CN110434845A - Pretightening force setting mechanism, SCARA robot forearm structure and robot - Google Patents
Pretightening force setting mechanism, SCARA robot forearm structure and robot Download PDFInfo
- Publication number
- CN110434845A CN110434845A CN201910750993.7A CN201910750993A CN110434845A CN 110434845 A CN110434845 A CN 110434845A CN 201910750993 A CN201910750993 A CN 201910750993A CN 110434845 A CN110434845 A CN 110434845A
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- Prior art keywords
- pretightning force
- organization
- axis
- sets
- mounting plate
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- 210000000245 forearm Anatomy 0.000 title claims description 20
- 230000001360 synchronised effect Effects 0.000 claims abstract description 23
- 230000008520 organization Effects 0.000 claims description 36
- 230000001105 regulatory effect Effects 0.000 claims description 11
- 238000009987 spinning Methods 0.000 claims description 2
- 230000006835 compression Effects 0.000 abstract description 5
- 238000007906 compression Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 3
- 230000036316 preload Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a pretightening force setting mechanism, a small arm structure of a SCARA robot and a robot, wherein the pretightening force setting mechanism comprises a shaft mounting plate, a supporting seat, an adjusting screw, a thrust block, a spring and a pretightening force scale, the small arm structure of the SCARA robot comprises a small arm, a J3 shaft and a J4 shaft, the pretightening force setting mechanism is respectively added on the J3 shaft and the J4 shaft, the adjusting screw is rotated to adjust the compression amount of the spring, so that the spring generates corresponding elastic force to act on a synchronous belt, and the pretightening force is read through the position of the thrust block on the pretightening force scale so as to achieve the aim of accurately setting the pretightening force.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of pretightning force sets up an organization, SCARA robot forearm knot
Structure and robot.
Background technique
Three joint of SCARA robot, four joints are generally toothed belt transmission, and the pretightning force of synchronous belt is to the biography of synchronous belt
Dynamic precision has larger impact, so that pretightning force will affect the performance of complete machine.Synchronization can be generated when pretightning force is less than lower limit value
The bounce of band can generate extraordinary noise or vibration when pretightning force is greater than upper limit value and reduce the service life of operating member.At present
The producer of SCARA robot all utilizes spring element pull and push dynamometer to apply in the direction parallel with forearm middle line when installing synchronous belt
Relatively accurate pretightning force, and the accuracy of the power largely depends on the experience level and operating method with operator, such as
Will lead to pretightning force when fruit offset direction or inaccurate reading has error, causes overall performance to become to influence phase closing precision
Difference.Another way measures the pretightning force of synchronous belt by sound wave tensiometer, while constantly adjusting synchronous belt according to measurement result
Pretightning force meet the requirements until pretightning force.Which needs constantly measurement, adjustment, and process is complicated, inefficient.
Summary of the invention
In view of the deficiencies of the prior art, the present invention is set up an organization by pretightning force not to have to other ancillary equipments as drawn
The pretightning force on synchronous belt is accurately set in the case where power meter etc., and operation is convenient, stability is strong.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of pretightning force sets up an organization, including mounting plate, support base, regulating part, impeller, spring element and pretightning force scale, institute
It states and is additionally provided with guide part on support base, guide part is connect by way of interference fit or swelling or welding with support base, or
Person and support base sequentially pass through the guide part, the regulating part dress using integrally manufactured before and after the spring element and impeller
It fits on support base, the pretightning force scale can be installed on a mounting board by the modes such as stickup or screw connection, or pre-tighten
Using integrally manufactured, pretightning force scale is parallel with guide part for power scale and mounting plate, the scale on pretightning force scale in advance according to
The rigidity of spring element and required pretightning force are configured after calculating, and support base is coupled by guide part and mounting plate；It pre-tightens
The axis and mounting plate axis collinear that power sets up an organization, to guarantee not generating additional torque when the power pre-tightened applies.
Further, threaded hole is provided on the support base, the threaded hole is coupled with regulating part, regulating part with
Threaded hole can be in threaded hole screw with merging, while impeller being driven to move that spring element is made to generate pressure along guide part
Compression deformation.
Further, axis pilot hole is provided on the mounting plate, the axis pilot hole is coupled with guide part, guiding
Part partial-length is inserted into axis pilot hole, to guarantee that mounting plate can be along guide part in the pretightning force applied by spring element
Direction movement.
Further, described impeller one end is contacted with regulating part, and the other end is contacted with spring element.
Further, block pilot hole is provided on the impeller, described piece of pilot hole is coupled with guide part.
Further, the regulating part be can spinning in and out adjustment structure.
A kind of SCARA robot forearm structure, including forearm, J3 axis and J4 axis further include multiple above-described preloads
Power sets up an organization, by rotate pretightning force set up an organization in regulating part adjust the decrement of spring element, to make spring element
It generates corresponding elastic force to be applied on the synchronous belt of J3 axis and J4 axis, and is read by position of the impeller on pretightning force scale
The size of pretightning force is to achieve the purpose that pretightning force accurately is arranged.
Further, the pretightning force the first pretightning force including being arranged on J3 axis that sets up an organization sets up an organization and is arranged
The second pretightning force on J4 axis sets up an organization.
A kind of robot, including robot forearm structure described in any of the above item.
A kind of pretightning force provided by the invention sets up an organization, the beneficial effect of SCARA robot forearm structure and robot
Be: the present invention by rotate pretightning force set up an organization in regulating part adjust the decrement of spring element, to make spring element
It generates corresponding elastic force to be applied in synchronous belt, and reads the size of pretightning force by position of the impeller on pretightning force scale
To achieve the purpose that pretightning force accurately is arranged；It is set up an organization and can be accurately arranged by pretightning force when installation, maintenance, debugging
The pretightning force of robot forearm J3 axis and J4 axis toothed belt transmission, to improve the performance of complete machine；It is compact-sized, easy to operate,
Securely and reliably, working efficiency when installation, maintenance maintenance is improved.
Detailed description of the invention
Fig. 1 is that the pretightning force of the embodiment of the present invention 1 sets up an organization structural schematic diagram；
Fig. 2 is the clamping support schematic diagram of the embodiment of the present invention 1；
Fig. 3 is the mounting plates structure schematic diagram of the embodiment of the present invention 1；
Fig. 4 is the thrust block pad structural schematic diagram of the embodiment of the present invention 1；
Fig. 5 is the structural schematic diagram of the embodiment of the present invention 2.
In figure: 1, mounting plate；2, spring；3, thrust block pad；4, screw is adjusted；5, support base；6, guide rod；7, threaded hole；
8, axis pilot hole；9, pretightning force scale；10, block pilot hole；11, forearm；101, the first mounting plate；102, the second mounting plate；
201, the first spring；202, second spring；301, the first thrust block pad；302, the second thrust block pad；401, first screw is adjusted；402,
Second adjusts screw；501, the first support base；502, the second support base；601, the first guide rod；602, the second guide rod；901,
First pretightning force scale；902, the second pretightning force scale.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Ability
Domain ordinary person every other embodiment obtained without making creative work, belongs to protection of the invention
Range.
Embodiment 1: a kind of pretightning force sets up an organization, referring to Fig. 1 to Fig. 4.
A kind of pretightning force sets up an organization, including mounting plate 1, support base 5, adjusts screw 4, thrust block pad 3, spring 2 and pre-tighten
Power scale 9 is additionally provided with guide rod 6 on the support base 5, sequentially passes through the guide rod before and after the spring 2 and thrust block pad 3
6, the adjusting screw 4 is soket head cap screw and is assemblied on support base 5, and the pretightning force scale 9 is integral type with mounting plate 1
Structure and pretightning force scale 9 is parallel with guide rod 6, support base 5 are coupled by guide rod 6 with mounting plate 1；Pretightning force setting
The axis and 1 axis collinear of mounting plate of mechanism, to guarantee not generating additional torque when the power pre-tightened applies；Mounting plate 1 is logical
Screw is crossed to be fixed on device therefor.
Threaded hole 7 is provided on support base 5, the threaded hole 7 is coupled with screw 4 is adjusted, and adjusts screw 4 and screw thread
Hole 7 can be in 7 screw of threaded hole with merging, while thrust block pad 3 being driven to move that spring 2 is made to generate pressure along guide rod 6
Compression deformation.
Guide rod 6 has two and is symmetrically disposed on 5 upper end of support base, and threaded hole 7 is located at two 6 middle positions of guide rod,
Guide rod 6 is cylindric, and fixed with support base 5 by welding.
Axis pilot hole 8 is provided on mounting plate 1, the axis pilot hole 8 and 6 clearance fit of guide rod, 6 part of guide rod are long
In degree insertion axis pilot hole 8, to guarantee that mounting plate 1 can be along the direction of guide rod 6 in the pretightning force applied by spring 2
Movement, the size of location mark pretightning force of the thrust block pad 3 on pretightning force scale 9.
3 one end of thrust block pad is contacted with screw 4 is adjusted, and the other end is contacted with spring 2；Preferred 3 section of thrust block pad is trapezoidal.
Block pilot hole 10 is provided on thrust block pad 3, described piece of pilot hole 10 is coupled with guide rod 6, and thrust block pad 3 passes through
Block pilot hole 10 can the smooth movement on guide rod 6.
In the above-described embodiments, the holding screw of mounting plate 1 is first unclamped when use, to prevent mounting plate 1 from falling, Bu Yaoquan
Portion backs out the holding screw of mounting plate 1, and guarantees that mounting plate 1 is in freely moveable state, turning adjusting screw 4 and makes to adjust
The spiral in threaded hole 7 of screw 4 is mobile, so that the other end for adjusting screw 4 pushes thrust block pad 3 to move on guide rod 6, thus
Pretightning force is generated using 3 push the spring of thrust block pad, 2 compressive deformation, and pushes mounting plate 1 mobile, is mounted on mounting plate to drive
Synchronous pulley on 1 is moved to the direction of tensioning, so that synchronous belt be made to generate pretightning force.The size of pretightning force passes through thrust block pad 3
Position on pretightning force scale 9 is read, can be by 1 holding screw of mounting plate when pretightning force reaches required suitable value
Tighten fixation.Pretightning force required for being accurately arranged to synchronous belt in the above manner.
In conclusion pretightning force sets up an organization, working principle is as follows: adjusting screw by rotation pretightning force come adjustment spring
Decrement, be applied in synchronous belt so that spring be made to generate corresponding elastic force, and through thrust block pad on pretightning force scale
The size of pretightning force is read to achieve the purpose that pretightning force accurately is arranged in position.
Embodiment 2: a kind of SCARA robot forearm structure, referring to Fig. 5.
A kind of SCARA robot forearm structure, including forearm 11, J3 axis and J4 axis, the J3 axis pass through synchronous with J4 axis
V belt translation, and be arranged on the forearm 11, it further include that pretightning force as described in Example 1 sets up an organization, the pretightning force is set
Setting mechanism includes that the first pretightning force being arranged on J3 axis the second pretightning force for setting up an organization and be arranged on J4 axis sets up an organization,
The pretightning force sets up an organization for accurately setting required pretightning force to the synchronous belt of J3 axis and J4 axis.
First pretightning force, which sets up an organization, adjusts screw 401, the including the first mounting plate 101, the first support base 501, first
One thrust block pad 301, the first spring 201 and the first pretightning force scale 901 are additionally provided with first on first support base 501 and lead
To bar 601, first guide rod 601 is sequentially passed through before and after first spring 201 and the first thrust block pad 301, described first
It adjusts screw 401 to be soket head cap screw and be assemblied on the first support base 501, the first pretightning force scale 901 and the first peace
Loading board 101 is an integral structure and the first pretightning force scale 901 is parallel with the first guide rod 601, and the first support base 501 passes through the
One guide rod 601 is coupled with the first mounting plate 101.
Second pretightning force, which sets up an organization, adjusts screw 402, the including the second mounting plate 102, the second support base 502, second
Two thrust block pads 302, second spring 202 and the second pretightning force scale 902 are additionally provided with second on second support base 502 and lead
To bar 602, second guide rod 602 is sequentially passed through before and after the second spring 202 and the second thrust block pad 302, described second
It adjusts screw 402 to be soket head cap screw and be assemblied on the second support base 502, the second pretightning force scale 902 and the second peace
Loading board 102 is an integral structure and the first pretightning force scale 902 is parallel with the first guide rod 602, and the second support base 502 passes through the
Two guide rods 602 are coupled with the second mounting plate 102.
When the pretightning force of J3 axis synchronous belt is set, 101 holding screw of the first mounting plate is first unclamped, to prevent the first mounting plate
101 do not fall, and not back out 101 holding screw of the first mounting plate all, and guarantee that the first mounting plate 101 is in and freely move
State, rotation the first adjusting screw 401 keeps the first adjusting screw 401 spiral in the first threaded hole mobile, so that first adjusts
The other end of section screw 401 pushes the first thrust block pad 301 to move on the first guide rod 601, to push the first spring 201 pressure
Compression deformation generates pretightning force, and pushes the first mounting plate 101 mobile, to drive the synchronization being mounted on the first mounting plate 101
Belt wheel is moved to the direction of tensioning, so that the synchronous belt of J3 axis be made to generate pretightning force.The size of pretightning force passes through the first thrust block pad
301 position on the first pretightning force scale 901 is read, can be by the first peace when pretightning force reaches required suitable value
101 holding screw of loading board tightens fixation.Preload required for being accurately arranged to the synchronous belt of J3 axis in the above manner
Power.
When the pretightning force of J4 axis synchronous belt is set, 102 holding screw of the second mounting plate is first unclamped, to prevent the second mounting plate
102 do not fall, and not back out 102 holding screw of the second mounting plate all, and guarantee that the second mounting plate 102 is in and freely move
State, rotation the second adjusting screw 402 keeps the second adjusting screw 402 spiral in the second threaded hole mobile, so that second adjusts
The other end of section screw 402 pushes the second thrust block pad 302 to move on the second guide rod 602, so that second spring 202 be pushed to press
Compression deformation generates pretightning force, and pushes the second mounting plate 102 mobile, to drive the synchronization being mounted on the second mounting plate 102
Belt wheel is moved to the direction of tensioning, so that the synchronous belt of J4 axis be made to generate pretightning force.The size of pretightning force passes through the second thrust block pad
302 position on the second pretightning force scale 902 is read, can be by the second peace when pretightning force reaches required suitable value
102 holding screw of loading board tightens fixation.Preload required for being accurately arranged to the synchronous belt of J4 axis in the above manner
Power.
A kind of embodiment 3: robot.
A kind of robot, including SCARA robot forearm structure as described in example 2.
The above is presently preferred embodiments of the present invention, but the present invention should not be limited to embodiment and attached drawing institute public affairs
The content opened both falls within protection of the present invention so all do not depart from the lower equivalent or modification completed of spirit disclosed in this invention
Range.
Claims (11)
1. a kind of pretightning force sets up an organization, which is characterized in that including mounting plate, support base, regulating part, impeller and spring element,
It is additionally provided with guide part on the support base, sequentially passes through the guide part, the adjusting before and after the spring element and impeller
Part is assemblied on the support base and connect with the impeller, pretightning force scale is provided on the mounting plate, and described pre-
Clamp force scale is parallel with the guide part, and the support base is coupled by the guide part and the mounting plate.
2. pretightning force as described in claim 1 sets up an organization, it is characterised in that: the pretightning force scale is integrated with mounting plate
Change structure.
3. pretightning force as described in claim 1 sets up an organization, it is characterised in that: axis pilot hole is provided on the mounting plate,
The axis pilot hole is coupled with the guide part.
4. pretightning force as described in claim 1 sets up an organization, it is characterised in that: block pilot hole is provided on the impeller,
Described piece of pilot hole is coupled with the guide part.
5. pretightning force as described in claim 1 sets up an organization, it is characterised in that: described impeller one end connects with the regulating part
Touching, the other end are contacted with the spring element.
6. pretightning force as described in claim 1 sets up an organization, it is characterised in that: the regulating part is can spinning in and out adjusting knot
Structure.
7. pretightning force as described in claim 1 sets up an organization, it is characterised in that: the spring element is spring.
8. pretightning force as described in claim 1 sets up an organization, it is characterised in that: the guide part is guide rod.
9. a kind of SCARA robot forearm structure, including forearm, J3 axis and J4 axis, the J3 axis and J4 axis are passed by synchronous belt
It is dynamic, and be arranged on the forearm, it is characterised in that: it further include multiple settings of the pretightning force as described in claim any one of 1-8
Mechanism, the pretightning force the first pretightning force including being arranged on J3 axis that sets up an organization are set up an organization and are arranged on J4 axis
Second pretightning force sets up an organization, required for the pretightning force sets up an organization for accurately setting to the synchronous belt of J3 axis and J4 axis
Pretightning force.
10. SCARA robot forearm structure as claimed in claim 9, it is characterised in that: the pretightning force set up an organization with it is small
Arm is an integral structure.
11. a kind of robot, it is characterised in that: including such as described in any item robot forearm structures of claim 9-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910750993.7A CN110434845A (en) | 2019-08-14 | 2019-08-14 | Pretightening force setting mechanism, SCARA robot forearm structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910750993.7A CN110434845A (en) | 2019-08-14 | 2019-08-14 | Pretightening force setting mechanism, SCARA robot forearm structure and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110434845A true CN110434845A (en) | 2019-11-12 |
Family
ID=68435663
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910750993.7A Pending CN110434845A (en) | 2019-08-14 | 2019-08-14 | Pretightening force setting mechanism, SCARA robot forearm structure and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110434845A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001171193A (en) * | 1999-12-17 | 2001-06-26 | Seiko Epson Corp | Apparatus for adjusting tension of carriage belt |
| US20110165980A1 (en) * | 2008-09-05 | 2011-07-07 | Setco Sales Company | Belt Tensioning Device |
| CN202140521U (en) * | 2011-06-28 | 2012-02-08 | 广西玉柴机器股份有限公司 | Engine belt tensioning device with tensioning scales |
| CN204942423U (en) * | 2015-08-19 | 2016-01-06 | 浙江田中精机股份有限公司 | Conveyer stretcher |
| CN205244278U (en) * | 2015-12-24 | 2016-05-18 | 中和汇阔科技（北京）有限公司 | Belt tensioning device |
| CN107662219A (en) * | 2017-11-08 | 2018-02-06 | 埃夫特智能装备股份有限公司 | A kind of robot wrist mechanism based on the semidecussation kind of drive |
| CN208914101U (en) * | 2018-09-28 | 2019-05-31 | 深圳市汇川技术股份有限公司 | Synchronous belt adjusts structure and industrial robot |
| CN208914111U (en) * | 2018-10-22 | 2019-05-31 | 珠海格力智能装备有限公司 | Synchronous belt structure and mechanical arm with same |
| CN210850266U (en) * | 2019-08-14 | 2020-06-26 | 珠海格力电器股份有限公司 | Pretightening force setting mechanism, SCARA robot forearm structure and robot |
-
2019
- 2019-08-14 CN CN201910750993.7A patent/CN110434845A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001171193A (en) * | 1999-12-17 | 2001-06-26 | Seiko Epson Corp | Apparatus for adjusting tension of carriage belt |
| US20110165980A1 (en) * | 2008-09-05 | 2011-07-07 | Setco Sales Company | Belt Tensioning Device |
| CN202140521U (en) * | 2011-06-28 | 2012-02-08 | 广西玉柴机器股份有限公司 | Engine belt tensioning device with tensioning scales |
| CN204942423U (en) * | 2015-08-19 | 2016-01-06 | 浙江田中精机股份有限公司 | Conveyer stretcher |
| CN205244278U (en) * | 2015-12-24 | 2016-05-18 | 中和汇阔科技（北京）有限公司 | Belt tensioning device |
| CN107662219A (en) * | 2017-11-08 | 2018-02-06 | 埃夫特智能装备股份有限公司 | A kind of robot wrist mechanism based on the semidecussation kind of drive |
| CN208914101U (en) * | 2018-09-28 | 2019-05-31 | 深圳市汇川技术股份有限公司 | Synchronous belt adjusts structure and industrial robot |
| CN208914111U (en) * | 2018-10-22 | 2019-05-31 | 珠海格力智能装备有限公司 | Synchronous belt structure and mechanical arm with same |
| CN210850266U (en) * | 2019-08-14 | 2020-06-26 | 珠海格力电器股份有限公司 | Pretightening force setting mechanism, SCARA robot forearm structure and robot |
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