CN214981129U - Vacuum chuck clamp for carrying curved panel - Google Patents
Vacuum chuck clamp for carrying curved panel Download PDFInfo
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- CN214981129U CN214981129U CN202120297154.7U CN202120297154U CN214981129U CN 214981129 U CN214981129 U CN 214981129U CN 202120297154 U CN202120297154 U CN 202120297154U CN 214981129 U CN214981129 U CN 214981129U
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- vacuum chuck
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Abstract
The utility model relates to a vacuum chuck clamp for carrying curved plate, which comprises an installation arm, an air pipe and a vacuum chuck; the bottom surface of the mounting arm is provided with a plurality of spherical rotary grooves, spherical heads are rotatably mounted in the spherical rotary grooves, the middle parts of the bottom surfaces of the spherical heads are fixedly connected with the paneling, clamping plate connectors are mounted on two sides of the paneling, a clamping plate at the top of each clamping plate connector and the paneling rotate to penetrate through the mounting rotary shaft, two sides of each clamping plate connector are communicated with air pipes, a vacuum chuck is mounted on the bottom surface of each clamping plate connector in a threaded mode, and each vacuum chuck comprises a threaded connector, a silica gel chuck and an air hole; the inner ring of the bottom surface of the clamping plate connector is in threaded connection with the outer ring of the top of the threaded connector, the outer ring of the bottom of the threaded connector is fixedly connected with a silica gel sucker, an air hole is formed in the threaded connector, and the top of the air hole is communicated with the inner ring of the air pipe; the curved surface plate is effectively and firmly adsorbed and clamped, and the carrying safety of the curved surface plate is improved.
Description
Technical Field
The utility model relates to a panel transport technical field especially relates to a vacuum chuck anchor clamps are used in curved panel transport.
Background
The jig is a device for fixing a processing object to occupy a correct position for receiving construction or inspection in a machine manufacturing process. In a broad sense, any device used to quickly, conveniently and safely mount a workpiece at any stage in a process may be referred to as a jig. The clamp types can be divided into: universal clamp. Such as a vice, a chuck, a sucker, an index head, a rotary table and the like for machine tools, has great universality, can better adapt to the change of machining processes and machining objects, has a shaped structure and serialized sizes and specifications, and most of the parts become standard accessories of the machine tools. Special fixture, adjustable fixture, modular fixture.
The vacuum chuck clamp is frequently used in the plate carrying process, but when the existing vacuum chuck clamp carries a curved plate, the curved plate cannot be well adsorbed on the curved surface of the curved plate comprehensively, so that the curved plate is very easy to break away in the carrying process, and the curved plate is damaged.
SUMMERY OF THE UTILITY MODEL
The utility model provides a problem lie in providing a curved surface panel vacuum chuck anchor clamps for transport, solved current vacuum chuck anchor clamps can't be comprehensive good adsorb on the curved surface of curved surface panel, cause the technical problem that curved surface panel breaks away from in handling.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a vacuum chuck clamp for conveying curved plate materials comprises a mounting arm, a spherical head, a paneling, a splint connector, a rotating shaft, an air pipe and a vacuum chuck; the utility model discloses a mounting arm, including installation arm, splint connector, installation pivot, mounting arm, a plurality of spherical rotary grooves are seted up to the bottom surface of installation arm, the inside rotation installation spherical head of spherical rotary groove, the bottom surface middle part rigid coupling of spherical head paneling, the splint connector is installed to the both sides of paneling, the top splint of splint connector rotate with the paneling and run through the installation pivot, the both sides intercommunication trachea of splint connector, the bottom surface screw thread installation vacuum chuck of splint connector, vacuum chuck's inner circle intercommunication tracheal inner circle.
Preferably, the vacuum chuck comprises a threaded connector, a silica gel chuck and an air hole; the bottom surface inner circle of splint connector and threaded connection head's top outer lane threaded connection, threaded connection head's bottom outer lane rigid coupling silica gel sucking disc, the gas pocket is seted up to threaded connection head's inside, the top and the tracheal inner circle intercommunication of gas pocket, the bottom of gas pocket and the inner circle intercommunication of silica gel sucking disc.
Preferably, the annular is seted up to the outer lane of gas pocket, the inner circle slidable mounting slide bar of annular, the bottom surface rigid coupling separation blade of slide bar, the outer lane of separation blade and the inner circle sliding fit of silica gel sucking disc, a plurality of guide arms of the inside rigid coupling of annular, a plurality of connecting plates of the outer lane rigid coupling of slide bar, the draw-hole is seted up to the one end that the connecting plate is close to the annular, the inner circle of draw-hole and the outer lane sliding fit of guide arm, connecting plate and annular sliding fit, the first spring of top surface rigid coupling of connecting plate, the top of first spring and the top surface rigid coupling of annular, the inner circle cover of first spring is in the outer lane of guide arm.
Preferably, the separation blade is made for stereoplasm silica gel, and the outer wall radian and the shape of separation blade are the same with vacuum chuck's inner wall radian and shape, the toper notch has been seted up to the bottom surface of separation blade.
Preferably, the trachea is PU yarn clamping pipe, and the equal rigid coupling air cock in tracheal both ends, the outer lane of air cock and the blow vent inner circle threaded connection of splint connector both sides.
Preferably, one side of the splint connector is communicated with the vacuum generating device, and the sealing plug is installed at the air vent on the other side of the splint connector in a threaded manner.
Preferably, the top surface of the mounting arm is provided with a moving assembly, and the moving assembly comprises a supporting beam, an annular sliding block, a fixed clamping block and a bolt; the top surface of the supporting beam is provided with a moving sliding chute, the bottom surface of the moving sliding chute is provided with a fixed sliding chute, an annular sliding block is arranged inside the moving sliding chute and on the outer ring of the supporting beam in a sliding mode, the bottom surface of the annular sliding block is fixedly connected with the top surface of the mounting arm, a fixed clamping block is arranged inside the fixed sliding chute in a sliding mode, the middle of the annular sliding block and the top surface of the fixed clamping block are both provided with screw holes, and bolts are mounted through internal threads of the screw holes.
Preferably, the connecting grooves are formed in two sides of the bottom surface of the inner ring of the annular sliding block, the connecting rods are slidably mounted in the connecting grooves, the bottom surface of each connecting rod is fixedly connected with the top surface of the corresponding fixed clamping block, the two sides of the bottom surface of the inner ring of the annular sliding block are fixedly connected with the second springs, the bottom ends of the second springs are fixedly connected with the tops of the fixed clamping blocks, and the inner rings of the second springs are sleeved on the outer rings of the connecting rods.
The utility model has the advantages that: the spherical head rotates in the spherical rotary groove and the clamping plate connector rotates along the rotary shaft to drive the vacuum chuck to rotate in the direction, so that the vacuum chuck is perpendicular to the curved surface of the curved surface plate, the silica gel chuck contacts the curved surface plate, air in the silica gel chuck is sucked from the air hole, the silica gel chuck generates a vacuum environment, the silica gel chuck is extruded to adsorb the curved surface plate, effective and firm adsorption and clamping on the curved surface plate are realized, and the safety of carrying the curved surface plate is improved;
when the curved-surface plate is extruded by the silica gel sucker, the blocking piece is driven to be close to the extruded curved-surface plate, so that the slide rod slides upwards, the connecting plate slides along the slide rod, the first spring is compressed, and after vacuum is formed inside the silica gel sucker, the blocking piece seals and blocks the air hole, so that the curved-surface plate is prevented from falling off in the carrying process due to the fact that the inside of the silica gel sucker does not reach a vacuum environment, the curved-surface plate is prevented from being damaged, and the carrying safety of the curved-surface plate is improved;
the annular slide block slides along the supporting beam to drive the mounting arm to move, so that a worker can conveniently adjust the space between the vacuum suckers according to the sizes of different curved-surface plates, and the practicability of the clamp is improved; the bolt penetrates through the screw hole, so that the annular sliding block is matched with the fixed clamping block to clamp and fix the bottom surface of the movable sliding chute.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an overall sectional view of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
FIG. 4 is an enlarged view of a portion of FIG. 2 at B;
fig. 5 is a partially enlarged view of C in fig. 2.
Illustration of the drawings:
1. mounting an arm; 2. a spherical rotary groove; 3. a spherical head; 4. a panel; 5. a splint connector; 6. a rotating shaft; 7. an air tube; 8. a vacuum chuck; 9. a ring groove; 10. a slide bar; 11. a baffle plate; 12. a guide bar; 13. a connecting plate; 14. a slide hole; 15. a first spring; 16. a sealing plug; 17. a support beam; 18. a moving chute; 19. fixing the chute; 20. an annular slider; 21. fixing the clamping block; 22. a screw hole; 23. a bolt; 24. connecting grooves; 25. a connecting rod; 26. a second spring; 801. a threaded connector; 802. a silica gel sucker; 803. and (4) air holes.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Specific examples are given below.
Referring to fig. 1 to 5, a vacuum chuck clamp for conveying curved plate comprises a mounting arm 1, a spherical head 3, a panel 4, a clamp plate connector 5, a rotating shaft 6, an air pipe 7 and a vacuum chuck 8; the bottom surface of the mounting arm 1 is provided with a plurality of spherical rotary grooves 2, spherical heads 3 are rotatably mounted inside the spherical rotary grooves 2, the middle parts of the bottom surfaces of the spherical heads 3 are fixedly connected with paneling plates 4, clamping plate connectors 5 are mounted on two sides of the paneling plates 4, top clamping plates of the clamping plate connectors 5 and the paneling plates 4 rotate to penetrate through mounting rotating shafts 6, two sides of the clamping plate connectors 5 are communicated with air pipes 7, vacuum chucks 8 are mounted on the bottom surfaces of the clamping plate connectors 5 in a threaded mode, and inner rings of the vacuum chucks 8 are communicated with inner rings of the air pipes 7; through spherical head 3 at 2 internal rotations in spherical rotary groove and splint connector 5 along the rotation of pivot 6 for vacuum chuck 8 carries out the rotation in position, thereby makes on the curved surface of 8 perpendicular to curved surface panels of vacuum chuck, has improved the adsorption affinity of vacuum chuck 8 to curved surface panels then, and the staff of being convenient for carries curved surface panels, has improved the security of curved surface panels transport.
As an embodiment of the present invention, the vacuum chuck 8 includes a threaded connector 801, a silica gel chuck 802, and an air hole 803; the inner ring of the bottom surface of the splint connector 5 is in threaded connection with the outer ring of the top of the threaded connector 801, the outer ring of the bottom of the threaded connector 801 is fixedly connected with a silica gel sucker 802, an air hole 803 is formed in the threaded connector 801, the top of the air hole 803 is communicated with the inner ring of the air pipe 7, and the bottom of the air hole 803 is communicated with the inner ring of the silica gel sucker 802; through silica gel sucking disc 802 contact curved surface panel, the air in the silica gel sucking disc 802 is drawn from gas pocket 803, produces vacuum environment with silica gel sucking disc 802 for curved surface panel is firmly adsorbed in the extrusion of silica gel sucking disc 802, thereby has realized pressing from both sides tightly to the effective firm absorption of curved surface panel, has then improved the security of curved surface panel transport.
As an embodiment of the present invention, the outer ring of the air hole 803 is provided with an annular groove 9, the inner ring of the annular groove 9 is slidably mounted with a sliding rod 10, the bottom surface of the sliding rod 10 is fixedly connected with a blocking piece 11, the outer ring of the blocking piece 11 is slidably matched with the inner ring of the silica gel sucker 802, the inner part of the annular groove 9 is fixedly connected with a plurality of guide rods 12, the outer ring of the sliding rod 10 is fixedly connected with a plurality of connecting plates 13, one end of the connecting plate 13 close to the annular groove 9 is provided with a sliding hole 14, the inner ring of the sliding hole 14 is slidably matched with the outer ring of the guide rod 12, the connecting plate 13 is slidably matched with the annular groove 9, the top surface of the connecting plate 13 is fixedly connected with a first spring 15, the top end of the first spring 15 is fixedly connected with the top surface of the annular groove 9, and the inner ring of the first spring 15 is sleeved on the outer ring of the guide rod 12; when extrudeing curved surface panel through silica gel sucking disc 802, drive separation blade 11 and be close to extrusion curved surface panel, make slide bar 10 upwards slide, make connecting plate 13 slide along slide bar 10, make the compression of first spring 15, after the inside vacuum that forms of silica gel sucking disc 802, separation blade 11 is with the sealed jam of gas pocket 803, thereby avoided inside not reaching the vacuum environment of silica gel sucking disc 802 and caused curved surface panel to drop in handling, cause the damage of curved surface panel, then improved curved surface panel's transport security.
As an embodiment of the present invention, the baffle plate 11 is made of hard silica gel, and the radian and shape of the outer wall of the baffle plate 11 are the same as the radian and shape of the inner wall of the vacuum chuck 8, and the bottom surface of the baffle plate 11 is provided with a conical notch; through the cooperation of the outer wall of the baffle plate 11 and the inner wall of the vacuum chuck 8, after the silica gel chuck 802 forms a vacuum, the baffle plate 11 is tightly attached to the top of the silica gel chuck 802, so that the air hole 803 is sealed and blocked by the baffle plate 11, the curved surface plate is prevented from falling off in the carrying process by the silica gel chuck 802, the curved surface plate is damaged, and the carrying safety of the curved surface plate is improved.
As an embodiment of the present invention, the air tube 7 is a PU yarn clamping tube, and both ends of the air tube 7 are fixedly connected with air nozzles, the outer ring of the air nozzle is in threaded connection with the inner rings of the air vents at both sides of the clamping plate connector 5; through the characteristics of wear resistance, good elasticity, good rebound resilience, softness and difficulty in knotting of the PU yarn clamping tube, the vacuum generation efficiency and the stability of the vacuum sucker 8 are improved, and the carrying safety of the curved-surface plate is improved better.
As an embodiment of the present invention, one side of the splint connector 5 is connected to the vacuum generating device, and the sealing plug 16 is installed on the vent thread on the other side of the splint connector 5; through the sealing plug 16 that sets up, avoided in outside air gets into trachea 7 to improve vacuum chuck 8's adsorption efficiency, improved the firm degree that vacuum chuck 8 adsorbs curved surface panel then.
As an embodiment of the present invention, a moving assembly is installed on the top surface of the installation arm 1, and the moving assembly includes a supporting beam 17, an annular sliding block 20, a fixed clamping block 21 and a bolt 23; a movable sliding groove 18 is formed in the top surface of the supporting beam 17, a fixed sliding groove 19 is formed in the bottom surface of the movable sliding groove 18, an annular sliding block 20 is installed inside the movable sliding groove 18 and on the outer ring of the supporting beam 17 in a sliding mode, the bottom surface of the annular sliding block 20 is fixedly connected with the top surface of the installing arm 1, a fixed clamping block 21 is installed inside the fixed sliding groove 19 in a sliding mode, screw holes 22 are formed in the middle of the annular sliding block 20 and the top surface of the fixed clamping block 21, and bolts 23 are installed on the inner threads of the screw holes 22; the mounting arm 1 is driven to move by the sliding of the annular sliding block 20 along the supporting beam 17, so that the distance between the vacuum suckers 8 can be conveniently adjusted by a worker according to the sizes of different curved-surface plates, and the practicability of the clamp is improved; the bolts 23 pass through the screw holes 22, so that the annular sliding block 20 is matched with the fixed clamping block 21 to clamp and fix the bottom surface of the moving chute 18, thereby fixing the annular sliding block 20 and further fixing the position of the vacuum chuck 8.
As an embodiment of the present invention, two sides of the bottom surface of the inner ring of the annular slider 20 are both provided with a connecting groove 24, a connecting rod 25 is slidably installed inside the connecting groove 24, the bottom surface of the connecting rod 25 is fixedly connected with the top surface of the fixed clamping block 21, two sides of the bottom surface of the inner ring of the annular slider 20 are both fixedly connected with a second spring 26, the bottom end of the second spring 26 is fixedly connected with the top of the fixed clamping block 21, and the inner ring of the second spring 26 is sleeved on the outer ring of the connecting rod 25; through the connecting rod 25 of the inside slidable mounting of connecting groove 24 for annular slider 20 links into an entirety with fixed clamp splice 21, thereby has avoided excessively loosening and has caused fixed clamp splice 21 to drop behind bolt 23, has then avoided annular slider 20 can't press from both sides tightly fixedly.
The working principle is as follows: firstly, loosening the bolt 23, pushing the annular slide block 20 according to the size of the curved-surface plate, moving the annular slide block 20 to a proper position, then tightening the bolt 23, driving the annular slide block 20 to be matched with the fixed clamping block 21 to clamp the bottom wall of the movable chute 18, and thus clamping and fixing the annular slide block 20;
then, the spherical head 3 rotates in the spherical rotary groove 2 and the clamp plate connector 5 rotates along the rotary shaft 6, the vacuum chuck 8 rotates to a curved surface perpendicular to the curved surface plate, the air pipe 7 is connected with an external vacuum generating device, air in the vacuum chuck 8 is pumped out, when the silica gel chuck 802 extrudes the curved surface plate, the baffle plate 11 is driven to be close to the curved surface plate to be extruded, the slide rod 10 slides upwards, the connecting plate 13 slides along the slide rod 10, the first spring 15 is compressed, after vacuum is formed inside the silica gel chuck 802, the baffle plate 11 seals and blocks the air hole 803, and the curved surface plate is prevented from falling off in the carrying process because the vacuum inside the silica gel chuck 802 does not reach the vacuum environment; the curved surface plate is effectively and firmly adsorbed and clamped, and the carrying safety of the curved surface plate is improved.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (8)
1. A vacuum chuck clamp for carrying curved plate materials is characterized by comprising a mounting arm (1), a spherical head (3), a paneling (4), a splint connector (5), a rotating shaft (6), an air pipe (7) and a vacuum chuck (8); a plurality of spherical rotary grooves (2) are opened to the bottom surface of the installation arm (1), the inside of the spherical rotary groove (2) is rotated to install the spherical head (3), the bottom surface middle part rigid coupling paneling (4) of the spherical head (3), splint connector (5) are installed on both sides of the paneling (4), the top splint of the splint connector (5) rotate with the paneling (4) to run through the installation rotating shaft (6), the both sides of the splint connector (5) communicate with the air pipe (7), the bottom surface thread of the splint connector (5) is installed with the vacuum chuck (8), and the inner ring of the vacuum chuck (8) communicates with the inner ring of the air pipe (7).
2. The vacuum chuck clamp for conveying curved plate materials as claimed in claim 1, wherein the vacuum chuck (8) comprises a threaded connector (801), a silica gel chuck (802) and an air hole (803); the bottom surface inner circle of splint connector (5) and the top outer lane threaded connection of threaded connection head (801), bottom outer lane rigid coupling silica gel sucking disc (802) of threaded connection head (801), gas pocket (803) are seted up to the inside of threaded connection head (801), the top of gas pocket (803) and the inner circle of trachea (7) communicate, the bottom of gas pocket (803) and the inner circle of silica gel sucking disc (802) communicate.
3. The vacuum chuck clamp for carrying the curved plate according to claim 2, wherein the outer ring of the air hole (803) is provided with an annular groove (9), the inner ring of the annular groove (9) is slidably mounted with a slide rod (10), the bottom surface of the slide rod (10) is fixedly connected with a baffle (11), the outer ring of the baffle (11) is in sliding fit with the inner ring of the silica gel chuck (802), the inner part of the annular groove (9) is fixedly connected with a plurality of guide rods (12), the outer ring of the slide rod (10) is fixedly connected with a plurality of connecting plates (13), one end of the connecting plate (13) close to the annular groove (9) is provided with a slide hole (14), the inner ring of the slide hole (14) is in sliding fit with the outer ring of the guide rods (12), the connecting plate (13) is in sliding fit with the annular groove (9), the top surface of the connecting plate (13) is fixedly connected with a first spring (15), the top end of the first spring (15) is fixedly connected with the top surface of the annular groove (9), the inner ring of the first spring (15) is sleeved on the outer ring of the guide rod (12).
4. The vacuum chuck clamp for conveying curved plate materials as claimed in claim 3, wherein the blocking sheet (11) is made of hard silica gel, the radian and shape of the outer wall of the blocking sheet (11) are the same as those of the inner wall of the vacuum chuck (8), and the bottom surface of the blocking sheet (11) is provided with a conical notch.
5. The vacuum chuck clamp for moving curved plate materials as claimed in claim 1, wherein the air pipe (7) is a PU yarn clamping pipe, air nozzles are fixedly connected to both ends of the air pipe (7), and the outer ring of each air nozzle is in threaded connection with the inner rings of the air vents on both sides of the clamping plate connector (5).
6. The vacuum chuck clamp for curved plate carrying according to claim 1, wherein one side of the clamping plate connector (5) is communicated with a vacuum generating device, and a sealing plug (16) is installed at a vent hole on the other side of the clamping plate connector (5) in a threaded manner.
7. The vacuum chuck clamp for curved plate carrying according to claim 1, characterized in that the top surface of the mounting arm (1) is mounted with a moving component, the moving component comprises a supporting beam (17), a ring-shaped sliding block (20), a fixed clamping block (21) and a bolt (23); the top surface of the supporting beam (17) is provided with a moving sliding groove (18), the bottom surface of the moving sliding groove (18) is provided with a fixed sliding groove (19), the inside of the moving sliding groove (18) and the outer ring of the supporting beam (17) are slidably provided with an annular sliding block (20), the bottom surface of the annular sliding block (20) is fixedly connected with the top surface of the mounting arm (1), the inside of the fixed sliding groove (19) is slidably provided with a fixed clamping block (21), the middle part of the annular sliding block (20) and the top surface of the fixed clamping block (21) are both provided with a screw hole (22), and an internal thread of the screw hole (22) is provided with a bolt (23).
8. The vacuum chuck clamp for conveying curved plate materials according to claim 7, wherein two sides of the bottom surface of the inner ring of the annular slider (20) are provided with connecting grooves (24), a connecting rod (25) is slidably mounted inside the connecting grooves (24), the bottom surface of the connecting rod (25) is fixedly connected with the top surface of the fixed clamping block (21), two sides of the bottom surface of the inner ring of the annular slider (20) are fixedly connected with second springs (26), the bottom ends of the second springs (26) are fixedly connected with the top of the fixed clamping block (21), and the inner ring of the second springs (26) is sleeved on the outer ring of the connecting rod (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120297154.7U CN214981129U (en) | 2021-02-02 | 2021-02-02 | Vacuum chuck clamp for carrying curved panel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120297154.7U CN214981129U (en) | 2021-02-02 | 2021-02-02 | Vacuum chuck clamp for carrying curved panel |
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| Publication Number | Publication Date |
|---|---|
| CN214981129U true CN214981129U (en) | 2021-12-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120297154.7U Active CN214981129U (en) | 2021-02-02 | 2021-02-02 | Vacuum chuck clamp for carrying curved panel |
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| CN (1) | CN214981129U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115180404A (en) * | 2022-06-24 | 2022-10-14 | 潍坊新松机器人自动化有限公司 | Method and device for carrying thin plate |
| CN116021542A (en) * | 2023-02-13 | 2023-04-28 | 绵阳师范学院 | Balance adjustment system of robot |
-
2021
- 2021-02-02 CN CN202120297154.7U patent/CN214981129U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115180404A (en) * | 2022-06-24 | 2022-10-14 | 潍坊新松机器人自动化有限公司 | Method and device for carrying thin plate |
| CN116021542A (en) * | 2023-02-13 | 2023-04-28 | 绵阳师范学院 | Balance adjustment system of robot |
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