CN102443755B - High melting point metal electric arc spraying intelligent manufacturing system - Google Patents
High melting point metal electric arc spraying intelligent manufacturing system Download PDFInfo
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Abstract
The invention discloses a high melting point metal electric arc spraying intelligent manufacturing system which has the advantages of reasonable structure, convenient use, high modularization degree and low cost. The system which comprises an equipment body, a 6-DOF (degree of freedom) parallel platform, a 3-DOF head, a master mold heating device and a control computer is characterized in that: the pedestal of the equipment body is provided with the 6-DOF parallel platform chucked with a master mold; the crossbeam of the equipment body is provided with the 3-DOF head; the 3-DOF head which is provided with a nozzle is opposite to a movable platform of the 6-DOF parallel platform and cooperates with the movable platform to work; the movable platform of the 6-DOF parallel platform is provided with the master mold heating device; the 3-DOF head has a feed movement in a Z-axial direction with the crossbeam along a vertical column; and the 6-DOF parallel platform, the 3-DOF head, the master mold heating device are all connected with the control computer. The system which allows the spraying on any complex curved surface master mold matrix to be realized, and the spray processing of large master mold substrates, especially large automobile cover member substrates, to be realized, has obvious economic and social effects.
Description
Technical field
The present invention relates to the manufacturing equipment of the fast mould shell in the advanced manufacturing field, particularly a kind of high-melting metal arc spraying intelligent manufacturing system.
Background technology
The metal arc spraying rapid die-manufacturing technology is a kind of mold making technology based on " copying ", it with a mock-up (or being called prototype) as master mold, be thermal source with electric arc, by the metallic substance atomizing of high velocity air with molten state, and make its injection, be deposited on the master mold surface, form certain thickness compact metal shell, i.e. the mould shell.The mould shell has accurately copied the shape of prototype, has obtained required mold cavity, after finishing aftertreatment technologys such as reinforcement, the demoulding, polishing, can finish the quick manufacturing of mould.Generally no longer need additional machining after the manufacturing of electric arc spraying mould is finished, just can being directly used in is shaped makes.Also can carry out the numerical control precision work of few cutting output according to practical situation and needs, therefore, the electric arc spraying mold making technology comes down to a kind of " near-net-shape mold making technology ".
The metal spraying mould is standard with the master mold, mold cavity size, geometric accuracy depend on master mold fully, mold cavity surface and meticulous decorative pattern thereof once form simultaneously, so molding speed is fast, the manufacturing cycle is short, and cost is low, have long die life simultaneously, manufacturing cycle is about half of traditional digital control processing, and manufacturing expense can be saved more than 25% at least, becomes the important channel of new product development and small serial production.Mold surface finish is good, technology is simple, equipment requirements is low, relatively be suitable for the quick manufacturing of injection mold, transfer mold, sheet-metal press working mould, complicated and have in blowing, plastic uptake, PVC injection, PU foaming and all kinds of injecting molding die of the various polyurethane products of meticulous decorative pattern in surface shape, the feature details that decorative pattern copies even can reach 5 μ m.
Oneself is widely used in industries such as aircraft, automobile, household electrical appliances, furniture, shoemaking, artistic handicraft using present this fast mould manufacturing technology.In the U.S. and coastal area of southeastern China, manufacturers has all adopted the electric arc spraying mould to produce on its automatic moulding production unit at the bottom of nearly all polyurethane shoe.In automobile making, can be used for producing wheel, automobile instrument panel, cushion, head cushion, spoiler, automotive trim ceiling etc.In recent years, the electric arc spraying mold making technology has begun for the manufacture of stamping die of automotive covering part, the spray material difference, intensity, hardness, precision and the life-span of spraying mould also are not quite similar, thereby range of application also there are differences, the trial-production that is suitable for the automobile sample car that has, have in addition can substitute traditional steel die at production line and produce.
At home, the material of spraying molding mainly is middle low melting point metal, Xi'an Communications University and Yantai Machinery Technology Inst. are domestic research and development unit the earliest, advanced manufacturing technology institute of Xi'an Communications University, since the nineties, technology for quickly manufacturing models such as surface forming mold making technology, low melting point alloy cast molding mold making technology and resin mould mold making technology are carried out long term studies and practice, and had patent of invention (ZL200810232335.0 in metal spraying by electric arc moulding Rapid tooling; ZL03134501.8).Drag in ChangAn Automobile, Luoyang one, on enterprise such as marine suitable, the little vapour in Liuzhou use.Through trial-production check, the 3D data of qualified fast mould use steel die for the manufacture of producing in enormous quantities, can avoid in the design of steel die and make repeatedly, guarantee that the steel die time processing is successful.
The metal wire material that is used for electric arc spraying process can be divided into low melting material, fusing point material and materials with high melting point according to the height of fusing point.When making fast mould with arc spraying technology, the thickness of die cavity metal shell will be more than 3mm, after depositing on the master mold, the molten metal particles of middle and high fusing point can discharge more heat transfer, make master mold generation thermal distortion, reduce the accuracy of repetition of mold cavity, and may cause metallic coating that warpage or cracking just take place when not reaching required thickness as yet; Low melting point metal or alloy wire are little to the heat affecting of master mold, can alleviate molten metal particles to the influence of master mold, reduce the master mold thermal distortion, improve the precision of mould, thereby low melting materials such as zinc, Babbitt metal are used for the making of fast mould morely.But the die life of this low melting material is lower, can only be used for the short run trial production, if will improve the life-span of spraying mould, can be earlier in the thermotolerance of master mold spray one deck low melting material with the enhancing master mold, and then spray steel or the higher alloy of other intensity, with the intensity of enhancing mould, thus the life-span of improving mould.
The arc spraying technology of high-melting-point, high hardness material is realized than being easier at metal mother, but at nonmetal master mold surface mfg. moulding die shell, is had big difficulty on the technology.For example, refractory metal such as carbon steel, steel alloy when spraying shell shrinking percentage, thermal stresses, porosity all bigger, shell is easy to crack, warpage, peel off, the mould shell is made difficulty, processing parameter control is difficult to grasp, the distortion of mould shell and internal stress are all bigger, can't satisfy the industrial production needs.
The metallic coating of making high-melting-point, high rigidity can not rely on hand spray to realize, the temperature etc. of kinematic parameter, electric arc spraying process parameter and coating and the matrix of nozzle all needs accurately to control according to specific target in the spraying mould making process, and intelligent arc spraying system is the basic assurance that realizes high-melting-point, high rigidity metal arc spraying rapid die-manufacturing.
Patent of invention " a kind of high-melting metal arc spraying rapid die-manufacturing method (patent No. is: ZL200810232335.0) " has just been introduced the shape and size of determining mother plate substrate according to the shape and size of product; make no roasting ceramic female die matrix with the refractory ceramics raw material; by electric arc spraying refractory metal molten drop 3Cr13 Martensite Stainless Steel to the master mold surface; according to design variable; nozzle can be moved and the spraying effect along the mother plate substrate outline shape; spray to the other end from an end of master mold; repeat such process; reach 10～20mm up to spray-on coating thickness, obtain the metal shell of master mold.Whether master mold being had heating properties as for the power head structure of the structure of worktable of carrying mother plate substrate and movement characteristic, the motion of drive nozzle and mode of motion and worktable all is not described in detail and illustrates; Patent of invention " metal spraying by electric arc make fast car panel die special purpose robot (patent No. is: ZL03134501.8) " discloses a kind of metal spraying by electric arc fast mould manufacturing special purpose robot for the manufacture of stamping die of automotive covering part, this robot is integrated with electric arc spraying and two kinds of technologies of brush plating, the artificial five degree of freedom cartesian co-ordinate type of machine structure, locating mechanism adopts planer type structure, have three one-movement-freedom-degrees and be used for realizing the spatial positioning of spraying/brush plating working point, wrist has two rotational freedoms, be used for the adjustment of the spatial attitude of nozzle or brush pen, wrist portion is divided into two parallel-crank mechanisms, realizes the decoupling zero of rotational freedom and one-movement-freedom-degree.The characteristics of this robot are as support unit with lathe bed, column, crossbeam, series connection kinematic principle according to X, Y, the stack of Z coordinate motion forms the finished surface track of nozzle, but the kinematic accuracy of this serial machine people nozzle is the simple linearity of each moving member to add up, therefore kinematic accuracy is low, poor reliability, controlling organization complexity, complex structure, weight is big, and the degree of modularity is not high, has seriously restricted applying of large complicated mould quick manufacturing process.
Summary of the invention
The present invention is directed to the deficiency that prior art high-melting metal arc spraying rapid die-manufacturing technology exists, a kind of high-melting metal arc spraying intelligent manufacturing system is provided, it is rational in infrastructure, and is easy to use, degree of modularity height, and cost is low.
For achieving the above object, the present invention adopts following technical scheme:
A kind of high-melting metal arc spraying intelligent manufacturing system, it is mainly by apparatus body, the six-freedom parallel platform, the three degree of freedom yaw, master mold heating unit and control computer are formed; Wherein the base of apparatus body is provided with the six-freedom parallel platform of the master mold that is installed, crossbeam at apparatus body is equipped with the three degree of freedom yaw, the three degree of freedom yaw is equipped with nozzle and and cooperating relative with the moving platform of six-freedom parallel platform, moving platform at the six-freedom parallel platform is provided with the master mold heating unit, and the three degree of freedom yaw carries out the Z-direction feeding movement with crossbeam along column simultaneously; Six-freedom parallel platform, three degree of freedom yaw, master mold heating unit all are connected with the control computer.
Described six-freedom parallel platform is to comprise the fixed platform that is installed on the base, one end of six expansion links is connected with fixed platform, and the other end is connected with moving platform, the attitude of the flexible adjustment moving platform by expansion link, the realization six degree of freedom is adjusted, and each expansion link all is connected with the control computer simultaneously.
Described expansion link structure is identical, includes: cylinder, and cylinder one end is connected with fixed platform by Hooke's hinge; The piston rod of the other end is connected with moving platform by universal ball joint; Cylinder adopts double-acting band valve cylinder, and its two ends adopt electrical servo valve to link to each other with the actuating device of atmospheric pressure of equipment, the electrical servo valve under computer control in the cylinder feeds air under pressure or get rid of gas with the realization actuation cycle; On cylinder, also be provided with position-detection sensor, interrelate by external counter and control computer; By changing the collapsing length of each piston rod, the moving platform above driving does translation, lifting, around 3-D walls and floor rotation and various compound motion, and then drives the pose location that master mold realizes that six degree of freedom is complex-curved.
Described apparatus body comprises base, and base one side is provided with column, is provided with the crossbeam of up-and-down movement at column, and the drive unit of crossbeam is connected with Controlling System.
Described three degree of freedom yaw mainly passes through two revolute pairs series connection gained by upper bracket and lower bracket, and wherein the upper bracket upper end links to each other with crossbeam, moves along Z-direction with crossbeam;
Rotation axis I is equipped with in the upper bracket lower end, and rotation axis I adopts corresponding key I to be connected with lower bracket, and the two ends that rotation axis I is positioned at upper bracket are installed in respectively on the rolling bearing, realize relatively rotating, and the place is provided with bearing (ball) cover at rolling bearing;
Rotation axis II is equipped with in the lower bracket lower end, adopts corresponding key I to be connected between rotation axis II and the shower nozzle, and the two ends that rotation axis II is positioned at lower bracket are installed in respectively on the corresponding rolling bearing, realize relatively rotating, and the place is provided with bearing (ball) cover at rolling bearing;
Shower nozzle and nozzle are fixed;
Be respectively equipped with axial direction positioning device between rotation axis I and lower bracket and between shower nozzle and the rotation axis II;
Rotation axis I and rotation axis II the transmission mechanism I by separately respectively are connected with corresponding power set with transmission mechanism II; Two power set are connected with the control computer.
Described power set is servomotor, is installed in respectively on the corresponding big end cap of upper bracket and lower bracket; Transmission mechanism I is identical with transmission mechanism II structure, includes driving toothed gear, and it is contained in the servomotor rotating shaft by key III, driving toothed gear and follower gear engagement, and follower gear is contained on rotation axis II or the rotation axis I by key II; Each servomotor is connected with the control computer by servo-driver separately, also is provided with photoelectric encoder on each servomotor, and photoelectric encoder is connected with the control computer.
Described axial direction positioning device is the circlip for shaft that is installed on rotation axis I and the rotation axis II.
Described master mold heating unit is electromagnetic heater, and it is placed on the moving platform by the thermal insulation ceramics piece; Mother plate substrate temperature and coating temperature are detected in real time by temperature sensor; the temperature data that detects feeds back to electromagnetic controller; electromagnetic controller is connected with the control computer, and the control computer is controlled Heating temperature in real time by electromagnetic controller control electromagnetic heater.
System of the present invention has the pose location of master mold six-freedom parallel platform, and nozzle has both direction and rotates and a spatial attitude adjustment that vertically moves; Moving platform at the six-freedom parallel platform is provided with heating unit, can carry out electromagnetism heating to master mold, temperature can be controlled in real time.
The invention has the beneficial effects as follows: have the kinematic accuracy height; Controlling System is accurately reliable; apparatus body is simple in structure; degree of modularity height, cost is low, can carry out the interlock spraying operation of nine-degree of freedom to master mold; not only can realize the spraying operation of any complex-curved mother plate substrate; and can realize that to large-scale mother plate substrate particularly the spray process of full-sized car Abdeckteil matrix has tangible economy and social effect.
Description of drawings
Fig. 1 is high-melting metal arc spraying intelligent manufacturing system front view;
Fig. 2 is high-melting metal arc spraying intelligent manufacturing system left view;
Fig. 3 is the expansion link structure iron;
Fig. 4 is three degree of freedom yaw structure iron;
Fig. 5 is servomotor control block diagram;
Fig. 6 is expansion link control block diagram;
Fig. 7 is heating unit control block diagram.
Wherein, 1-crossbeam, 2-upper bracket, 3-lower bracket, 4-shower nozzle, the 5-nozzle, 6-moving platform, 7-base, 8-column, 9-universal ball joint, the 10-piston rod, 11-cylinder, 12-Hooke's hinge, 13-fixed platform, 14-rotation axis I, 15-key I, 16-circlip for shaft, 17-bearing (ball) cover, the 18-follower gear, 19-key II, 20-key III, 21-servomotor, the big end cap of 22-, 23-driving toothed gear, 24-rolling bearing, 25-rotation axis II.
Embodiment
The present invention will be further described below in conjunction with accompanying drawing and embodiment.
Among Fig. 1, high-melting metal arc spraying intelligent manufacturing system of the present invention, formed by five parts, it is apparatus body, the six-freedom parallel platform, the three degree of freedom yaw, master mold heating unit and control computer are formed, be provided with the six-freedom parallel platform of the master mold that is installed at the base 7 of apparatus body, crossbeam 1 at apparatus body is equipped with the three degree of freedom yaw, the three degree of freedom yaw be equipped with nozzle 5 and with the moving platform 6 relative installations of six-freedom parallel platform, be provided with the master mold heating unit at the moving platform 6 of six-freedom parallel platform, the three degree of freedom yaw can carry out the Z-direction feeding movement along column 8 with crossbeam 1 simultaneously.
In conjunction with Fig. 1 and Fig. 2 as seen, the six-freedom parallel platform is by moving platform 6, and fixed platform 13 and six expansion links are formed, and the fixed platform 13 of six-freedom parallel platform is fixed on above the base 7 of apparatus body, and is relative with top moving platform 6.Six expansion links are arranged between moving platform 6 and the fixed platform 13.In conjunction with Fig. 3 as seen, this expansion link mainly is made of cylinder 11 and piston rod 10, cylinder 11 adopts double-acting band valve cylinders, and its two ends adopt electrical servo valve to link to each other with the actuating device of atmospheric pressure of equipment, can be under the control computer control carry in the cylinder 11 or eliminating gas with the realization actuation cycle.On cylinder 11, also be provided with position-detection sensor, interrelate by external counter and control computer.Cylinder 11 lower ends are connected by Hooke's hinge 12 with fixed platform 13, piston rod 10 upper ends are connected by universal ball joint 9 with moving platform 6, by changing the collapsing length of piston rod 10 in six expansion links, moving platform 6 above driving does translation, lifting, around 3-D walls and floor rotation and various compound motion, and then drive the pose location that master mold realizes that six degree of freedom is complex-curved.
In conjunction with Fig. 1, Fig. 2 as seen, apparatus body is by crossbeam 1, column 8, base 7 constitutes, crossbeam 1 can move up and down along column 8, drives drive unit that crossbeam 1 moves up and down and controls computer and be connected.
In conjunction with Fig. 4 as seen, described three degree of freedom yaw mainly by upper bracket 2 and lower bracket 3 by two revolute pairs series connection gained, wherein upper bracket 2 upper ends link to each other with crossbeam 1, move along Z-direction with crossbeam 1;
Rotation axis I14 is equipped with in upper bracket 2 lower ends, rotation axis I14 adopts corresponding key I15 (because the structure of rotation axis I14, rotation axis II25 is identical with lower bracket 3, their transmission mechanisms separately are also identical, therefore only provided the structure of rotation axis II25 and transmission mechanism II thereof in the drawings, rotation axis I does not draw with the structure of transmission mechanism I) be connected, the two ends that rotation axis I14 is positioned at upper bracket 2 are installed in respectively on the rolling bearing 24, realize relatively rotating, and are provided with bearing (ball) cover 17 at rolling bearing place 24;
Rotation axis II25 is equipped with in lower bracket 3 lower ends, adopt corresponding key I15 to be connected between rotation axis II25 and the shower nozzle 4, the two ends that rotation axis II25 is positioned at lower bracket 3 are installed in respectively on the corresponding rolling bearing 24, realize relatively rotating, and 24 places are provided with bearing (ball) cover 17 at rolling bearing;
Be respectively equipped with axial direction positioning device between 3 of rotation axis I14 and lower brackets and shower nozzle 4 and the rotation axis II25;
Rotation axis I14 and rotation axis II25 the transmission mechanism I by separately respectively are connected with corresponding power set with transmission mechanism II; Two power set are connected with the control computer.
Described power set is servomotor 21, is installed in respectively on upper bracket 2 and the lower bracket 3 corresponding big end caps 22; Transmission mechanism I is identical with transmission mechanism II structure, includes driving toothed gear 23, and it is contained in servomotor 21 rotating shafts by key II20I, driving toothed gear 23 and follower gear 18 engagements, and follower gear 18 is contained on rotation axis II25 or the rotation axis I14 by key II19; Each servomotor 21 is connected with the control computer by servo-driver separately, also is provided with photoelectric encoder on each servomotor 21, and photoelectric encoder is connected with the control computer.
Described axial direction positioning device is the circlip for shaft 16 that is installed on rotation axis I14 and the rotation axis II25.
Because the working range of six-freedom parallel platform is limited, when expansion link is in the greatest limit position, prevent to realize the spray treatment to the small volume mould, so make three degree of freedom yaw place crossbeam 1 can realize the Z-direction feeding movement.
Two directions of the three degree of freedom yaw of high-melting metal arc spraying intelligent manufacturing system rotatablely move and the movement of Z direction drives control by the motion of driven by servomotor, six-freedom parallel platform expansion link by air pressure.
Working process is as follows: the three-dimensional model of the master mold that spray is imported in the computer, generate the program of machining control through the analysis of computer, distribute to the controller of each drive source then, realize the motion of each moving parts, synthetic through motion then, the motion of the six-freedom degree of realization moving platform 6 and the three degrees of freedom of movement of yaw.
In conjunction with Fig. 5 as seen, the motion control process of servomotor 17 is as follows: the single kinematic parameter that the control computer distributes is given the servo-driver of this servomotor 17, controlled the motion of servomotor 17 then by servo-driver, the monitoring of the photoelectric encoder of the afterbody of process servomotor 17, measured speed and corner information are given in the control computer, by the motion compensation quantity of next pulse of control Computer Analysis, motion next time is revised.
In conjunction with Fig. 6 as seen, the motion control process of expansion link is as follows: the single kinematic parameter that the control computer distributes is given the controller of this propulsion source, the signal that controller sends is through the D/A conversion, send into the electrical servo valve, the motion of control expansion link is sent pulse signal into counter through the monitoring of the position-detection sensor on the cylinder 11, and the count value in the counter is sent into the control Computer Analysis afterwards, motion next time is compensated, realize accurately moving in the position of expansion link.
The master mold heating unit of high-melting metal arc spraying intelligent manufacturing system has the function that electromagnetism heats, temperature can be controlled in real time.Place the thermal insulation ceramics piece at moving platform 6, place the master mold heating unit on the ceramic block, the master mold heating unit is electromagnetic heater, and master mold is placed in the electromagnetic heater, can carry out preheating to master mold before spraying, removes contained moisture in the master mold; In spraying process; can carry out temperature control to mother plate substrate and metallic coating, under master mold maintenance phase transformation is temperature required, spray, guarantee that the carbon steel coating structure changes required temperature and time requirement; make the metal of deposition finish structural transformation, obtain required coating structure.Mother plate substrate temperature and coating temperature are detected in real time by temperature sensor, and the temperature data of detection feeds back to electromagnetic controller, and temperature is controlled in real time.After spraying finished, foundation needs can be after insulation for some time, according to certain cooling strategy cool to room temperature.
Among Fig. 7, the temperature controlled processes of master mold heating unit is as follows: will spray needed temperature value input electromagnetic controller, the process electromagnetic controller becomes direct current to the rectification of alternating-current, the high-frequency high-voltage that direct current is converted to frequency again and is 20-40KHz is sent into electromagnetic heater and is heated, temperature sensor on the electromagnetic heater is realized on-line monitoring to temperature, monitor signal is sent into electromagnetic controller control signal is repaired, to realize the constant of temperature.
Claims (1)
1. a high-melting metal arc spraying intelligent manufacturing system is characterized in that, it is mainly by apparatus body, the six-freedom parallel platform, and the three degree of freedom yaw, master mold heating unit and control computer are formed; Wherein the base of apparatus body is provided with the six-freedom parallel platform of the master mold that is installed, crossbeam at apparatus body is equipped with the three degree of freedom yaw, the three degree of freedom yaw is equipped with nozzle and and cooperating relative with the moving platform of six-freedom parallel platform, moving platform at the six-freedom parallel platform is provided with the master mold heating unit, and the three degree of freedom yaw carries out the Z-direction feeding movement with crossbeam along column simultaneously; Six-freedom parallel platform, three degree of freedom yaw, master mold heating unit all are connected with the control computer, it is characterized in that, described three degree of freedom yaw mainly passes through two revolute pairs series connection gained by upper bracket and lower bracket, and wherein the upper bracket upper end links to each other with crossbeam, moves along Z-direction with crossbeam;
Rotation axis I is equipped with in the upper bracket lower end, and rotation axis I adopts corresponding key I to be connected with lower bracket, and the two ends that rotation axis I is positioned at upper bracket are installed in respectively on the rolling bearing, realize relatively rotating, and the place is provided with bearing (ball) cover at rolling bearing;
Rotation axis II is equipped with in the lower bracket lower end, adopts corresponding key I to be connected between rotation axis II and the shower nozzle, and the two ends that rotation axis II is positioned at lower bracket are installed in respectively on the corresponding rolling bearing, realize relatively rotating, and the place is provided with bearing (ball) cover at rolling bearing;
Shower nozzle and nozzle are fixed;
Be respectively equipped with axial direction positioning device between rotation axis I and lower bracket and between shower nozzle and the rotation axis II;
Rotation axis I and rotation axis II the transmission mechanism I by separately respectively are connected with corresponding power set with transmission mechanism II; Two power set are connected with the control computer;
Described power set is servomotor, is installed in respectively on the corresponding big end cap of upper bracket and lower bracket; Transmission mechanism I is identical with transmission mechanism II structure, includes driving toothed gear, and it is contained in the servomotor rotating shaft by key III, driving toothed gear and follower gear engagement, and follower gear is contained on rotation axis II or the rotation axis I by key II; Each servomotor is connected with the control computer by servo-driver separately, also is provided with photoelectric encoder on each servomotor, and photoelectric encoder is connected with the control computer;
Described axial direction positioning device is the circlip for shaft that is installed on rotation axis I and the rotation axis II;
Described master mold heating unit is electromagnetic heater, and it is placed on the moving platform by the thermal insulation ceramics piece; Mother plate substrate temperature and coating temperature are detected in real time by temperature sensor; the temperature data that detects feeds back to electromagnetic controller; electromagnetic controller is connected with the control computer, and the control computer is controlled Heating temperature in real time by electromagnetic controller control electromagnetic heater.
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| CN1488473A (en) * | 2003-08-18 | 2004-04-14 | 西安交通大学 | Special robot of die for rapid manufacture of covering piece for automobile by metal arc-spraying |
| CN101434026A (en) * | 2008-11-19 | 2009-05-20 | 西安交通大学 | High-melting metal arc spraying rapid die-manufacturing method |
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Effective date of registration: 20201127 Address after: Group 18, Hainan village, Hai'an town, Hai'an County, Nantong City, Jiangsu Province, 226601 Patentee after: NANTONG TONGTU MECHANICAL & ELECTRICAL MANUFACTURE Co.,Ltd. Address before: 266033 No. 11, Fushun Road, Sifang District, Shandong, Qingdao Patentee before: QINGDAO TECHNOLOGICAL University |