembly precision uniformity is good.
The utility model provides a robot, including above-mentioned hinge support device, have above-mentioned beneficial effect for the motion precision of robot is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a hinge support device according to an embodiment of the present invention;
fig. 2 isbase:Sub>A sectional view taken alongbase:Sub>A-base:Sub>A ofbase:Sub>A coupling structure of the first coupling member and the second coupling member of fig. 1;
fig. 3 is a schematic structural view of the first connecting member of fig. 1 before being assembled with the mandrel.
The reference numerals in fig. 1 to 3 are as follows:
the device comprises a first connecting piece 1, a second connecting piece 2, a first mounting seat 21, a first limiting stop shoulder 211, a second mounting seat 22, a second limiting stop shoulder 221, a mandrel 3, a third limiting stop shoulder 31, a first bearing 4, a second bearing 5, a locking screw 6, a pretightening nut 7, a gland nut 8, a first spring washer 9, a first flat washer 10, a second flat washer 11, a second spring washer 12, a straight plane 13 and a cushion block 14.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
The core of the utility model is to provide a hinge support device, the assembly precision is high, and the rigidity is high. The other core of the utility model is to provide a robot comprising the hinge support device, which has high motion precision.
Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of a hinge support device according to an embodiment of the present invention; fig. 2 isbase:Sub>A sectional view taken alongbase:Sub>A-base:Sub>A ofbase:Sub>A coupling structure of the first coupling member and the second coupling member of fig. 1; fig. 3 is a schematic structural view of the first connecting member of fig. 1 before being assembled with the mandrel.
The utility model provides a hinge support device, including first connecting piece 1, mandrel 3, second connecting piece 2, first retaining member and second retaining member, mandrel 3 and first connecting piece 1 fixed connection, second connecting piece 2 is equipped with first mount pad 21 and second mount pad 22, first mount pad 21 and second mount pad 22 set up relatively, and first mount pad 21 and second mount pad 22 are located the both sides of first connecting piece 1 respectively, first mount pad 21 links to each other with mandrel 3 through first bearing 4, second mount pad 22 links to each other with mandrel 3 through second bearing 5, first mount pad 21 is equipped with and is used for carrying out the first spacing fender shoulder 211 that axial is spacing to the outer lane of first bearing 4, second mount pad 22 is equipped with and is used for carrying out the spacing second spacing fender shoulder 221 that axial is carried out to the outer lane of second bearing 5; the first locking piece is connected with the mandrel 3 and used for pressing the inner ring of the first bearing 4, and the first locking piece and the first limit retaining shoulder 211 are respectively positioned at two ends of the first bearing 4; the second locking member is connected with the mandrel 3 and used for pressing the inner ring of the second bearing 5, and the second locking member and the second limiting blocking shoulder 221 are respectively positioned at two ends of the second bearing 5.
It will be appreciated that, since the first mounting seat 21 is connected to the spindle 3 through the first bearing 4, and the second mounting seat 22 is connected to the spindle 3 through the second bearing 5, that is, the inner rings of the first bearing 4 and the second bearing 5 are respectively connected to the spindle 3, the outer ring of the first bearing 4 is connected to the first mounting seat 21, and the outer ring of the second bearing 5 is connected to the second mounting seat 22, so that the first mounting seat 21 and the second mounting seat 22 can respectively rotate relative to the spindle 3; and because the mandrel 3 is fixedly connected with the first connecting piece 1, and the first mounting seat 21 and the second mounting seat 22 are both arranged on the second connecting piece 2, the relative rotation between the second connecting piece 2 and the first connecting piece 1 can be realized.
In addition, the first limiting stop shoulder 211 can axially limit the outer ring of the first bearing 4, the first locking member is connected with the mandrel 3 to press the inner ring of the first bearing 4, and the first locking member and the first limiting stop shoulder 211 are respectively positioned at two ends of the first bearing 4, so that the first locking member and the first limiting stop shoulder 211 can limit the first bearing 4; furthermore, the second limiting stop shoulder 221 can axially limit the outer ring of the second bearing 5, the second locking member is connected with the mandrel 3 to press the inner ring of the second bearing 5, and the second locking member and the second limiting stop shoulder 221 are respectively located at two ends of the second bearing 5, so that the second locking member and the second limiting stop shoulder 221 can be used for limiting the second bearing 5; moreover, when the second locking member presses the inner ring of the second bearing 5, the pressing force of the second locking member is transmitted to the second mounting seat 22 through the outer ring of the second bearing 5, and then transmitted to the first mounting seat 21 through the second connecting member 2, and then transmitted to the first bearing 4 through the first mounting seat 21, and the inner ring of the first bearing 4 is pressed by the first locking member, so that, under the action of the first locking member and the second locking member, the axial gap between the first bearing 4 and the second bearing 5 can be eliminated and the pre-tightening of the first bearing 4 and the second bearing 5 can be realized, so that the axial position of the second connecting member 2 can be ensured to be kept unchanged, the axial displacement of the second connecting member 2 can be avoided, and when the second connecting member 2 is subjected to a radial force or a bending moment, the hinge support device can not generate bending deformation, that is, and the hinge support device can bear bending stress. Moreover, because the axial clearance between the first bearing 4 and the second bearing 5 is eliminated and the pre-tightening of the first bearing 4 and the second bearing 5 is realized, the virtual displacement caused by the relative rotation between the second connecting piece 2 and the first connecting piece 1 can be avoided, and the relative shaking or the angular deviation and the like caused by the relative rotation between the second connecting piece 2 and the first connecting piece 1 can be avoided.
Furthermore, the utility model discloses do not rely on the mode of management and control parts machining tolerance to come the assembly precision of management and control bearing, also not compensate machining tolerance through installing the elastomer additional in bearing cooperation department, but through carrying out the mode of the spacing and pre-compaction of axial to first bearing 4 and second bearing 5, eliminate the fit clearance of first bearing 4 and second bearing 5, improved structural rigidity, and the processing cost is low, and the assembly precision uniformity is good.
It should be noted that the embodiment does not limit the specific structure of the first locking member and the specific connection manner of the first locking member with the spindle 3, as long as the first locking member can be connected with the spindle 3 and can press the first locking member against the inner ring of the first bearing 4.
On the basis of the above-described embodiment, the spindle 3 is provided with a threaded hole, and the first locking member comprises a locking screw 6 connected to the threaded hole, the head of the locking screw 6 being used to press the inner ring of the first bearing 4. That is, this embodiment realizes being connected of first retaining member and mandrel 3 through the threaded connection of locking screw 6 with the screw hole to utilize the head of locking screw 6 to compress tightly the inner circle of first bearing 4, simple structure, convenient realization.
In order to prevent the locking screw 6 from loosening and increase the pre-tightening force, in one embodiment, a first spring washer 9 is provided between the head of the locking screw 6 and the inner ring of the first bearing 4.
Further, in order to increase the fastening contact area between the head of the locking screw 6 and the inner race of the first bearing 4, reduce the friction between the locking screw 6 and the inner race of the first bearing 4, and avoid scratching the inner race of the first bearing 4, on the basis of the above-described embodiment, a first flat washer 10 is provided between the first spring washer 9 and the inner race of the first bearing 4.
In addition, the embodiment does not limit the specific structure of the second locking member and the specific connection manner with the mandrel 3, as long as the connection between the second locking member and the mandrel 3 can be realized, and the second locking member can be pressed against the inner ring of the second bearing 5.
On the basis of the above-described embodiment, the spindle 3 is provided with an externally threaded rod, and the second locking member comprises a pretension nut 7 connected to the externally threaded rod, one end of the pretension nut 7 pressing against the inner ring of the second bearing 5. That is, in the present embodiment, the connection between the second locking member and the spindle 3 is realized by the threaded connection between the pre-tightening nut 7 and the external threaded rod, and the inner ring of the second bearing 5 is pressed by the end surface of the locking nut, so that the structure is simple and the implementation is convenient.
In order to increase the fastening contact area between the pretension nut 7 and the inner ring of the second bearing 5, reduce the friction between the pretension nut 7 and the inner ring of the second bearing 5, and avoid scratching and the like on the inner ring of the second bearing 5, in one embodiment, a second flat washer 11 is arranged between the pretension nut 7 and the inner ring of the second bearing 5.
In addition, in order to prevent the pretension nut 7 from loosening, in addition to the above embodiment, a compression nut 8 connected to the external threaded rod is further included, and the compression nut 8 compresses one end of the pretension nut 7 away from the second bearing 5. That is to say, after the pre-tightening nut 7 is installed in place, the compression nut 8 is screwed into the external threaded rod, and the compression nut 8 can compress the pre-tightening nut 7 according to the preset torque, so that the pre-tightening nut 7 is fixed more firmly without loosening, the pre-tightening of the first bearing 4 and the second bearing 5 is ensured, and the gap generated in the assembly of the first bearing 4 and the second bearing 5 due to the loosening of the pre-tightening nut 7 is avoided.
Further, in order to increase the pretension between the compression nut 8 and the pretension nut 7, in one embodiment a second spring washer 12 is provided between the compression nut 8 and the pretension nut 7.
In addition, in order to prevent the spindle 3 from rotating relative to the first connecting member 1, on the basis of the above-mentioned embodiment, the mating surfaces of the spindle 3 and the first connecting member 1 comprise at least one straight flat surface 13, and the straight flat surface 13 is used for limiting the rotation of the spindle 3 and the first connecting member 1 relative to each other. That is, in the present embodiment, the first straight plane is formed on the mandrel 3, the second straight plane is formed on the first connecting member 1, the first straight plane and the second straight plane cooperate to form a mating surface of the straight plane 13, and the straight plane 13 is used to limit the relative rotation between the mandrel 3 and the first connecting member 1, so as to ensure the reliability of the fixation between the mandrel 3 and the first connecting member 1.
In one embodiment the mating surfaces of the spindle 3 and the first coupling member 1 comprise a straight plane 13, i.e. the cross-section of the spindle 3 is D-shaped and the cross-section of the mounting hole of the first coupling member 1 for fitting with the spindle 3 is D-shaped.
In one embodiment, the mating surfaces of the spindle 3 and the first connecting piece 1 comprise two straight planes 13, i.e. the spindle 3 is provided with two first straight planes, which are arranged in parallel, and the mounting hole of the first connecting piece 1 for fitting with the spindle 3 is provided with two second straight planes, which are arranged in parallel; the first straight plane and the second straight plane are correspondingly matched one by one to form a matching surface of two straight planes 13.
In addition, on the basis of the above-described embodiment, the spindle 3 is provided with a third limit stop shoulder 31 for pressing against one side of the first connecting member 1. That is to say, during the assembly, insert mandrel 3 in the mounting hole of first connecting piece 1 for the laminating contact of third spacing fender shoulder 31 and one side of first connecting piece 1 indicates that mandrel 3 is installed in place, utilizes third spacing fender shoulder 31 to carry out axial spacing to mandrel 3, and the mandrel 3 of being convenient for is installed the location.
Further, on the basis of the above embodiment, the present invention further includes a spacer 14 sleeved on the mandrel 3, the spacer 14 and the third limiting shoulder 31 are located at two sides of the first connecting member 1, and the spacer 14 is in close contact with the inner ring of the first bearing 4 or the second bearing 5. That is to say, in the embodiment, the cushion block 14 is sleeved on the spindle 3 at a position on one side of the first connecting member 1 away from the third limiting shoulder 31, the inner ring of the first bearing 4 or the second bearing 5 is used to compress the cushion block 14, and then the cushion block 14 compresses the first connecting member 1, so that the first connecting member 1 and the spindle 3 are more firmly fixed, and the first connecting member 1 is prevented from generating axial deviation relative to the spindle 3.
It should be noted that, in the above embodiments, specific structures and types of the first bearing 4 and the second bearing 5 are not limited, and in one embodiment, the first bearing 4 and the second bearing 5 are both angular contact ball bearings or deep groove ball bearings, and the first bearing 4 and the second bearing 5 are installed back to back.
Except the hinge support device, the utility model discloses still provide a robot including the hinge support device that above-mentioned embodiment is disclosed, this robot includes the chassis, hinge support device's first connecting piece 1 sets firmly in the chassis, hinge support device's second connecting piece 2 is the swing arm of robot. For the structure of other parts of the robot, please refer to the prior art, and the description is omitted here.
It should be noted that the key point of the present embodiment is to apply the hinge support apparatus disclosed in the above embodiment to a robot, where the first connecting member 1 of the hinge support apparatus is fixedly disposed on a chassis, so that the hinge support apparatus becomes a fixed hinge support apparatus, and the second connecting member 2 of the hinge support apparatus is used as a swing arm of the robot, so as to achieve precise swing of the swing arm.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
It is right above that the utility model provides a hinge support device and robot have introduced in detail. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.
Claims (10)
1. A hinge support device, comprising:
a first connecting member;
the mandrel is fixedly connected with the first connecting piece;
the second connecting piece is provided with a first mounting seat and a second mounting seat which are oppositely arranged, the first mounting seat and the second mounting seat are respectively positioned at two sides of the first connecting piece, the first mounting seat is connected with the mandrel through a first bearing, the second mounting seat is connected with the mandrel through a second bearing, the first mounting seat is provided with a first limiting blocking shoulder for axially limiting the outer ring of the first bearing, and the second mounting seat is provided with a second limiting blocking shoulder for axially limiting the outer ring of the second bearing;
the first locking piece is connected with the mandrel and used for pressing an inner ring of the first bearing, and the first locking piece and the first limit retaining shoulder are respectively positioned at two ends of the first bearing;
and the second locking piece is connected with the mandrel and used for pressing the inner ring of the second bearing, and the second locking piece and the second limiting retaining shoulder are respectively positioned at two ends of the second bearing.
2. The hinge stand apparatus according to claim 1, wherein the spindle is provided with a threaded hole, and the first locking member includes a locking screw coupled to the threaded hole, a head of the locking screw being used to press the inner race of the first bearing.
3. The hinged stand apparatus of claim 2, wherein the mandrel is provided with an externally threaded rod, and the second locking member includes a pre-tightening nut coupled to the externally threaded rod, one end of the pre-tightening nut pressing against the inner race of the second bearing.
4. The hinge bracket device according to claim 3, further comprising a compression nut coupled to the externally threaded rod, the compression nut compressing an end of the pre-tightening nut remote from the second bearing.
5. The hinge bracket device according to claim 4, wherein a first spring washer and a first flat washer are provided between the head of the locking screw and the inner race of the first bearing;
and/or a second flat gasket is arranged between the pretightening nut and the inner ring of the second bearing;
and/or a second spring washer is arranged between the compression nut and the pre-tightening nut.
6. The hinge support apparatus of any one of claims 1 to 5, wherein the mating surface of the spindle with the first connector comprises at least one straight plane for limiting relative rotation of the spindle with the first connector.
7. The hinge stand apparatus according to any one of claims 1 to 5, wherein the spindle is provided with a third limit stopper for pressing one side of the first connecting member.
8. The hinge support apparatus according to claim 7, further comprising a spacer block sleeved on the spindle, wherein the spacer block and the third limiting shoulder are located at two sides of the first connecting member, and the spacer block is in close contact with the inner ring of the first bearing or the second bearing.
9. The hinge bracket device according to any one of claims 1 to 5, wherein said first bearing and said second bearing are both angular contact ball bearings or deep groove ball bearings, said first bearing and said second bearing being mounted back-to-back.
10. A robot comprising a chassis, characterized in that it further comprises a hinge support device according to any of claims 1-9, said first connector of said hinge support device being fixed to said chassis, and said second connector of said hinge support device being a swing arm of said robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220326418.1U CN218614030U (en) | 2022-02-17 | 2022-02-17 | Hinge support device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220326418.1U CN218614030U (en) | 2022-02-17 | 2022-02-17 | Hinge support device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218614030U true CN218614030U (en) | 2023-03-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220326418.1U Active CN218614030U (en) | 2022-02-17 | 2022-02-17 | Hinge support device and robot |
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| Country | Link |
|---|---|
| CN (1) | CN218614030U (en) |
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- 2022-02-17 CN CN202220326418.1U patent/CN218614030U/en active Active
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