CN107553475A - A kind of workpiece coordinate scaling method for work pieces process - Google Patents
A kind of workpiece coordinate scaling method for work pieces process Download PDFInfo
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Abstract
The present invention relates to a kind of workpiece coordinate scaling method, mobile seeking border contacts with the adjacent edge of workpiece two, and each side obtains two surface points, teaching machine record P1、P2、P3、P4In robot basis coordinates system x, y and z value, ensure at this 4 points in same Z plane；P1P2With P3P4Intersection point P5X and y values and P1P2With P3P4Intersection point is identical in the projection of XY faces, obtains P5X and y values, move seeking border contact P5Locate workpiece surface, record P5Z values；Workpiece surface takes P7、P8And P9, P7For workpiece coordinate system origin, P8、P9Demarcate its X2And Y2Axle, ensure P7P8⊥P7P9, record P5、P7、P8And P9X and y values；S4, determine P17、P18、P19, x and y values and P7、P8And P9It is identical, make P17、P18 and P1Z of the 9 z values equal to P5 adds certain value, moves seeking border to this 3 points, moves down contact workpiece face record P7、P8And P9Z values.The present invention touches end-of-arm tooling and workpiece, and the coordinate of three touch points is obtained by simplifying robot solving method, that is, obtains accurate workpiece coordinate system.
Description
Technical field
The present invention relates to the pose calibration technique field of workpiece, and in particular to is used for work pieces process in a kind of robot field
Workpiece coordinate scaling method.
Background technology
In processing of robots field, the demarcation of robot coordinate system includes workpiece coordinate demarcation and tool coordinates demarcation,
Its task is to determine the position of workpiece in robot processing system, instrument etc..Usual tool calibration is fairly simple, and calibrated error
It is smaller.And the demarcation of workpiece coordinate is not easy accurate calibration, and the precision of its demarcation directly affects final machining accuracy.Work
Whether the demarcation of part coordinate system will accurately directly affect the matching essence that cutter location under work coordinate system is mapped under robot coordinate system
Degree, causes mechanical processing quality undesirable, or even robot and workpiece occurs and the security incident such as collide.
Demarcation for robot workpiece coordinate system, just it is to determine the position of workpiece coordinate system with posture relative to robot
Transition matrix under basis coordinates system.Typically there are two methods using demarcation mode at present：1st, tracked using industrial camera, laser
The electronic equipments such as instrument, feel of the ball instrument carry out workpiece coordinate demarcation, and this demarcation mode precision is high, but expense is at a relatively high；2nd, pass through
The mode of robot teaching, robot end's instrument is touched with workpiece, then touched by robot solution technique
Touch the coordinate value a little under robot basis coordinates system.The precision of second of demarcation mode has direct relation with method for solving,
But the general complex and stated accuracy of current method for solving is not high.
The content of the invention
The present invention provides a kind of workpiece coordinate scaling method for work pieces process, solves techniques discussed above and asks
Topic.
The scheme that the present invention solves above-mentioned technical problem is as follows：
A kind of workpiece coordinate scaling method for work pieces process, comprise the following steps：S1, moved by control machine people
Dynamic seeking border two sides adjacent with workpiece are in contact, and each side respectively obtains two points on workpiece surface, and in teaching machine
In record P1、P2、P3、P4This 4 points x coordinate, y-coordinate and the z coordinates under robot basis coordinates system, wherein ensureing P1、P2、
P3、P4Four points are in the plane of same Z coordinate；S2, connect P1Point, P2Point forms straight line P1P2, connect P3Point, P4Point forms straight
Line P3P4, P5X and y-coordinate and straight line P1P2With straight line P3P4Projection of the intersection point on XY faces it is identical, according to P1-P44 points are asked
Solution calculates P5The point x and y location coordinate under robot basis coordinates system, P5For the point on workpiece surface, pass through control machine people
To move seeking border contact P5Workpiece surface where point, records P in teaching machine5Z coordinate；S3, by seeking border in workpiece
It is respectively P to take on surface at 3 points7Point, P8Point and P9Point, P7Origin of the point as workpiece coordinate system, P8Point is used to demarcate workpiece coordinate
The X of system2Axis, P9Y of the point for workpiece coordinate system2Axis, and ensure straight line P7P8Perpendicular to straight line P7P9；Recorded in teaching machine
There are P5 points, P7Point, P8Point and P9The x and y location coordinate of point, P is calculated by teaching machine7Point, P8Point, P9Point is relative to P5Point
Position coordinates x values and y values；S4, first set three point P17 points, P18 points, P19 points, P17 points, P18 points, P19 points 3 points of x coordinate
Respectively with P7Point, P8Point and P9The x coordinate of three points of point corresponds to identical, P17 points, P18 points and P19 points 3 points of y-coordinate respectively with P7
Point, P8Point and P9Three points of y-coordinate of point corresponds to identical, makes P17 points, P18 points and P1Z value of 9 points 3 points of the z coordinate equal to P5 adds
A certain setting value, is first moved respectively to P by seeking border17 points, P18 points and P1, then seeking border is moved down so that seeking at 9 points 3 points
The round end of side device contacts workpiece face again, and P is recorded by teaching machine7Point, P8Point and P9The z coordinate of three points of point；S5, according to three
Point standardization, mobile seeking border to three points of P7 points, P8 points and P9 points simultaneously record at this 3 points, establish workpiece coordinate system.
The beneficial effects of the invention are as follows：The invention provides a kind of workpiece coordinate scaling method for work pieces process, tool
Have the advantage that：1st, i.e., robot teaching, two adjacent sides of seeking border and workpiece are moved by control machine people first
It is in contact, each side respectively obtains two auxiliary base points on workpiece surface, then carries out robot end's instrument and workpiece
Touching, coordinate of three touch points under robot basis coordinates system is obtained finally by simple accurate robot method for solving
Value, that is, obtain accurately workpiece coordinate system, so as to improve part calibration precision；2nd, seeking border is first moved respectively to P17 points, P18
Point and P19 points 3 points, then seeking border is moved down so that the round end of seeking border contacts workpiece face again, is recorded by teaching machine
Lower P7Point, P8Point and P9Three points of z coordinate of point, can so reduce caused by tool or workpiece surface are not smooth enough this three
The z coordinate error of point.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, in addition to the Z around auxiliary coordinates1The deflection of direction of principal axis is checked, and under auxiliary coordinates, side is sought in movement
Device is moved a certain distance to obtain P6 points from P5 points along X-direction, and ensures P6 points on workpiece face, and P6 points are recorded in teaching machine
Coordinate, teaching machine can calculate Z of the workpiece coordinate around auxiliary coordinates by P4 points, P5 points and P6 points1Direction of principal axis turns
Dynamic angle a.
It is using the above-mentioned further beneficial effect of scheme：It is corresponding with machine basis coordinates system by being established at P5 points
Auxiliary coordinates, the origin of the auxiliary coordinates are located on the X/Y plane of machine basis coordinates system, teaching machine by P4 points, P5 points and
P6 points can calculate Z of the workpiece coordinate around auxiliary coordinates1The rotational angle a of direction of principal axis, workpiece can be reduced and sat around auxiliary
Mark the Z of system1Direction of principal axis pair determines the influence of workpiece coordinate system.
Further, in addition to the X around auxiliary coordinates1The deflection of direction of principal axis is checked, and mobile seeking border walks one on workpiece
Section is along workpiece coordinate Y1The track of direction of principal axis；Take this section of track 2 point P10 points of head and the tail, coordinate when P20 points touch workpiece,
P10 points, x, y and z coordinate value of P20 points are inputted at the reading of the initial basis coordinates of teaching machine；Teaching machine can by P10 points, P20 points
To calculate X of the workpiece coordinate around auxiliary coordinates1The rotational angle b of direction of principal axis.
It is using the above-mentioned further beneficial effect of scheme：It is used for checking workpiece according to P10 points and the point coordinates of P20 points two
X of the coordinate system around auxiliary coordinates1The deflection angle b of direction of principal axis, and demarcation influences of the deflection angle b on workpiece coordinate is reduced, enter
One step improves the workpiece coordinate stated accuracy for work pieces process.
Further, in addition to auxiliary coordinates Y1The deflection of direction of principal axis is checked, and mobile seeking border walks one section of edge on workpiece
Workpiece coordinate X1The track of direction of principal axis, this section of track 2 point P30 points of head and the tail are taken, coordinate when P40 points touch workpiece, in teaching
P30 points, x, y and z coordinate value of P40 points are inputted at the reading of the initial basis coordinates of device；Teaching machine can be counted by P30 points, P40 points
Calculate Y of the workpiece coordinate around auxiliary coordinates1The rotational angle c of axle.
It is using the above-mentioned further beneficial effect of scheme：It is used for checking workpiece according to P30 points and the point coordinates of P40 points two
X of the coordinate system around auxiliary coordinates1The deflection angle b of direction of principal axis, and demarcation influences of the deflection angle b on workpiece coordinate is reduced, enter
One step improves the workpiece coordinate stated accuracy for work pieces process.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
The embodiment of the present invention is shown in detail by following examples and its accompanying drawing.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is that a kind of test point for workpiece coordinate scaling method for work pieces process that one embodiment of the invention provides is shown
It is intended to；
Workpiece coordinate system is around X in a kind of workpiece coordinate scaling method for work pieces process that Fig. 2 provides for Fig. 11Axle side
To the principle schematic of deflection；
Workpiece coordinate system is around Y in a kind of workpiece coordinate scaling method for work pieces process that Fig. 3 provides for Fig. 11Axle side
To the principle schematic of deflection.
In accompanying drawing, the list of parts representated by each label is as follows：
1st, workpiece；2nd, robot basis coordinates system；3rd, auxiliary coordinates.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing 1-3, the given examples are served only to explain the present invention,
It is not intended to limit the scope of the present invention.More specifically description is of the invention by way of example referring to the drawings in the following passage.Root
According to following explanation and claims, advantages and features of the invention will become apparent from.It should be noted that accompanying drawing is using very simple
The form of change and non-accurately ratio is used, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being arranged at " another component, it
Can be set directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
As shown in figure 1, the invention provides a kind of workpiece coordinate scaling method for work pieces process, including following step
Suddenly：S1, it is in contact by control machine people to move seeking border two sides adjacent with workpiece 1, each side respectively obtains workpiece 1
Two points on surface, and P is recorded in teaching machine1、P2、P3And P4This 4 points x coordinates under robot basis coordinates system 2,
Y-coordinate and z coordinate, wherein ensureing P1、P2、P3、P4Four points are in the plane of same Z coordinate；S2, connect P1Point, P2Point is formed
Straight line P1P2, connect P3Point, P4Point forms straight line P3P4, P5X and y-coordinate and straight line P1P2With straight line P3P4Intersection point on XY faces
Projection it is identical, according to P1-P44 points of solutions calculate P5The point x and y location coordinate under robot basis coordinates system 2, P5For work
Point on the surface of part 1, P is contacted to move seeking border by control machine people5The surface of workpiece 1 where point, remembers in teaching machine
Record P5Z coordinate；S3, it is respectively P to take at 3 points on the surface of workpiece 1 by seeking border7Point, P8Point and P9Point, P7Point is used as workpiece
The origin of coordinate system, P8Point is used for the X for demarcating workpiece coordinate system2Axis, P9Y of the point for workpiece coordinate system2Axis, and ensure
Straight line P7P8Perpendicular to straight line P7P9；Record has P in teaching machine5Point, P7Point, P8Point and P9The x and y location coordinate of point, pass through teaching
Device calculates P7Point, P8Point, P9Point is relative to P5The position coordinates x values and y values of point；S4, first set three point P17 points, P18 points,
P19 points, P17 points, P18 points, P19 points 3 points of x coordinate respectively with P7Point, P8Point and P9The x coordinate of three points of point corresponds to identical, P17
Point, P18 points and P19 points 3 points of y-coordinate respectively with P7Point, P8Point and P9Three points of y-coordinate of point corresponds to identical, makes P17 points, P18
Point and P1Z value of 9 points 3 points of the z coordinate equal to P5 adds a certain setting value, and seeking border first is moved respectively into P17 points, P18 points
And P19 points 3 points, then seeking border is moved down so that the round end of seeking border contacts workpiece face again, is recorded by teaching machine
P7Point, P8Point and P9The z coordinate of three points of point；S5, according to 3 standardizations, mobile seeking border to P7Point, P8Point and P9Three points of point is simultaneously
Record at this 3 points, establish workpiece coordinate system.
It is pointed out that 3 standardizations are to those skilled in the art, belong to the work for robot
Prior art in part coordinate scaling method, does not remake and repeats herein.The X of workpiece coordinate system2Axis and Y2Axis in figure not
Draw.
P is described below5The x of point and the coordinate method of y location coordinate.Set P1Point and P2The straight line P that point is formed1P2Parsing
Formula is y=k1x+b11. by P1Point and P2The x and y-coordinate of point are substituted into, and can obtain k1=(yp2-yp1)/(xp2-xp1),b1=yp2-
k1xp2；Similarly set P3Point and P4The straight line P that point is formed3P4Analytic expression be y=k2x+b22. by P3Point and P4The x and y of point are sat
Mark substitutes into, and can obtain k2=(yp4-yp3)/(xp4-xp3),b2=yp4-k2xp4；According to 1. 2. two formulas can obtain intersection point P5Point, x5=
(b1-b2)/(k1-k2),y5=k1x5+b1。
A kind of workpiece coordinate scaling method for work pieces process, i.e. robot teaching are provided in above-described embodiment, is had
Have the advantage that：1st, it is in contact first by control machine people to move seeking border two sides adjacent with workpiece 1, each side point
Two auxiliary base points on the surface of workpiece 1 are not obtained, and then robot end's instrument and workpiece 1 are touched, finally led to
Cross simple accurate robot method for solving and obtain coordinate value of three touch points under robot basis coordinates system 2, that is, obtain essence
Accurate workpiece coordinate system, so as to improve the stated accuracy of workpiece 1；2nd, seeking border is first moved respectively to P17 points, P18 points and P19
Three points of point, then seeking border is moved down so that the round end of seeking border contacts the face of workpiece 1 again, P is recorded by teaching machine7
Point, P8Point and P9Three points of z coordinate of point, it can so reduce this 3 points caused by tool or the surface of workpiece 1 are not smooth enough
Z coordinate error.
Preferably, as shown in figure 1, also including the Z around auxiliary coordinates 31The deflection of direction of principal axis is checked, in auxiliary coordinates
Under 3, mobile seeking border moves a certain distance to obtain P6 points from P5 points along X-direction, and ensures P6 points on workpiece face, in teaching
The coordinate of P6 points is recorded in device, teaching machine can calculate workpiece coordinate system around auxiliary coordinates 3 by P4 points, P5 points and P6 points
Z1The rotational angle a of direction of principal axis.
By establishing the auxiliary coordinates 3 corresponding with machine basis coordinates system, the origin of the auxiliary coordinates 3 at P5 points
On the X/Y plane of machine basis coordinates system；The embodiment utilizes the datum mark in workpiece coordinate system, and work is checked according to three point coordinates
Z of the part coordinate system around auxiliary coordinates 31The deflection angle a of direction of principal axis, and demarcation influence of the deflection angle on workpiece coordinate is reduced,
Further improve the workpiece coordinate stated accuracy for work pieces process.
Preferably, as shown in Fig. 2 also including the X around auxiliary coordinates 31The deflection of direction of principal axis is checked, and mobile seeking border exists
One section of Y along auxiliary coordinates 3 is walked on workpiece 11The track of direction of principal axis；Take this section of track 2 point P10 points of head and the tail, the contact of P20 points
To coordinate during workpiece, P10 points, x, y and z coordinate value of P20 points are inputted at the reading of the initial basis coordinates of teaching machine；Teaching machine
Workpiece coordinate can be calculated around robot basis coordinates X by P10 points, P20 points1The rotational angle b of axle.According to P10 points and P20
Two point coordinates of point are used for checking X of the workpiece coordinate system around auxiliary coordinates 31The deflection angle b of direction of principal axis, and reduce the deflection angle
Demarcation of the b on workpiece coordinate influences, and further improves the workpiece coordinate stated accuracy for work pieces process.
Preferably, as shown in figure 3, also including the Y around auxiliary coordinates 31The deflection of direction of principal axis is checked, and mobile seeking border exists
One section of X along auxiliary coordinates 3 is walked on workpiece 11The track of direction of principal axis, take this section of track 2 point P30 points of head and the tail, the contact of P40 points
To coordinate during workpiece, P30 points, x, y and z coordinate value of P40 points are inputted at the reading of the initial basis coordinates of teaching machine；Teaching machine
X of the workpiece coordinate around auxiliary coordinates 3 can be calculated by P30 points, P40 points1The rotational angle c of axle.According to P30 points and
The point coordinates of P40 points two is used for checking X of the workpiece coordinate system around auxiliary coordinates 31The deflection angle b of direction of principal axis, and it is inclined to reduce this
Demarcation of the corner b on workpiece coordinate influences, and further improves the workpiece coordinate stated accuracy for work pieces process.
It is understood that the Z axis in the robot basis coordinates system 2 is not drawn into perpendicular to X/Y plane, the auxiliary is sat
Z in mark system 31Axle is not drawn into perpendicular to X1Y1Plane.The seeking border is mainly used in machine tooling, encounters hardware, is formed
It can be lighted behind loop and honeybee hum(noise.The coordinate of each point is the coordinate under robot coordinate system 2 in all embodiments.
The foregoing is only a preferred embodiment of the present invention, not makees any formal limitation to the present invention；It is all
The those of ordinary skill of the industry can be shown in by specification accompanying drawing and described above and swimmingly implement the present invention；It is but all
Those skilled in the art without departing from the scope of the present invention, are done using disclosed above technology contents
The equivalent variations of a little variation, modification and evolution gone out, it is the equivalent embodiment of the present invention；It is meanwhile all according to the present invention's
Variation, modification and evolution of any equivalent variations that substantial technological is made to above example etc., still fall within the skill of the present invention
Within the protection domain of art scheme.
Claims (4)
1. a kind of workpiece coordinate scaling method for work pieces process, it is characterised in that comprise the following steps：
S1, it is in contact by control machine people to move seeking border two sides adjacent with workpiece, each side respectively obtains workpiece
Two points on surface, and P is recorded in teaching machine1、P2、P3、P4This 4 points x coordinate, the y under robot basis coordinates system
Coordinate and z coordinate, wherein ensureing P1、P2、P3、P4Four points are in the plane of same Z coordinate；
S2, connect P1Point, P2Point forms straight line P1P2, connect P3Point, P4Point forms straight line P3P4, P5X and y-coordinate and straight line P1P2
With straight line P3P4Projection of the intersection point on XY faces it is identical, according to P1-P44 points of solutions calculate P5Point is in robot basis coordinates system
Under x and y location coordinate, P5For the point on workpiece surface, P is contacted to move seeking border by control machine people5Work where point
Part surface, records P in teaching machine5Z coordinate；
S3, it is respectively P to take on the surface of the workpiece by seeking border at 3 points7Point, P8Point and P9Point, P7Original of the point as workpiece coordinate system
Point, P8Point is used for the X for demarcating workpiece coordinate system2Axis, P9Y of the point for workpiece coordinate system2Axis, and ensure straight line P7P8Vertically
In straight line P7P9；Record has P5 points, P in teaching machine7Point, P8Point and P9The x and y location coordinate of point, P is calculated by teaching machine7
Point, P8Point, P9Point is relative to P5The position coordinates x values and y values of point；
S4, first set three point P17 points, P18 points, P19 points, P17 points, P18 points, P19 points 3 points of x coordinate respectively with P7Point, P8Point
And P9The x coordinate of three points of point corresponds to identical, P17 points, P18 points and P19 points 3 points of y-coordinate respectively with P7Point, P8Point and P9Point three
The y-coordinate of point corresponds to identical, makes P17 points, P18 points and P1Z value of 9 points 3 points of the z coordinate equal to P5 adds a certain setting value, first
Seeking border is moved respectively to P17 points, P18 points and P1, then move down the round end weight that seeking border causes seeking border at 9 points 3 points
New contact workpiece face, P is recorded by teaching machine7Point, P8Point and P9The z coordinate of three points of point；
S5, according to 3 standardizations, mobile seeking border to P7Point, P8Point and P9Three points of point simultaneously records at this 3 points, establishes workpiece coordinate
System.
A kind of 2. workpiece coordinate scaling method for work pieces process according to claim 1, it is characterised in that also include around
The Z of auxiliary coordinates1The deflection of direction of principal axis is checked, and under auxiliary coordinates, mobile seeking border is from P5 points along X1Direction of principal axis movement one
Set a distance obtains P6 points, and ensures P6 points on workpiece face, in teaching machine record P6 points coordinate, teaching machine by P4 points,
P5 points and P6 points can calculate Z of the workpiece coordinate system around auxiliary coordinates1The rotational angle a of axle.
A kind of 3. workpiece coordinate scaling method for work pieces process according to claim 1, it is characterised in that also include around
The X of auxiliary coordinates1The deflection of direction of principal axis is checked, and mobile seeking border walks one section of Y along auxiliary coordinates on workpiece1Direction of principal axis
Track；This section of track 2 point P10 points of head and the tail are taken, coordinate when P20 points touch workpiece, in the reading of the initial basis coordinates of teaching machine
P10 points, x, y and z coordinate value of P20 points are inputted at number；Teaching machine by P10 points, P20 points can calculate workpiece coordinate system around
The X of auxiliary coordinates1The rotational angle b of axle.
4. a kind of workpiece coordinate scaling method for work pieces process according to claim 1, it is characterised in that also including Y1
The deflection of direction of principal axis is checked, and mobile seeking border walks one section of X along auxiliary coordinates on workpiece1The track of direction of principal axis, take this section
Track 2 point P30 points of head and the tail, coordinate when P40 points touch workpiece, input P30 at the reading of the initial basis coordinates of teaching machine
X, y and z coordinate value of point, P40 points；Teaching machine can calculate workpiece coordinate system around auxiliary coordinates by P30 points, P40 points
X1The rotational angle c of axle.
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| CN108637469A (en) * | 2018-04-10 | 2018-10-12 | 上海柏楚电子科技股份有限公司 | One kind patrolling edge system and its image processing method for being cut by laser vision |
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| CN110142748A (en) * | 2019-07-15 | 2019-08-20 | 常州固高智能装备技术研究院有限公司 | A kind of quick teaching system of robot suitable for spraying welding profession and method |
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| CN112264992A (en) * | 2020-09-15 | 2021-01-26 | 深圳市皓宇诚汽车电子有限公司 | Industrial robot coordinate system calibration method, system, device and storage medium |
| CN114536324A (en) * | 2022-01-11 | 2022-05-27 | 重庆智能机器人研究院 | Workpiece calibration method for automatic tool of industrial robot |
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| CN108919749A (en) * | 2018-07-23 | 2018-11-30 | 成都瑞雪精密机械有限公司 | A method of no knife position origin, which tracks, realizes coordinate origin tracking in five-axis machine tool |
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| CN112264992A (en) * | 2020-09-15 | 2021-01-26 | 深圳市皓宇诚汽车电子有限公司 | Industrial robot coordinate system calibration method, system, device and storage medium |
| CN112264992B (en) * | 2020-09-15 | 2024-05-31 | 贝里精英智能装备(深圳)有限公司 | Industrial robot coordinate system calibration method, system, device and storage medium |
| CN114536324A (en) * | 2022-01-11 | 2022-05-27 | 重庆智能机器人研究院 | Workpiece calibration method for automatic tool of industrial robot |
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