CN106078719A - End arms before robot - Google Patents
End arms before robot Download PDFInfo
- Publication number
- CN106078719A CN106078719A CN201610613936.0A CN201610613936A CN106078719A CN 106078719 A CN106078719 A CN 106078719A CN 201610613936 A CN201610613936 A CN 201610613936A CN 106078719 A CN106078719 A CN 106078719A
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- China
- Prior art keywords
- reductor
- belt pulley
- belt
- end arms
- transition
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides end arms before a kind of robot, reductor two that the reductor one being connected with ancon including arm body is connected with end execution unit and motion rod member；Described arm body one end is connected with reductor one, and the other end is connected with reductor two by motion rod member；Described reductor one and reductor two are the reductor of hollow structure, and the spool of end execution unit, after the hollow structure of reductor one stretches into the hollow structure of reductor two, is connected with end execution unit.Before robot of the present invention, end arms can solve the problem of the spool front end arms of generation winding of end execution unit, so that the space of front end arms is unrestricted, substantially increases the freedom of motion of front end arms.Before robot of the present invention, end arms volume is little and motility high.
Description
Technical field
The present invention relates to robotics, more particularly, it relates to end arms before a kind of robot.
Background technology
Industrial robot is the multi-joint manipulator towards industrial circle or multivariant robot, and it is as automatically holding
The installations of row work, are to realize a kind of machine of various function by self power and control ability.Robot can connect
Commanded by the mankind, can also run according to compiler in advance simultaneously, extensively use in multiple industry fields.
Wherein, the front end arms of robot is equivalent to the forearm of people, is the main execution unit of work, and its effect is used to prop up
Support wrist and ancon, and drive them together in space motion, thus drive arm to move by certain track.Existing robot end
The spool of end execution unit can be placed on forearm end from ancon extension, is connected with the end execution unit being arranged on wrist, due to
The problem of the reductor pivot center that front end arms is connected with elbow position and wrist position respectively, and spool is not in reductor rotation
The problem turning center, when causing the work of front end arms to rotate, and when the end execution unit work being connected with wrist rotates, end
The spool of execution unit can be wound around front end arms, thus limits the space of front end arms, the freedom of motion of end arms before reducing.
Meanwhile, when the movement locus of the end execution unit being connected with wrist is to swing around the central shaft of front end arms, by
Can be vertically arranged with front end arms in the power shaft driving the reductor swung, in causing being arranged on front end arms, drive oscillating motion
Motor also can be arranged along the width of front end arms so that the width of front end arms increases, thus causes front end arms volume mistake
In huge.
Summary of the invention
It is an object of the invention to overcome shortcoming of the prior art with not enough, it is provided that end arms before a kind of robot；This machine
Before device people, end arms can solve the problem of the spool front end arms of generation winding of end execution unit, so that the motion of front end arms is empty
Between unrestricted, substantially increase the freedom of motion of front end arms.Further object is, it is provided that a kind of volume is little and flexible
End arms before the robot that property is high.
In order to achieve the above object, the technical scheme is that: end arms before a kind of robot, be used for
Connect ancon and the end execution unit of robot, and the spool of end execution unit is extended to end execution unit；It is special
Levy and be: include reductor two and motion rod member that the reductor one that arm body is connected with ancon is connected with end execution unit；
Described arm body one end is connected with reductor one, and the other end is connected with reductor two by motion rod member；Described reductor one and subtracting
Speed machine two is the reductor of hollow structure, and the spool of end execution unit stretches into reductor two from the hollow structure of reductor one
After hollow structure, it is connected with end execution unit.
In such scheme, the spool of end execution unit is next real through the hollow structure of reductor one and reductor two
Now being connected with end execution unit, when therefore before robot, end arms work rotates, reductor one and reductor two are worked
Cheng Zhong, the spool of the end execution unit being located in hollow structure is unaffected, also will not produce the phenomenon of end arms, institute before being wound around
Before making robot with, this structure end arms can solve the spool of end execution unit produce be wound around before the problem of end arms so that
Before, the space of end arms is unrestricted, substantially increases the freedom of motion of front end arms.
The central shaft of described reductor one is with the central shaft of reductor two on the same axis.This design makes end perform
The spool of parts and front end arms arm body are parastate, the freedom of motion of end arms before increasing further.
Described motion rod member swings around the central shaft of arm body；Described arm body is provided with receiving cavity, arranges in receiving cavity
There is the drive mechanism for driving motion rod member to swing；
Described drive mechanism includes actuating device and the reductor three being connected with moving lever；The outfan of described actuating device
It is connected by the power shaft of belt one with reductor three, it is achieved actuating device is in transmission connection with reductor three.
Described actuating device includes base, the motor being arranged on base, the belt pulley that is connected by rotating shaft one with motor
One, transition mechanism is in transmission connection with reductor three output mechanism and belt two；
Described motor is arranged along arm body length direction；Described transition mechanism is positioned at above belt pulley one, and along arm body width
Direction is arranged；Described output mechanism is provided with belt pulley two, and output mechanism is arranged on base and is positioned at the rear portion of motor, and edge
Arm height direction is arranged；Described belt pulley one is connected with belt pulley two by belt two, described transition mechanism support belt two,
Realize the power transmission of motor as the power of output mechanism.
In robot architecture, the movement locus of the end execution unit being connected with wrist is the central shaft pendulum around front end arms
Time dynamic, owing to the power shaft of the actuating device reductor three of motion rod member can be vertically arranged with front end arms, cause being arranged on front end
The motor driving motion rod member to swing in arm also can be arranged along the width of front end arms so that the width of front end arms increases
Greatly, thus cause front end arms volume the hugest.In such scheme, motor along arm body length direction arrange, due to
Motor, transition mechanism that belt pulley one connects and be provided with the output mechanism of belt pulley two and be mutually perpendicular to the most two-by-two, and
And, the belt two being connected with belt pulley two by transition mechanism support belt pulley one so that the actuating device of the present invention can be by electricity
The power of machine 90 ° turns to transmission as the power of output mechanism, it is simple to output mechanism drives the deceleration vertical with front end arms arm body
The power shaft of machine three rotates, thus not only can realize end execution unit and be swung around front end arms central shaft by reductor three, and
And the volume of front end arms can be substantially reduced.
Described transition mechanism includes the pedestal one being arranged on base, along turning that arm body width is erected on pedestal one
Axle two, transition wheel one and transition wheel two；Described transition wheel one and transition wheel two are all rotatably arranged in rotating shaft two；Belt pulley
One is positioned at transition wheel one lower section located relative with transition wheel two.This design makes to transmit belt two in opposite direction on belt pulley one
Uniformly support is on transition wheel one with transition wheel two, improves the transmission effect of power.
Transmit belt two in opposite direction on described belt pulley one and distinguish support in a distorted way in transition wheel one and mistake
On ferry boat two；
Described transition mechanism support belt two, it is achieved the power transmission of motor is referred to as the power of output mechanism: institute
State transition wheel one and transition wheel two support respectively transmits the belt two in direction on the contrary, during work, transition wheel one and transition wheel two-phase
Adverse movement mutually, it is achieved the power of motor is transferred to belt pulley two, as the power of output mechanism by belt pulley one.Due to
Power is to be transferred to arm height direction from arm body length direction, and therefore belt two need to be with the form torr of distortion transition wheel one He
Just can realize power on transition wheel two turns to transmission.The transition mechanism of the present invention is unpowered mechanism, can be used as belt
The holding element of two, it is possible to as the intermediate member of belt two transmission.Transmit belt two in opposite direction support respectively in transition
On wheel one and transition wheel two so that transition wheel one and the mutually opposing rotation of transition wheel two, so that the power 90 ° of motor is turned
To transmission as the power of output mechanism.
Described output mechanism includes the pedestal two being arranged on base, is positioned at motor rear portion and arranges along arm height direction
Rotating shaft three, belt pulley two and for the output wheel that is in transmission connection with reductor three；Described belt pulley two is rotatably arranged in
In rotating shaft three；Described output wheel is rotatably arranged in rotating shaft three, coaxially connected with belt pulley two.The output wheel of the present invention can
It is connected by the power shaft of belt one with reductor three, reaches the effect of the power transmission of motor to reductor three, thus
Realize end execution unit to be swung around the central shaft of front end arms by reductor three.
Described pedestal two is connected with base scalable；Described base is provided with fixing hole；Described pedestal two is along its width side
To offering at least one groove, for providing the fixed space of pedestal two；
The position that groove is offered keeps relative with the position of fixing hole, and by fixture through groove with fixing hole even
Connect, it is achieved pedestal two is connected with base scalable.
The pedestal two of the present invention be connected with base scalable then can according to practical situation regulation pedestal two and pedestal one away from
From, thus regulate the elasticity of belt two, to ensure transmission quality and the precision of power.If belt two is the tightliest easily caused disconnected
Splitting, if belt two is the most loose, transmission accuracy is unable to reach, and easily weares and teares and also can be easily broken off, therefore can be by regulation pedestal two
With the elasticity that the distance of pedestal one regulates belt two.
The diameter D of the diameter d ＜ belt pulley two of described belt pulley one.Owing to belt pulley one and belt pulley two are by belt two
Connecting, therefore, this design can reach the effect of deceleration when the power of motor is sent to output mechanism, thus can improve output and turn round
Square power and carrying.
The diameter of axle H of the power shaft of the diameter h ＜ reductor three of described output wheel.Input due to output wheel Yu reductor three
Axle is connected by belt one, and therefore, this design can reach the effect of deceleration when the power of output mechanism is sent to reductor three,
Thus improve output torsional forces and carrying further.The power of the present invention passes from motor, output mechanism and reductor three successively
During sending, not only can realize power 90 ° and turn to transmission, and this process has the effect of secondary speed-reducing to drive reductor three work
Make, therefore change front end arms and have and can improve output torsional forces and the function of carrying.
Compared with prior art, the invention have the advantages that and beneficial effect:
1, before robot of the present invention, end arms can solve the problem of the spool front end arms of generation winding of end execution unit, thus
The space making front end arms is unrestricted, substantially increases the freedom of motion of front end arms.
2, before robot of the present invention, end arms volume is little and motility is high.
3, before robot of the present invention, end arms has improvement output torsional forces and the function of carrying.
Accompanying drawing explanation
End arms schematic diagram one (motion rod member is non-swing state) before Tu1Shi robot of the present invention；
End arms schematic diagram two (motion rod member is swing state) before Tu2Shi robot of the present invention；
End arms schematic internal view before Tu3Shi robot of the present invention；
End arms schematic cross-section before Tu4Shi robot of the present invention；
The structural representation of actuating device in end arms before Tu5Shi robot of the present invention；
Wherein, 1 it is base, 2 is motor, 3 for belt pulley one, 4 for belt two, 5 for belt pulley two, 6 for pedestal one, 7 is
Rotating shaft two, 8 is output wheel, 12 is groove for belt one, 13,15 is for transition wheel two, 10 for pedestal two, 11 for transition wheel one, 9
Arm body, 16 to be reductor three, 17 be spool for reductor one, 18 for reductor two, 19,20 be motion rod member, 21 be power shaft.
Detailed description of the invention
The present invention is described in further detail with detailed description of the invention below in conjunction with the accompanying drawings.
Embodiment
As Fig. 1 is to shown in 5, and end arms before robot of the present invention, is for connecting the ancon of robot and end execution unit,
And the spool 19 of end execution unit is extended to end execution unit.This front end arms includes that what arm body 15 was connected with ancon subtracts
The speed reductor 2 18 that is connected with end execution unit of machine 1 and motion rod member 20, wherein, arm body 15 one end and reductor one
17 connect, and the other end is connected with reductor 2 18 by motion rod member 20.Reductor 1 and reductor 2 18 are hollow structure
Reductor, the spool 19 of end execution unit stretches into the hollow structure of reductor 2 18 from the hollow structure of reductor 1
After, it is connected with end execution unit.
More specifically, the central shaft of the central shaft of reductor 1 and reductor 2 18 on the same axis, i.e. slows down
The center of circle of machine 2 18 is on the basis of the center of circle of reductor 1, and axiality or concentricity reach 0.002 millimeter.
The motion rod member 20 of the present invention swings around the central shaft of arm body 15, and arm body 15 is provided with receiving cavity, receiving cavity
Inside it is provided with the drive mechanism for driving moving lever 20 to swing.This drive mechanism includes actuating device and connects with motion rod member 20
The reductor 3 16 connect, wherein, the outfan of actuating device is connected with the power shaft 21 of reductor 3 16 by belt 1, real
Existing actuating device is in transmission connection with reductor 3 15.
Actuating device of the present invention includes the base 1 being arranged in arm body 15, be arranged on base 1 motor 2, pass through rotating shaft
Output mechanism that one belt pulley 1 being connected with motor 2, transition mechanism are in transmission connection with reductor 3 16 and belt 24.Its
In, motor 2 is arranged along arm body 15 length direction；Transition mechanism is positioned at above belt pulley 1, and sets along arm body 15 width
Put；And output mechanism is provided with belt pulley 25, output mechanism is arranged on base 1 and is positioned at the rear portion of motor 2, and along arm body
15 short transverses are arranged.Inventive belt wheel 1 is connected with belt pulley 25 by belt 24, transition mechanism support belt 24,
Realize the power transmission of motor 2 as the power of output mechanism.
The transition mechanism of the present invention includes the pedestal 1 being arranged on base 1, is erected at pedestal along arm body 15 width
Rotating shaft 27, transition wheel 1 and transition wheel 29 on one 6, this transition wheel 1 and transition wheel 29 are all by bearing rotationally
It is arranged in rotating shaft 27.And belt pulley 1 is positioned at the lower section at transition wheel 1 place relative with transition wheel 29, belt pulley 1 is uploaded
Defeated belt 24 in opposite direction distinguishes support in a distorted way on transition wheel 1 and transition wheel 29.Specifically, transition
Take turns 1 and transition wheel 29 support respectively transmit the belt 24 in direction on the contrary, during work, transition wheel 1 and transition wheel 29 are mutual
Adverse movement, it is achieved the power of motor 2 is transferred to belt pulley 25, as the power of output mechanism by belt pulley 1.
Output mechanism of the present invention includes the pedestal 2 10 being arranged on base 1, is positioned at motor 2 rear portion and along arm body 15 height
Rotating shaft three that direction is arranged, belt pulley 25 and for the output wheel 11 that is in transmission connection with reductor 3 16, wherein, belt pulley 25
Being rotatably arranged in rotating shaft three, output wheel 11 is rotatably arranged in rotating shaft three, coaxially connected with belt pulley 25.This
Invention can output wheel 11 can be connected with the power shaft 21 of reductor 3 16 by belt 1, reach the power of motor 2
Drive to the effect of reductor 3 16, thus realize end execution unit and put around the central shaft of arm body 15 by reductor 3 16
Dynamic.
The pedestal 2 10 of the present invention is connected with base 1 scalable, and concrete structure is: base 1 is provided with fixing hole, pedestal two
10 offer at least one groove 13 along its width, for providing the fixed space of pedestal 2 10.Pedestal 2 10 and base 1
Scalable connection refers to: the position that groove 13 is offered keeps relative with the position of fixing hole, and is worn by fixture (not shown)
Cross groove 13 to be connected with fixing hole, it is achieved pedestal 2 10 is connected with base 1 scalable.Pedestal 2 10 and the base 1 of the present invention can
Regulation connects then according to the distance of practical situation regulation pedestal 2 10 with pedestal 1, thus can regulate the elasticity of belt 24,
To ensure transmission quality and the precision of power.
The diameter D of the diameter d ＜ belt pulley 25 of the belt pulley 1 of the present invention, the diameter h ＜ reductor three of output wheel 11
The diameter of axle H of the power shaft 21 of 16.The power of the present invention is successively during motor 2, output mechanism and reductor 3 16 transmit, no
Only can realize power 90 ° and turn to transmission, and this process has the effect of secondary speed-reducing to drive reductor 3 16 to work, and therefore changes
Front end arms has can improve output torsional forces and the function of carrying.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-described embodiment
Limit, the change made under other any spirit without departing from the present invention and principle, modify, substitute, combine, simplify,
All should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (10)
1. an end arms before robot, for connecting ancon and the end execution unit of robot, and by end execution unit
Spool is extended to end execution unit；It is characterized in that: include reductor one and end enforcement division that arm body is connected with ancon
The reductor two of part connection and motion rod member；Described arm body one end is connected with reductor one, the other end by motion rod member with subtract
Speed machine two connects；Described reductor one and reductor two are the reductor of hollow structure, and the spool of end execution unit is from deceleration
After the hollow structure of machine one stretches into the hollow structure of reductor two, it is connected with end execution unit.
End arms before robot the most according to claim 1, it is characterised in that: the central shaft of described reductor one and reductor
The central shaft of two is on the same axis.
End arms before robot the most according to claim 1, it is characterised in that: described motion rod member is put around the central shaft of arm body
Dynamic；Described arm body is provided with receiving cavity, is provided with the drive mechanism for driving moving lever to swing in receiving cavity；
Described drive mechanism includes actuating device and the reductor three being connected with motion rod member；The outfan of described actuating device leads to
Cross belt one to be connected with the power shaft of reductor three, it is achieved actuating device is in transmission connection with reductor three.
End arms before robot the most according to claim 3, it is characterised in that: described actuating device includes base, is arranged on
The output that motor on base, the belt pulley one being connected with motor by rotating shaft one, transition mechanism are in transmission connection with reductor three
Mechanism and belt two；
Described motor is arranged along arm body length direction；Described transition mechanism is positioned at above belt pulley one, and along arm body width
Arrange；Described output mechanism is provided with belt pulley two, and output mechanism is arranged on base and is positioned at the rear portion of motor, and along arm body
Short transverse is arranged；Described belt pulley one is connected with belt pulley two by belt two, described transition mechanism support belt two, it is achieved
Using the power transmission of motor as the power of output mechanism.
End arms before robot the most according to claim 4, it is characterised in that: described transition mechanism includes being arranged on base
Pedestal one, the rotating shaft two, transition wheel one and the transition wheel two that are erected on pedestal one along arm body width；Described transition wheel one
All it is rotatably arranged in rotating shaft two with transition wheel two；Belt pulley one is positioned at that transition wheel one is relative with transition wheel two locate under
Side.
End arms before robot the most according to claim 5, it is characterised in that: transmit in opposite direction on described belt pulley one
Belt two distinguishes support in a distorted way on transition wheel one and transition wheel two；
Described transition mechanism support belt two, it is achieved the power transmission of motor is referred to as the power of output mechanism: described mistake
Ferry boat one and transition wheel two support respectively transmit the belt two in direction on the contrary, and during work, transition wheel one and transition wheel two-phase are reciprocal
To motion, it is achieved the power of motor is transferred to belt pulley two, as the power of output mechanism by belt pulley one.
End arms before robot the most according to claim 4, it is characterised in that: described output mechanism includes being arranged on base
Pedestal two, be positioned at motor rear portion and along arm height direction arrange rotating shaft three, belt pulley two and for reductor three biography
The output wheel being dynamically connected；Described belt pulley two is rotatably arranged in rotating shaft three；Described output wheel is rotatably arranged in and turns
On axle three, coaxially connected with belt pulley two.
End arms before robot the most according to claim 7, it is characterised in that: described pedestal two is connected with base scalable；
Described base is provided with fixing hole；Described pedestal two offers at least one groove along its width, is used for providing pedestal two
Fixed space；
The position that groove is offered keeps relative with the position of fixing hole, and is connected with fixing hole through groove by fixture, real
Existing pedestal two is connected with base scalable.
End arms before robot the most according to claim 4, it is characterised in that: the diameter d ＜ belt pulley of described belt pulley one
The diameter D of two.
End arms before robot the most according to claim 7, it is characterised in that: the diameter h ＜ reductor three of described output wheel
The diameter of axle H of power shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610613936.0A CN106078719B (en) | 2016-07-28 | 2016-07-28 | End arms before robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610613936.0A CN106078719B (en) | 2016-07-28 | 2016-07-28 | End arms before robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106078719A true CN106078719A (en) | 2016-11-09 |
| CN106078719B CN106078719B (en) | 2018-09-07 |
Family
ID=57478425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610613936.0A Active CN106078719B (en) | 2016-07-28 | 2016-07-28 | End arms before robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106078719B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459153A (en) * | 2021-07-06 | 2021-10-01 | 杭州国辰机器人科技有限公司 | Three-degree-of-freedom motion joint assembly |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070208458A1 (en) * | 2006-03-01 | 2007-09-06 | Kawasaki Jukogyo Kabushiki Kaisha | Industrial robot |
| CN102463571A (en) * | 2010-11-04 | 2012-05-23 | 株式会社安川电机 | Robot wrist structure and robot |
| CN102649269A (en) * | 2011-02-24 | 2012-08-29 | 康茂股份公司 | Manipulator robot |
| CN104440937A (en) * | 2013-09-20 | 2015-03-25 | 株式会社不二越 | Industrious robot |
| CN205889181U (en) * | 2016-07-28 | 2017-01-18 | 佛山市三水区诺尔贝机器人研究院有限公司 | Front end arm of robot |
-
2016
- 2016-07-28 CN CN201610613936.0A patent/CN106078719B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070208458A1 (en) * | 2006-03-01 | 2007-09-06 | Kawasaki Jukogyo Kabushiki Kaisha | Industrial robot |
| CN102463571A (en) * | 2010-11-04 | 2012-05-23 | 株式会社安川电机 | Robot wrist structure and robot |
| CN102649269A (en) * | 2011-02-24 | 2012-08-29 | 康茂股份公司 | Manipulator robot |
| CN104440937A (en) * | 2013-09-20 | 2015-03-25 | 株式会社不二越 | Industrious robot |
| CN205889181U (en) * | 2016-07-28 | 2017-01-18 | 佛山市三水区诺尔贝机器人研究院有限公司 | Front end arm of robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459153A (en) * | 2021-07-06 | 2021-10-01 | 杭州国辰机器人科技有限公司 | Three-degree-of-freedom motion joint assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106078719B (en) | 2018-09-07 |
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Effective date of registration: 20181008 Address after: 528226 One of six five storeys (1-10 axes) in Area A of the New Light Source Industry Base of Guangdong Province, North of Langsha Avenue, Luocun, Shishan Town, Nanhai District, Foshan City, Guangdong Province Patentee after: Guangdong Tag prestige robot Science and Technology Ltd. Address before: 528100 self compiled E seat No. E203 and E204, complex building B, No. 67 (F3), Zone No. 3, science and Technology Industrial Zone, Sanshui center, Foshan, Guangdong. Patentee before: FOSHAN SANSHUI DISTRICT NUOERBEI ROBOT RESEARCH INSTITUTE CO., LTD. |
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