CN109773757B - Delta robot - Google Patents
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- CN109773757B CN109773757B CN201910175371.6A CN201910175371A CN109773757B CN 109773757 B CN109773757 B CN 109773757B CN 201910175371 A CN201910175371 A CN 201910175371A CN 109773757 B CN109773757 B CN 109773757B
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Abstract
The invention discloses a Delta robot. The Delta robot includes: a fixed platform and a movable platform; each driving arm comprises a plurality of four-bar mechanisms which are connected in sequence, and two pivot shafts of two adjacent four-bar mechanisms are connected; a plurality of first and second driving members provided on the fixed platform, the plurality of first and second driving members being connected to a first link and a second link of a first four-bar mechanism of the plurality of driving arms, wherein the first link and the second link are hinged; and the driven arms are connected with the last four-bar linkage of the driving arms in a one-to-one correspondence manner, and each driven arm is connected with the movable platform. The Delta robot provided by the embodiment of the invention has the advantages of small weight, high running speed, strong bearing capacity, simple and reliable structure, convenience in assembly, stable motion of the movable platform, wide application range and the like, and can be used in working spaces with different sizes.
Description
Technical Field
The invention relates to the field of robots, in particular to a Delta robot.
Background
Delta robot is the most successful one commercialized at present, and is widely applied to the fields of food packaging, medical equipment, electronic packaging, touch sensors and the like. The Delta robot is classified into a rotation driving type Delta robot and a linear driving type Delta robot according to the difference of driving modes. The linear driving type Delta robot drives the screw nut pair to move through a motor, or directly drives the driving sliding block to move through a linear motor, so that the rotation of the motor is converted into linear movement of the sliding block along the guide rail, and three translational movements of the moving platform are realized.
The working space of the existing Delta robot is related to the size of the rod piece and the angle of the driving revolute pair, so that the existing Delta robot can only be used in a working space with a certain size.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. To this end, the invention proposes a Delta robot.
The Delta robot according to the present invention includes: a fixed platform and a movable platform; each driving arm comprises a plurality of four-bar mechanisms which are connected in sequence, and one pivot shaft of one of two adjacent four-bar mechanisms is connected with one pivot shaft of the other of the two adjacent four-bar mechanisms; the first driving parts are arranged on the fixed platform and are connected with a first connecting rod of a first four-bar mechanism of the driving arms in a one-to-one correspondence manner so as to drive the first connecting rod to pivot; the plurality of second driving pieces are arranged on the fixed platform and are connected with a second connecting rod of a first four-bar mechanism of the plurality of driving arms in a one-to-one correspondence manner so as to drive the second connecting rod to pivot, and the first connecting rod is hinged with the second connecting rod; and the driven arms are connected with the last four-bar linkage mechanism of the driving arms in a one-to-one correspondence manner, and each driven arm is connected with the movable platform.
The Delta robot according to the present invention can be used in workspaces of different sizes.
In addition, the Delta robot according to the present invention may have the following additional technical features:
according to an embodiment of the present invention, a plurality of the driving arms are disposed at equal intervals along the circumferential direction of the stationary platform.
According to one embodiment of the invention, one pivot axis of one of the two adjacent four-bar linkages is the same pivot axis as one pivot axis of the other of the two adjacent four-bar linkages.
According to one embodiment of the invention, each of the driving arms comprises a plurality of sub driving arms, each of the sub driving arms comprises a plurality of four-bar mechanisms which are connected in sequence, one pivot shaft of one of two adjacent four-bar mechanisms is the same pivot shaft of the other of the two adjacent four-bar mechanisms, the plurality of connecting rods of the plurality of sub driving arms are in one-to-one correspondence, the plurality of pivot shafts of the plurality of sub driving arms are connected in one-to-one correspondence, preferably the plurality of sub driving arms of each driving arm are parallel to each other, and the driven arm is connected with the last four-bar mechanism of each sub driving arm of the corresponding driving arm.
According to an embodiment of the present invention, the plurality of first driving members are connected to the first link of the first one of the four-bar mechanisms of one of the plurality of driving arms in one-to-one correspondence, and the plurality of second driving members are connected to the second link of the first one of the four-bar mechanisms of the other of the plurality of driving arms in one-to-one correspondence, and the first link of the first one of the four-bar mechanisms of one of the driving arms and the second link of the first one of the four-bar mechanisms of the other of the driving arms are connected to the same pivot shaft.
According to one embodiment of the invention, the first driving member is a first motor, a motor shaft of which is connected to the first link of the corresponding driving arm, and a rotation axis of the motor shaft of the first motor coincides with a central axis of a pivot shaft connected to the first link; the first driving piece is a second motor, the Delta robot further comprises a first gear and a second gear, the first gear is connected with the second motor, the second gear is meshed with the first gear, the second gear is connected with the corresponding second connecting rod of the driving arm, and the rotation axis of the second gear is coincident with the central axis of the pivot shaft connected with the second connecting rod.
According to one embodiment of the invention, the motor shaft of the first motor is connected to the first link of the corresponding driving arm via a coupling, the rotation axis of the coupling coincides with the central axis of the pivot shaft connected to the first link, the number of teeth of the first gear is equal to the number of teeth of the second gear, and the modulus of the first gear is equal to the modulus of the second gear.
According to one embodiment of the invention, each driven arm is a parallelogram mechanism, a third connecting rod and a fourth connecting rod of the parallelogram mechanism are parallel to each other, wherein the third connecting rod of a plurality of driven arms is connected with the last four-connecting rod mechanism of a plurality of driving arms in a one-to-one correspondence manner, and the fourth connecting rod of each driven arm is connected with the movable platform.
According to an embodiment of the invention, the third link of the driven arm is a pivot axis of the respective drive arm.
According to one embodiment of the invention, the Delta robot further comprises a plurality of nuts, wherein the nuts are arranged on the movable platform, and the nuts are sleeved on the fourth connecting rods of the driven arms in a one-to-one correspondence mode.
Drawings
FIG. 1 is a schematic structural view of a Delta robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a partial structure of a Delta robot according to an embodiment of the present invention;
FIG. 3 is a schematic view of a partial structure of a Delta robot according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of the drive arm of the Delta robot according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a driving arm of the Delta robot according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The Delta robot 1 according to an embodiment of the present invention is described below with reference to the accompanying drawings. As shown in fig. 1 to 5, the Delta robot 1 according to the embodiment of the present invention includes a fixed stage 210, a movable stage 220, a plurality of driving arms 10, a plurality of first driving pieces 310, a plurality of second driving pieces 320, and a plurality of driven arms 40.
Each drive arm 10 includes a plurality of four-bar linkages 110, the plurality of four-bar linkages 110 being connected in sequence. One pivot shaft 111 of one of the adjacent two four-bar linkages 110 is connected to one pivot shaft 111 of the other of the adjacent two four-bar linkages 110, which adjacent two four-bar linkages 110 are adjacent two four-bar linkages 110 of the same drive arm 10.
A plurality of first driving members 310 are provided on the fixed platform 210, and the plurality of first driving members 310 are connected to the first link 112 of the first four-bar linkage 110a of the plurality of driving arms 10 in a one-to-one correspondence so as to drive the first link 112 of the plurality of driving arms 10 to pivot. A plurality of second driving members 320 are provided on the fixed platform 210, and the plurality of second driving members 320 are connected to the second link 113 of the first four-bar linkage 110a of the plurality of driving arms 10 in a one-to-one correspondence so as to drive the second link 113 of the plurality of driving arms 10 to pivot. Wherein the first link 112 and the second link 113 are hinged. That is, the first link 112 and the second link 113 of the first four-bar linkage 110a of each drive arm 10 are hinged.
In other words, the number of the first driving pieces 310, the number of the second driving pieces 320, and the number of the driving arms 10 may be equal to each other, the first link 112 of the first four-bar linkage 110a of each driving arm 10 is connected to one first driving piece 310, and the second link 113 of the first four-bar linkage 110a of each driving arm 10 is connected to one second driving piece 320.
A plurality of driven arms 40 are connected to the last four-bar linkage 110b of the plurality of driving arms 10 in a one-to-one correspondence, and each driven arm 40 is connected to the movable platform 220. In other words, the number of driven arms 40 is equal to the number of driving arms 10, and the last four-bar linkage 110b of each driving arm 10 is connected to one driven arm 40.
The first four-bar linkage 110a refers to the four-bar linkage 110 of the drive arm 10 nearest the stationary platform 210, and the last four-bar linkage 110b refers to the four-bar linkage 110 of the drive arm 10 nearest the movable platform 220. The first link 112 and the second link 113 refer to the two links 114 of the first four-bar linkage 110a that are closest to the stationary platen 210.
When the first driving member 310 and the second driving member 320 respectively drive the first link 112 and the second link 113 to pivot (rotate) synchronously, the length L of the driving arm 10 does not change (as shown in fig. 4), and the driving arm 10 can drive the moving platform 220 to realize three translational motions through the driven arm 40.
When the first and second driving members 310 and 320 respectively drive the first and second links 112 and 113 to pivot (rotate) asynchronously, the angle α between the first and second links 112 and 113 changes (varies), resulting in a variation in the length L of the driving arm 10 (as shown in fig. 5).
Therefore, in the actual use process, the included angle alpha between the first connecting rod 112 and the second connecting rod 113 can be changed according to different requirements and working spaces with different sizes, so that the Delta robot 1 can be used in the working spaces with different sizes, and the use range of the Delta robot 1 can be enlarged.
Moreover, since the length of the driving arm of the existing Delta robot is fixed and there is a certain error (i.e. not an absolute precise position) when assembling the driving arm, the moving platform of the existing Delta robot is caused to translate and rotate simultaneously along with some rotational movement during the movement (translation) process.
Therefore, the existing Delta robot is greatly affected by vibration generated by the Delta robot, and a vibration-proof device or a mounting bracket with good vibration-proof performance is required to be additionally arranged, so that the manufacturing cost of the existing Delta robot is greatly increased, and the overall moving and transporting costs are greatly increased.
According to the Delta robot 1 provided by the embodiment of the invention, the length of the driving arm 10 can be changed (adjusted), so that errors generated in the assembly process of the driving arm 10 can be compensated, and the occurrence of the accompanying rotation of the movable platform 220 in the translation process can be avoided. Whereby the Delta robot 1 according to the embodiment of the present invention only translates and does not rotate.
Therefore, the Delta robot 1 according to the embodiment of the invention does not generate vibration, and a vibration-proof device or a mounting bracket with good vibration-proof performance is not required to be additionally arranged, so that the manufacturing cost of the Delta robot 1 can be reduced, and the cost of integral movement and transportation of the Delta robot 1 can be reduced.
In addition, since the driving arm 102 of the Delta robot 1 according to the embodiment of the present invention is a simply supported beam driving arm 10, the driving arm 10 has the advantages of simple and reliable structure, convenient assembly, strong bearing capacity, small weight, fast reaction speed, high flexibility, etc., and can make the movable platform 220 move smoothly.
The reason why Delta robots vibrate much is that the weight of the drive arm is too great. Since the weight of the simply supported beam type driving arm 10 of the Delta robot 1 according to the embodiment of the present invention is much smaller than that of the existing Delta robot, the Delta robot 1 according to the embodiment of the present invention has an advantage of small vibration.
Therefore, the Delta robot 1 according to the embodiment of the invention has the advantages of small weight, high running speed, strong bearing capacity, simple and reliable structure, convenient assembly, stable motion of the movable platform 220, low manufacturing cost, low overall transportation cost, small vibration, wide application range and the like, and can be used in working spaces with different sizes.
Preferably, the plurality of driving arms 10 are disposed at equal intervals in the circumferential direction of the stationary platform 210. The structure of the Delta robot 1 can thereby be made more rational.
As shown in fig. 1 to 5, for the same drive arm 10, one pivot shaft 111 of one of the adjacent two four-bar mechanisms 110 and one pivot shaft 111 of the other of the adjacent two four-bar mechanisms 110 are the same pivot shaft 111. In other words, two adjacent four-bar linkages 110 may share one pivot shaft 111.
In one embodiment of the present invention, as shown in fig. 1 to 3, the first driving member 310 is a first motor 310a, a motor shaft of the first motor 310a is connected to the first link 112 of the first four-bar linkage 110a of the corresponding driving arm 10, and a rotation axis of the motor shaft of the first motor 310a coincides with a central axis of the pivot shaft 111 connected to the first link 112, so that the first motor 310a can drive the first link 112 to rotate about the pivot shaft 111.
The first driver 310 is a second motor 320a and the delta robot 1 further includes a first gear 510 and a second gear 520. The first gear 510 is connected to the second motor 320a, and the second gear 520 is meshed with the first gear 510. Wherein the second gear 520 is connected to the second link 113 of the first four-bar linkage 110a of the corresponding driving arm 10, and the rotation axis of the second gear 520 coincides with the central axis of the pivot shaft 111 connected to the second link 113, so that the second motor 320a can drive the second link 113 to rotate about the pivot shaft 111. In other words, the rotational axis of the second gear 520 coincides with the rotational axis of the motor shaft of the first motor 310 a.
Preferably, the motor shaft of the first motor 310a is connected to the first link 112 of the first four-bar linkage 110a of the corresponding driving arm 10 via a coupling, the rotation axis of which coincides with the central axis of the pivot shaft 111 connected to the first link 112. The structure of the Delta robot 1 can thereby be made more rational.
The number of teeth of the first gear 510 is equal to the number of teeth of the second gear 520, and the modulus of the first gear 510 is equal to the modulus of the second gear 520. The structure of the Delta robot 1 can thereby be made more rational. The second gear 520 may be welded to the second link 113 of the first four-bar linkage 110a of the corresponding drive arm 10.
As shown in fig. 1-3, in one specific example of the present invention, each drive arm 10 includes a plurality of sub-drive arms 10a, each sub-drive arm 10a including a plurality of four-bar linkages 110 connected in sequence. For each sub-drive arm 10a, one pivot shaft 111 of one of the adjacent two four-bar linkages 110 is the same pivot shaft 111 as one pivot shaft 111 of the other of the adjacent two four-bar linkages 110, i.e., the adjacent two four-bar linkages 110 share one pivot shaft 111.
The plurality of links of the plurality of sub-driving arms 10a are in one-to-one correspondence, and the plurality of pivot shafts 111 of the plurality of sub-driving arms 10a are connected in one-to-one correspondence. Specifically, the plurality of sub-driving arms 10a may share the plurality of pivot shafts 111, the plurality of pivot shafts 111 are parallel to each other, and the plurality of links of the plurality of sub-driving arms 10a are opposed one to one in the extending direction of the pivot shafts 111.
Wherein the driven arm 40 is connected to the last four-bar linkage 110b of each sub-driving arm 10a of the corresponding driving arm 10 (driving arm 10 connected to the driven arm 40). The first driving member 310 and the second driving member 320 can drive the driven arm 40 to move through the plurality of sub-driving arms 10a, and further drive the moving platform 220 to move.
Preferably, the plurality of sub-driving arms 10a of each driving arm 10 are parallel to each other, and adjacent two sub-driving arms 10a of each driving arm 10 are symmetrically disposed. The structure of the Delta robot 1 can thereby be made more rational.
The plurality of first driving pieces 310 are connected to the first link 112 of the first four-bar linkage 110a of one sub-driving arm 10a of the plurality of driving arms 10 in one-to-one correspondence, and the plurality of second driving pieces 320 are connected to the second link 113 of the first four-bar linkage 110a of the other sub-driving arm 10a of the plurality of driving arms 10 in one-to-one correspondence. In other words, the first driver 310 and the second driver 320 are connected to different sub-driving arms 10 a.
The first link 112 of the first four-bar linkage 110a of the one sub-driving arm 10a and the second link 113 of the first four-bar linkage 110a of the other sub-driving arm 10a are connected to the same pivot shaft 111.
As shown in fig. 1-3, in some examples of the invention, each follower arm 40 is a parallelogram mechanism, with the third link 410 and the fourth link 420 of the parallelogram mechanism being parallel to each other. Wherein, the third connecting rod 410 of the plurality of driven arms 40 is connected with the last four-bar linkage 110b of the plurality of driving arms 10 in a one-to-one correspondence, and the fourth connecting rod 420 of each driven arm 40 is connected with the movable platform 220. The structure of the Delta robot 1 can thereby be made more rational.
Preferably, as shown in fig. 1-3, the third link 410 of the driven arm 40 is one pivot 111 of the corresponding drive arm 10. The corresponding driving arm 10 refers to the driving arm 10 connected to the driven arm 40. That is, both links 114 of the last four-bar linkage 110b of the drive arm 10 may be hinged to the third link 410. In other words, both links 114 of the last four-bar linkage 110b of the drive arm 10 may be rotatably sleeved on the third link 410. The structure of the Delta robot 1 can thereby be further simplified.
As shown in fig. 1, in one example of the present invention, the Delta robot 1 further includes a plurality of nuts 60, and the plurality of nuts 60 are provided on the movable platform 220. Preferably, each nut 60 may be welded to the movable platform 220. The plurality of nuts 60 are sleeved on the fourth connecting rods 420 of the plurality of driven arms 40 in a one-to-one correspondence manner, that is, the plurality of fourth connecting rods 420 penetrate through the plurality of nuts 60 in a one-to-one correspondence manner. Thereby making it possible to more conveniently and easily connect the fourth link 420 (the driven arm 40) to the movable platform 220.
The Delta robot 1 according to the embodiment of the present invention has at least the following advantages:
(1) The structure is simple and reliable, the assembly is easy, the motion of the movable platform is stable, the motion accompanied with the motion is effectively avoided, and the flexibility is high.
(2) The weight is light, the running speed is high, the robustness is good, and the bearing is good.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (11)
1. A Delta robot comprising:
a fixed platform and a movable platform;
each driving arm comprises a plurality of four-bar mechanisms which are connected in sequence, and one pivot shaft of one of two adjacent four-bar mechanisms is connected with one pivot shaft of the other of the two adjacent four-bar mechanisms;
the first driving parts are arranged on the fixed platform and are connected with a first connecting rod of a first four-bar mechanism of the driving arms in a one-to-one correspondence manner so as to drive the first connecting rod to pivot;
the plurality of second driving pieces are arranged on the fixed platform and are connected with a second connecting rod of a first four-bar mechanism of the plurality of driving arms in a one-to-one correspondence manner so as to drive the second connecting rod to pivot, wherein the first connecting rod is hinged with the second connecting rod, the first driving piece is a first motor, and the second driving piece is a second motor; and
the driven arms are connected with the last four-bar linkage of the driving arms in a one-to-one correspondence manner, each driven arm is connected with the movable platform, and each driven arm is a parallelogram mechanism.
2. The Delta robot of claim 1 wherein a plurality of the drive arms are equally spaced along the circumference of the stationary platform.
3. The Delta robot of claim 1 wherein one pivot axis of one of the two adjacent four bar linkages is the same pivot axis as one pivot axis of the other of the two adjacent four bar linkages.
4. The Delta robot of claim 1 wherein each of the drive arms comprises a plurality of sub-drive arms, each of the sub-drive arms comprising a plurality of four-bar linkages connected in sequence, one pivot axis of one of two adjacent four-bar linkages being the same pivot axis as one pivot axis of another of two adjacent four-bar linkages, the plurality of links of the plurality of sub-drive arms being connected in a one-to-one correspondence, the plurality of pivot axes of the plurality of sub-drive arms being connected in a one-to-one correspondence.
5. The Delta robot of claim 4 wherein a plurality of said first drive members are connected in a one-to-one correspondence with a first link of a first one of said four bar linkages of one of said drive arms, a plurality of said second drive members are connected in a one-to-one correspondence with a second link of a first one of said four bar linkages of another one of said drive arms, a first link of a first one of said four bar linkages of one of said drive arms and a second link of a first one of said four bar linkages of another one of said drive arms are connected to the same pivot axis.
6. The Delta robot of claim 1, wherein the Delta robot is configured to perform a plurality of steps,
the motor shaft of the first motor is connected with the first connecting rod of the corresponding driving arm, and the rotation axis of the motor shaft of the first motor coincides with the central axis of the pivot shaft connected with the first connecting rod;
the Delta robot further comprises a first gear and a second gear, wherein the first gear is connected with the second motor, the second gear is meshed with the first gear, the second gear is connected with the corresponding second connecting rod of the driving arm, and the rotation axis of the second gear is coincident with the central axis of the pivot shaft connected with the second connecting rod.
7. The Delta robot of claim 6 wherein the motor shaft of the first motor is coupled to the first link of the corresponding drive arm by a coupling, the axis of rotation of the coupling and the central axis of the pivot shaft coupled to the first link are coincident, the number of teeth of the first gear is equal to the number of teeth of the second gear, and the modulus of the first gear is equal to the modulus of the second gear.
8. The Delta robot of claim 1 wherein the third and fourth links of the parallelogram mechanism are parallel to each other, wherein the third links of a plurality of the driven arms are connected to the last of the four-bar mechanism of a plurality of the drive arms in a one-to-one correspondence, and the fourth link of each of the driven arms is connected to the movable platform.
9. The Delta robot of claim 8 wherein the third link of the driven arm is a pivot axis of the corresponding drive arm.
10. The Delta robot of claim 8 further comprising a plurality of nuts disposed on the movable platform, wherein the plurality of nuts are sleeved on the fourth links of the plurality of driven arms in a one-to-one correspondence.
11. The Delta robot of claim 4 wherein a plurality of said sub-drive arms of each said drive arm are parallel to each other and wherein said driven arm is connected to the last of said four bar linkages of each said sub-drive arm of the respective said drive arm.
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| CN201910175371.6A CN109773757B (en) | 2019-03-08 | 2019-03-08 | Delta robot |
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| CN110315522B (en) * | 2019-07-28 | 2020-01-17 | 南京驭逡通信科技有限公司 | Industrial robot arm mechanism of buckling |
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