CN107571251A - Mechanical arm and there is its horizontal articulated robots of SCARA - Google Patents
Mechanical arm and there is its horizontal articulated robots of SCARA Download PDFInfo
- Publication number
- CN107571251A CN107571251A CN201710753422.XA CN201710753422A CN107571251A CN 107571251 A CN107571251 A CN 107571251A CN 201710753422 A CN201710753422 A CN 201710753422A CN 107571251 A CN107571251 A CN 107571251A
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- mechanical arm
- plate section
- ball
- drive
- plate
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- 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 invention provides a kind of mechanical arm and there is its horizontal articulated robots of SCARA.Mechanical arm includes：Turning arm；Retainer, retainer are arranged on turning arm；Ball-screw spline, ball-screw spline are each passed through turning arm and retainer, ball-screw spline with respect to retainer rotatably arranged with.Retainer is set on turning arm, and ball-screw spline is connected with retainer, efficiently reduces ball-screw spline caused amplitude in transmission process, improves the precision of the mechanical arm.Pedestal is set on turning arm, and fixed drive portion is installed by motor plate, the base construction is simple, and processing characteristics is good, and can reach compared with high manufacturing accuracy.
Description
Technical field
The present invention relates to robot device's technical field, in particular to a kind of mechanical arm and has its SCARA
Horizontal articulated robot.
Background technology
In the prior art, due to being that directly the ball-screw spline of mechanical arm is set directly on turning arm, easily
Cause ball-screw spline amplitude in transmission process problem such as cause the precision of mechanical arm start low greatly.Further, it is existing
Have in technology and transmission belt is arranged in turning arm so that the problems such as being increased to the difficulty of processing of turning arm.And in the prior art
Motor mount use Split type structure, each is equipped with motor cabinet with two motors on mechanical arm, adds part
Quantity, while motor cabinet profile is complex, production and processing difficulty is big, and weight increase is obvious, horizontal articulated for SCARA
High speed, the high accuracy of robot are totally unfavorable.Forearm structure part is not reaching to optimal design, can not ensure that the robot has
Compared with leading technology.
The content of the invention
It is a primary object of the present invention to provide a kind of mechanical arm and there is its horizontal articulated robots of SCARA,
To solve the problems, such as that mechanical arm precision is low in the prior art.
To achieve these goals, according to an aspect of the invention, there is provided a kind of mechanical arm, including：Turning arm；
Retainer, retainer are connected with turning arm；Ball-screw spline, ball-screw spline are each passed through turning arm and retainer,
Ball-screw spline with respect to retainer rotatably arranged with；Pedestal, pedestal are arranged on turning arm, and pedestal is located at the upper of turning arm
Side；Drive division, drive division are arranged on pedestal, drive division driving ball-screw spline motion.
Further, retainer includes：Support column, the first end of support column are connected with turning arm；Supporting plate, supporting plate
It is connected with the second end of support column, supporting plate is located at the top of turning arm, and ball-screw spline is arranged in supporting plate.
Further, support column is multiple that axially spaced-apart of multiple support columns along ball-screw spline is set.
Further, pedestal includes：First substrate, the first end of first substrate are connected with turning arm；Second substrate, the
The first end of two substrates is connected with turning arm and is oppositely disposed with first substrate.
Further, first substrate includes the first plate section and the second plate section, and the height vertically of the first plate section is small
In the height vertically of the second plate section.
Further, second substrate includes the 3rd plate section and the 4th plate section, and the height vertically of the 3rd plate section is small
In the height vertically of the 4th plate section, the plate sections of the first plate Duan Yu tri- are oppositely arranged, the plate sections of the first plate Duan Yu tri-
The first installation station for installing drive division is formed on top.
Further, the plate sections of the second plate Duan Yu tetra- are oppositely arranged, and the top of the plate sections of the second plate Duan Yu tetra-, which is formed, to be used for
Second installation station of drive division is installed.
Further, drive division includes：First motor, the first motor are arranged at the first installation station；The
Two motors, the second motor are arranged at the second installation station, and the first motor is located at ball-screw spline and
Between two motors.
Further, pedestal also includes：First installing plate, the first installing plate are connected with the first plate section, the 3rd plate section,
And/or second installing plate, the second installing plate are connected with the second plate section, the 4th plate section.
Further, mechanical arm also includes：First drive, the first drive are arranged on ball-screw spline, the
One drive is between supporting plate and turning arm；Second drive, the second drive are arranged on ball-screw spline, and second
Drive is located at the top of supporting plate.
Further, mechanical arm also includes：3rd drive, the output axial direction of the 3rd drive and the first motor
Connection；4th drive, the 4th drive are axially connected with the output of the second motor.
Further, mechanical arm also includes：First transmission belt, the first transmission belt are sheathed on the first drive and respectively
On three drives, and/or the second transmission belt, the second transmission belt are sheathed on the second drive and the 4th drive respectively.
According to another aspect of the present invention, there is provided a kind of robot, including mechanical arm, mechanical arm are above-mentioned machine
Tool arm.
Apply the technical scheme of the present invention, retainer is set on turning arm, and by ball-screw spline and retainer phase
Connection, efficiently reduces ball-screw spline caused amplitude in transmission process, improves the precision of the mechanical arm.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing a further understanding of the present invention, and of the invention shows
Meaning property embodiment and its illustrate be used for explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 shows the structural representation at the first visual angle of the embodiment of the mechanical arm according to the present invention；
Fig. 2 shows the structural representation at the second visual angle of the embodiment of the mechanical arm in Fig. 1；
Fig. 3 shows the structural representation at the 3rd visual angle of the embodiment of the mechanical arm in Fig. 1；
Fig. 4 shows the structural representation at the 4th visual angle of the embodiment of the mechanical arm in Fig. 1.
Wherein, above-mentioned accompanying drawing marks including the following drawings：
10th, turning arm；
20th, ball-screw spline；
30th, retainer；31st, support column；32nd, supporting plate；
40th, pedestal；41st, first substrate；411st, the first plate section；412nd, the second plate section；42nd, second substrate；421st, the 3rd plate
Section；422nd, the 4th plate section；43rd, the first installing plate；44th, the second installing plate；
50th, drive division；51st, the first motor；52nd, the second motor；
61st, the first drive；62nd, the second drive；63rd, the 4th drive；
71st, the first transmission belt；72nd, the second transmission belt.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
It should be noted that term " first ", " second " in the description and claims of this application and accompanying drawing etc.
It is for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that the art so used
Language can exchange in the appropriate case, so that presently filed embodiment described herein for example can be with except illustrating herein
Or the order beyond those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment need not limit
In those steps or unit for clearly listing, but may include not list clearly or for these processes, method, production
The intrinsic other steps of product or equipment or unit.
For the ease of description, space relative terms can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be appreciated that space relative terms are intended to comprising the orientation except device described in figure
Outside different azimuth in use or operation.For example, if the device in accompanying drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and
And respective explanations are made to the relative description in space used herein above.
Now, the illustrative embodiments according to the application are more fully described with reference to the accompanying drawings.However, these are exemplary
Embodiment can be implemented by many different forms, and should not be construed to be limited solely to embodiment party set forth herein
Formula.It should be appreciated that thesing embodiments are provided so that disclosure herein is thoroughly and complete, and these are shown
The design of example property embodiment is fully conveyed to those of ordinary skill in the art, in the accompanying drawings, for the sake of clarity, it is possible to expand
The big thickness of layer and region, and make identical device is presented with like reference characters, thus they are retouched by omitting
State.
With reference to shown in Fig. 1 to Fig. 4, according to an embodiment of the invention, there is provided a kind of mechanical arm.
As shown in figure 1, specifically, this kind of mechanical arm includes turning arm 10, ball-screw spline 20 and retainer 30, base
Seat 40 and drive division 50.Pedestal 40 is arranged on turning arm 10, and drive division 50 is arranged on pedestal 40.Retainer 30 is arranged at rotation
On pivoted arm 10.Ball-screw spline 20 is each passed through turning arm 10 and retainer 30, and ball-screw spline 20 is with respect to retainer 30
Rotatably arranged with.
In the present embodiment, retainer is set on turning arm, and ball-screw spline is connected with retainer, effectively
Ground reduces ball-screw spline caused amplitude in transmission process, improves the precision of the mechanical arm.On turning arm
Set pedestal, and by motor plate installation fix two motors, base construction is simple, and processing characteristics is good, and can reach compared with
High manufacturing accuracy.Meanwhile pedestal and two motor mounting plates form a firm rectangular frame, structural rigidity is good, can
Ensure the high-precision requirement of transmission.
Wherein, retainer 30 includes support column 31 and supporting plate 32.The first end of support column 31 is connected with turning arm 10.
Supporting plate 32 is connected with the second end of support column 31, and supporting plate 32 is located at the top of turning arm 10, and ball-screw spline 20 is worn
In supporting plate 32.The stability of ball-screw spline can be increased by so setting, and improve the start essence of the mechanical arm
Degree.
In order to improve the stability of retainer and reliability, support column 31 is arranged to multiple, multiple support columns 31 are along rolling
The axially spaced-apart of ballscrew spline 20 is set.
In order to improve the stability of drive division installation, mechanical arm is also provided with pedestal 40.Pedestal 40 is arranged at turning arm
On 10, pedestal 40 is located at the top of turning arm 10.Drive division 50 is arranged on pedestal 40, and drive division 50 drives ball-screw spline
20 vertically move up or down, or drive division 50 can be with while drive the ball-screw spline 20 to rotate
It is moved upwardly or downwardly.
Specifically, pedestal 40 includes first substrate 41 and second substrate 42.The first end of first substrate 41 and turning arm 10
It is connected.The first end of second substrate 42 is connected with turning arm 10 and is oppositely disposed with first substrate 41.
Further, first substrate 41 includes the first plate section 411 and the second plate section 412, the first plate section 411 along vertical side
To height be less than the second plate section 412 height vertically.Second substrate 42 includes the 3rd plate section 421 and the 4th plate section
422, the height vertically of the 3rd plate section 421 is less than the height vertically of the 4th plate section 422, the first plate section
411 are oppositely arranged with the 3rd plate section 421, and the top of the first plate section 411 and the 3rd plate section 421 is formed for installing drive division 50
First installation station.Second plate section 412 is oppositely arranged with the 4th plate section 422, the top of the second plate section 412 and the 4th plate section 422
Form the second installation station for installing drive division 50.Using the substrate of plate body shape, it can effectively mitigate the weight of substrate,
The bearing capacity of turning arm is reduced, and then improves the flexibility of mechanical arm, improves the precision of mechanical arm.
As shown in figure 1, drive division 50 includes the first motor 51 and the second motor 52.First motor 51 is set
It is placed at the first installation station.Second motor 52 is arranged at the second installation station, and the first motor 51 is located at ball
Between the motor 52 of leading screw spline 20 and second.The first motor 51 and the second motor 52 can be increased by so setting
Mounting stability.Pedestal is set on turning arm, and two motors are fixed by motor plate installation, base construction is simple, adds
Work is functional, and can reach compared with high manufacturing accuracy.Meanwhile pedestal and two motor mounting plates form a firm rectangle
Framework, structural rigidity is good, can ensure the high-precision requirement of transmission.
As shown in Figures 2 and 3, it is steady on substrate in order to improve the first motor 51 and the second motor 52
Qualitative and reliability, pedestal 40 are also provided with the first installing plate 43 and the second installing plate 44.First installing plate 43 and the first plate section
411st, the 3rd plate section 421 is connected, and the second installing plate 44 is connected with the second plate section 412, the 4th plate section 422.Wherein, first drive
Dynamic motor 51 is arranged on the first installing plate 43, and the second motor 52 is arranged on the second installing plate 44.
In order to improve the start precision of mechanical arm, mechanical arm be also provided with the first drive 61, the second drive 62,
3rd drive, the 4th drive 63.First drive 61 is arranged on ball-screw spline 20, and the first drive 61 is positioned at branch
Between fagging 32 and turning arm 10.Second drive 62 is arranged on ball-screw spline 20, and the second drive 62 is positioned at support
The top of plate 32.3rd drive is axially connected with the output of the first motor 51；4th drive 63 and the second driving electricity
The output of machine 52 axially connects.Wherein, mechanical arm also includes the first transmission belt 71 and the second transmission belt 72.First transmission belt 71
It is sheathed on respectively on the first drive 61 and the 3rd drive.Second transmission belt 72 is sheathed on the second drive 62 and the 4th respectively
On drive 63.
Mechanical arm in above-described embodiment can be also used for robotic technology field, i.e., according to the opposing party of the present invention
A kind of face, there is provided robot.The robot includes mechanical arm, and mechanical arm is the mechanical arm in above-described embodiment.Tool
Body, this kind of mechanical arm includes turning arm 10, ball-screw spline 20 and retainer 30.Retainer 30 is arranged at turning arm 10
On.Ball-screw spline 20 is each passed through turning arm 10 and retainer 30, and ball-screw spline 20 is rotatable with respect to retainer 30
Ground is set.
In the present embodiment, retainer is set on turning arm, and ball-screw spline is connected with retainer, effectively
Ground reduces ball-screw spline caused amplitude in transmission process, improves the precision of the mechanical arm.
Specifically, the artificial SCARA robots of the machine, robot end mechanism of the prior art weight is larger, for
At a high speed, high accuracy is totally unfavorable.In application process, end structure part is not reaching to optimal design, can not ensure the machine
The start precision of people.
Structure using the mechanical arm of the application is simple, and processing characteristics is good, and start precision is high.Can using the mechanical arm
So that two motor installations are formed into a rectangular frame, rigidity is good.Ensure the overall precision of mechanical arm.
In the prior art, two motors in the end of the turning arm of SCARA robots are equipped with motor cabinet, respectively to two
Individual electrode is fixed, and the fixing means adds the quantity of part, adds the bearing capacity of turning arm, improves the manipulator
The difficulty of processing of arm.
In this application, there is provided a kind of SCARA (horizontal articulated robot) robot forearm structure.Forearm structure bag
Include：Turning arm, pedestal, retainer, ball-screw spline.Pedestal is arranged on turning arm, and retainer is arranged on turning arm.Rolling
Ballscrew spline is each passed through turning arm and retainer.Pedestal is set on turning arm, and two are fixed by motor plate installation
Motor, base construction is simple, and processing characteristics is good, and can reach compared with high manufacturing accuracy.Meanwhile pedestal and two motors are installed
Plate forms a firm rectangular frame, and structural rigidity is good, can ensure the high-precision requirement of transmission.
Than that described above, it is also necessary to which explanation is " one embodiment ", " another implementation spoken of in this manual
Example ", " embodiment " etc., refer to that the specific features, structure or the feature that combine embodiment description are included in the application summary
Property description at least one embodiment in.It is not necessarily to refer to same reality that statement of the same race, which occur, in multiple places in the description
Apply example.Furthermore, it is understood that when describing a specific features, structure or feature with reference to any embodiment, what is advocated is knot
Other embodiment is closed to realize that this feature, structure or feature are also fallen within the scope of the present invention.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiment.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (13)
- A kind of 1. mechanical arm, it is characterised in that including：Turning arm (10)；Retainer (30), the retainer (30) are connected with the turning arm (10)；Ball-screw spline (20), the ball-screw spline (20) are each passed through the turning arm (10) and the retainer (30), the relatively described retainer (30) of the ball-screw spline (20) rotatably arranged with；Pedestal (40), the pedestal (40) are arranged on the turning arm (10), and the pedestal (40) is located at the turning arm (10) top；Drive division (50), the drive division (50) are arranged on the pedestal (40), and the drive division (50) drives the ball Leading screw spline (20) moves.
- 2. mechanical arm according to claim 1, it is characterised in that the retainer (30) includes：Support column (31), the first end of the support column (31) are connected with the turning arm (10)；Supporting plate (32), the supporting plate (32) are connected with the second end of the support column (31), supporting plate (32) position In the top of the turning arm (10), the ball-screw spline (20) is arranged in the supporting plate (32).
- 3. mechanical arm according to claim 2, it is characterised in that the support column (31) is multiple, multiple branch Axially spaced-apart of the dagger (31) along the ball-screw spline (20) is set.
- 4. mechanical arm according to claim 2, it is characterised in that the pedestal (40) includes：First substrate (41), the first end of the first substrate (41) are connected with the turning arm (10)；Second substrate (42), the first end of the second substrate (42) be connected with the turning arm (10) and with first base Plate (41) is oppositely disposed.
- 5. mechanical arm according to claim 4, it is characterised in that the first substrate (41) includes the first plate section (411) and the second plate section (412), the height vertically of the first plate section (411) are less than the second plate section (412) Height vertically.
- 6. mechanical arm according to claim 5, it is characterised in that the second substrate (42) includes the 3rd plate section (421) and the 4th plate section (422), the height vertically of the 3rd plate section (421) are less than the 4th plate section (422) Height vertically, the first plate section (411) is oppositely arranged with the 3rd plate section (421), the first plate section (411) the first installation station for installing the drive division (50) is formed with the top of the 3rd plate section (421).
- 7. mechanical arm according to claim 6, it is characterised in that the second plate section (412) and the 4th plate section (422) it is oppositely arranged, the top of the second plate section (412) and the 4th plate section (422) is formed for installing the driving The second installation station in portion (50).
- 8. mechanical arm according to claim 7, it is characterised in that the drive division (50) includes：First motor (51), first motor (51) are arranged at the first installation station；Second motor (52), second motor (52) are arranged at the second installation station, and described first drives Dynamic motor (51) is between the ball-screw spline (20) and second motor (52).
- 9. mechanical arm according to claim 7, it is characterised in that the pedestal (40) also includes：First installing plate (43), first installing plate (43) and the first plate section (411), the 3rd plate section (421) phase Connection, and/orSecond installing plate (44), second installing plate (44) and the second plate section (412), the 4th plate section (422) phase Connection.
- 10. mechanical arm according to claim 8, it is characterised in that the mechanical arm also includes：First drive (61), first drive (61) are arranged on the ball-screw spline (20), and described first passes Driving wheel (61) is between the supporting plate (32) and the turning arm (10)；Second drive (62), second drive (62) are arranged on the ball-screw spline (20), and described second passes Driving wheel (62) is located at the top of the supporting plate (32).
- 11. mechanical arm according to claim 10, it is characterised in that the mechanical arm also includes：3rd drive, the 3rd drive are axially connected with the output of first motor (51)；4th drive (63), the 4th drive (63) are axially connected with the output of second motor (52).
- 12. mechanical arm according to claim 11, it is characterised in that the mechanical arm also includes：First transmission belt (71), first transmission belt (71) are sheathed on first drive (61) and the described 3rd and passed respectively On driving wheel, and/orSecond transmission belt (72), second transmission belt (72) are sheathed on second drive (62) and the described 4th and passed respectively On driving wheel (63).
- 13. a kind of horizontal articulated robots of SCARA, including mechanical arm, it is characterised in that the mechanical arm will for right Seek the mechanical arm any one of 1 to 12.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710753422.XA CN107571251A (en) | 2017-08-28 | 2017-08-28 | Mechanical arm and there is its horizontal articulated robots of SCARA |
| PCT/CN2017/118324 WO2019041687A1 (en) | 2017-08-28 | 2017-12-25 | Mechanical arm and scara horizontal multi-joint robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710753422.XA CN107571251A (en) | 2017-08-28 | 2017-08-28 | Mechanical arm and there is its horizontal articulated robots of SCARA |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107571251A true CN107571251A (en) | 2018-01-12 |
Family
ID=61030048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710753422.XA Pending CN107571251A (en) | 2017-08-28 | 2017-08-28 | Mechanical arm and there is its horizontal articulated robots of SCARA |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107571251A (en) |
| WO (1) | WO2019041687A1 (en) |
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| CN109434869A (en) * | 2018-12-14 | 2019-03-08 | 上海交通大学 | A kind of active drive joint of cylindrical pair form |
| CN110103213A (en) * | 2019-05-09 | 2019-08-09 | 戴建国 | A kind of four shaft industrial robots |
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| CN113369601B (en) * | 2021-06-16 | 2022-09-06 | 浙江豪业机械制造有限公司 | Efficient machining device for valve body of seat valve |
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| CN204976630U (en) * | 2015-07-24 | 2016-01-20 | 沈阳通用机器人技术股份有限公司 | Horizontal joint robot of four -axis |
| CN105619395A (en) * | 2016-03-07 | 2016-06-01 | 单家正 | Economical robot wrist structure for selective compliance assembly robot arm (SCARA) |
| CN205520484U (en) * | 2016-04-05 | 2016-08-31 | 广州市吉峰金属塑胶制品有限公司 | Four -axis industrial robot |
| CN206140496U (en) * | 2016-11-10 | 2017-05-03 | 慧灵科技（深圳）有限公司 | Drive mechanism of horizontal joint robot Z and R axle |
| CN207189649U (en) * | 2017-08-28 | 2018-04-06 | 珠海格力节能环保制冷技术研究中心有限公司 | Mechanical arm and there is its horizontal articulated robots of SCARA |
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| CN109434869A (en) * | 2018-12-14 | 2019-03-08 | 上海交通大学 | A kind of active drive joint of cylindrical pair form |
| CN109434869B (en) * | 2018-12-14 | 2021-08-17 | 上海交通大学 | Active driving joint in cylindrical pair form |
| CN110103213A (en) * | 2019-05-09 | 2019-08-09 | 戴建国 | A kind of four shaft industrial robots |
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