CN103230972A - Plate wrapping machine for automatic production line of arm support - Google Patents
Plate wrapping machine for automatic production line of arm support Download PDFInfo
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- CN103230972A CN103230972A CN2013101382780A CN201310138278A CN103230972A CN 103230972 A CN103230972 A CN 103230972A CN 2013101382780 A CN2013101382780 A CN 2013101382780A CN 201310138278 A CN201310138278 A CN 201310138278A CN 103230972 A CN103230972 A CN 103230972A
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Abstract
The invention relates to a plate wrapping machine for an automatic production line of a cantilever crane. The technical problem to be solved is that the provided plate wrapping machine can accurately and automatically complete plate wrapping work and has the characteristics of good plate wrapping quality, high control precision, convenience and simplicity in operation, stability and reliability in work, advanced process, time saving and labor saving. The technical scheme is as follows: cantilever crane automatic production line package trigger, its characterized in that: the plate wrapping machine comprises a gantry device capable of sliding horizontally, a cross arm device which is installed on the gantry device and can slide vertically, a pressing plate device which is installed on the cross arm device and can swing up and down, and a control host.
Description
Technical field
The present invention relates to the numerical controlled machinery technical field, specifically is a kind of wrapper sheet machine of jib automatic assembly line.
Background technology
In heavy-duty machineries such as arm derrick crane, concrete pump truck, the effect of jib is for mass transport provides enough height to satisfy construction requirement, is the important component part of equipment.Aforementioned heavy-duty machinery has at least one joint jib usually, and other parts or the jib of the two ends of jib and equipment are hinged.Shown in Fig. 9,10, the two ends of jib are round end, need wrapper sheet to handle to increase mechanical strength at the round end position.
The conventional big small end wrapper sheet of jib mode is to heat through burning torch with oxygen, acetylene, make steel plate reach uniform temperature after, knock steel plate with iron hammer and make its bending realize wrapper sheet; The defective of this wrapper sheet mode is: the wrapper sheet time is long, and efficient is low, the labor intensity of operating personnel height, and be difficult to guarantee that steel plate and jib fit fully, the certain error of the existence of wrapper sheet waits to improve.
Summary of the invention
The objective of the invention is to overcome the deficiency in the above-mentioned background technology, a kind of jib automatic assembly line wrapper sheet machine is provided, this wrapper sheet machine should be able to accurately be finished wrapper sheet work automatically, and have that the wrapper sheet quality is good, control accuracy is high, easy to operate simple, working stability is reliable, technology is advanced, time saving and energy saving characteristics.
The technical solution used in the present invention is:
Jib automatic assembly line wrapper sheet machine is characterized in that: but described wrapper sheet machine comprise horizontal sliding gantry device, be installed on this gantry device and the transverse arm device of vertically slippage, be installed on the transverse arm device and the presser device that can swing up and down and main control system;
Described gantry device, the portal frame and the walking mechanism thereof that comprise vertical layout, described walking mechanism comprises two guide rails that along continuous straight runs is arranged in parallel, portal frame is across above two guide rails, the bottom of two columns of portal frame is installed in respectively on two guide rails, is respectively equipped with first driving mechanism in each column and drives portal frame along the guide rail horizontal sliding;
Described transverse arm device, comprise horizontally disposed transverse arm and an elevating mechanism thereof between portal frame two columns, described elevating mechanism comprises two worm screws of arranging along portal frame two column inboard, upright, the two ends of transverse arm are installed on two worm screws by a worm gear with the worm screw coupling respectively, and the top of portal frame is provided with second driving mechanism that drives described worm screw;
Described presser device comprises high frequency plane heating system and is arranged on press plate mechanism on the transverse arm; Described press plate mechanism comprises at least one pressure roller that the swing span that is installed in described transverse arm middle part and level are installed in the swing span front end; Described high frequency plane heating system comprises high frequency electric source cabinet, high frequency transformer and the heater that is installed in described swing span front end, heater and pressure roller are arranged in parallel, and described high frequency electric source cabinet and first, second driving mechanism all are connected with described main control system.
Described swing span comprises two swing arms that are arranged in parallel, two swing arms are installed in the opening at described transverse arm middle part by rotating shaft, the front end of two swing arms is equipped with a support by slide bar, aforementioned pressure roller and heater are installed on the described support, are arranged with crashproof spring respectively on two slide bars between support and the swing arm.
Described presser device also is provided with follower, this follower comprises that one is installed on the transverse arm and disposes the servomotor of decelerator, the servo-driver of servomotor is connected with aforementioned main control system, in the rotating shaft of aforementioned swing arm gear wheel is installed, the output gear of speed reducer of follower and this gear wheel mesh to drive swing span swing up and down reciprocatingly in perpendicular.
Described wrapper sheet machine also is provided with calibrating installation, comprises a cross line laser that is installed in the backstay front end, and cross line laser is connected with main control system, and the rear end of described backstay is fixed on the end of aforementioned rotating shaft; This backstay is horizontally disposed to be stretched out and vertical with the center line of heater towards workpiece, and the axis of cross line laser is parallel with the center line of heater.
Described first, second driving mechanism includes the servomotor that disposes decelerator, and the servo-driver of servomotor all is connected with aforementioned main control system; Wherein first driving mechanism also comprises a rack-and-pinion, and tooth bar is fixed on the described guide rail also in parallel, and the output gear of speed reducer of first driving mechanism and this tooth bar mesh to drive portal frame along the guide rail level toward polyslip.
Described high frequency transformer is fixed between aforementioned two swing arms, and described high frequency electric source cabinet is fixed on the crossbeam at portal frame top.
The axis of the rotating shaft of described swing arm, pressure roller, heater and cross line laser all is arranged in parallel with transverse arm.
The both sides of described heater are respectively equipped with the anti-collision locating wheel.
Operation principle of the present invention is:
When workpiece by vertical dolly to the handing-over of horizontal dolly finish the back (with the big end of jib from the top down wrapper sheet be example), main control system is controlled portal frame, transverse arm and presser device and is all got back to initial initial point;
2. after returning initial initial point, main control system control portal frame, transverse arm and heater are gone to the top of the big end circle of workpiece, and allow the center of circle of the big end circle of reticle alignment of cross line laser, as shown in figure 13;
3. main control system is measured the distance (D value among Figure 13) between pressure roller and the steel plate, the distance of the X of transverse arm decline afterwards value, make pinch roller contact and calibrate this point with measurement point, main control system enters running parameter diameter is reduced measured X value from original value, and adjust the speed of travel and walking manner, preserve this value;
4. main control system is opened water pump, the high frequency electric source cabinet, heater, slowly strengthen heater power, (slab is the 360A electric current after reaching certain value, the book plate is the 160A electric current), heater is heated steel plate, after being heated steel plate to reach uniform temperature (surface temperature that is heated face is about 1000 ℃), main control system control heater and pinch roller are by the track walking of the parameter that sets by the workpiece circular arc, after the wrapper sheet angle of going to setting, main control system is closed heater, main control system, transverse arm and presser device are got back to origin position automatically, and wrapper sheet is finished (the small end wrapper sheet is identical therewith to be finished by another wrapper sheet equipment).
The invention has the beneficial effects as follows: the present invention integrates numerical control, precision optical machinery, high frequency plane heating system, being mainly used in the large and small end metallic plate of jib makes pinch roller carry out automatic wrapper sheet by the large and small end arc track of jib after the heating of high frequency plane induction heater under the main control system control, have that the wrapper sheet quality is good, control accuracy is high, easy to operate simple, working stability is reliable, technology is advanced, save time, the labour-saving advantage.
Description of drawings
Fig. 1 is one of perspective view of the present invention.
Fig. 2 is two of perspective view of the present invention.
Fig. 3 is the assembling schematic diagram of gantry pillar and guide rail among the present invention.
Fig. 4 is the assembling schematic diagram of first driving mechanism and guide rail among the present invention.
Fig. 5 is the perspective view of transverse arm and presser device among the present invention.
Fig. 6 is the plan structure schematic diagram of transverse arm and presser device among the present invention.
Fig. 7 is the left TV structure schematic diagram of transverse arm and presser device among the present invention.
Fig. 8 is the right TV structure schematic diagram of transverse arm and presser device among the present invention.
Fig. 9 is the not perspective view of wrapper sheet state of jib.
Figure 10 is the not main TV structure schematic diagram of wrapper sheet state of jib.
Figure 11 is the perspective view behind the jib wrapper sheet.
Figure 12 is the main TV structure schematic diagram behind the jib wrapper sheet.
Figure 13 is wrapper sheet principle schematic of the present invention.
Figure 14 is theory diagram of the present invention.
Figure 15 is the structural representation of swing mechanism among Fig. 6.
Figure 16 is the left TV structure schematic diagram of Figure 15.
The specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but the present invention is not limited to following examples.
As shown in Figure 1 and Figure 2, jib automatic assembly line wrapper sheet machine of the present invention, but comprise horizontal sliding gantry device, be installed on this gantry device and the transverse arm device of vertically slippage, be installed on the transverse arm device and the presser device that can swing up and down and main control system 9.
Shown in Fig. 3,4, described gantry device, the portal frame 1 and the walking mechanism thereof that comprise vertical layout, described walking mechanism comprises two guide rails 6 that along continuous straight runs is arranged in parallel, portal frame is across above two guide rails, the bottom of two columns of portal frame is installed in (chute with guide rail is arranged at the portal frame bottom) on two guide rails respectively, is respectively equipped with first driving mechanism in each column and drives portal frame along the guide rail horizontal sliding.Described first driving mechanism comprises the servomotor 10 that disposes decelerator, and the servo-driver of servomotor all is connected to be subjected to it to control with aforementioned main control system.First driving mechanism also comprises a rack-and-pinion, tooth bar 11-1 is fixed on the described guide rail also in parallel, and the output gear of speed reducer 11-2 of this tooth bar and first driving mechanism meshes to drive portal frame along the guide rail level toward polyslip (X1+, X1-direction and X2+, X2-direction among the figure).And, the controlled host computer control that is synchronized with the movement of first driving mechanism of portal frame both sides.
Described transverse arm device, comprise horizontally disposed transverse arm 7 and an elevating mechanism thereof between portal frame two columns, described elevating mechanism comprises two worm screws 1 of arranging along portal frame two column inboard, upright, and the two ends of transverse arm are installed in (transverse arm is horizontally disposed and vertical with the column of portal frame) on two worm screws by a worm gear with the worm screw coupling respectively.The top of portal frame is provided with second driving mechanism that drives described worm screw, second driving mechanism comprises the servomotor 10 that disposes decelerator, and the servo-driver of servomotor all is connected with aforementioned main control system and is subjected to it to control (the controlled host computer control that is synchronized with the movement of second driving mechanism of portal frame both sides).After servomotor started, worm screw drove worm gear and rotates, thereby made transverse arm move up and down (Y1+, Y1-direction and Y2+, Y2-direction among the figure).Worm screw is run through transverse arm from top to down, has both driven the transverse arm motion, and line slideway and slide block play guide effect to moving up and down of transverse arm.Worm and gear is conventional mechanism, and clean and tidy for drawing, worm gear is omitted and do not draw among the figure.
Shown in Fig. 5,6,7, described presser device comprises high frequency plane heating system and is arranged on press plate mechanism on the transverse arm.Described press plate mechanism comprises that at least one pressure roller 8(that the swing span that is installed in described transverse arm middle part and level are installed in the swing span front end recommends to adopt two, and the both sides of heater are respectively equipped with anti-collision locating wheel 16).Described high frequency plane heating system comprises high frequency electric source cabinet 3, high frequency transformer 12 and the heater 17 that is installed in described swing span front end, heater is arranged in parallel between two pressure rollers and with pressure roller, described high frequency electric source cabinet is connected with described main control system, makes main frame can control its work.
Described presser device also is provided with follower, this follower comprises that one is installed on the transverse arm and disposes the servomotor of decelerator, the servo-driver of servomotor is connected with aforementioned main control system, gear wheel 15 is installed in the rotating shaft of aforementioned swing arm, and the output gear of speed reducer of follower and this gear wheel mesh to drive swing span swing (in ± 180 degree scopes) up and down reciprocatingly in perpendicular.
Above-mentioned swing span comprises that the two swing arm 23-1(that are arranged in parallel are vertical with transverse arm), two swing arms are installed in by rotating shaft 14 that (this rotating shaft is controlled by follower in the opening at described transverse arm middle part, along with swing span rotates together, as Fig. 1, Fig. 2, Fig. 5, shown in Figure 7), the front end of two swing arms is equipped with support 23-2(support two ends by slide bar 13 and is installed in two swing arm front ends by a slide bar respectively), aforementioned pressure roller and heater are installed on the described support, be arranged with crashproof spring 18 on two slide bars between support and the swing arm respectively, make support have certain buffer distance, avoid heater to be broken.Described high frequency transformer is fixed between aforementioned two swing arms, and described high frequency electric source cabinet is fixed on the crossbeam at portal frame top.
As shown in Figure 6, the heater back side is provided with a swing mechanism 25, as Figure 15, shown in Figure 16, this swing mechanism comprises two connecting axle 25-3 that are arranged in parallel with aforementioned slide bar 13, be arranged with spring 25-2 on two connecting axles, one end of each connecting axle is fixed on the aforementioned swing span 23-2, the other end is equipped with the rotating shaft 25-5 vertical with connecting axle, this rotating shaft cooperates with installing hole 25-4 on the holder 25-1, holder is fixed on the heater 17, makes heater can swing ± 30 degree (direction is shown in arrow among Figure 15).
Described wrapper sheet machine also is provided with calibrating installation, comprise a cross line laser 24-2 who is installed in backstay 24-1 front end, cross line laser is connected with main control system, the rear end of described backstay is fixed on the end (being positioned at an end that does not have gear wheel) of aforementioned swing arm rotating shaft, and backstay is along with aforementioned follower is swung (rotating synchronously with the swing arm rotating shaft).This backstay is horizontally disposed to be stretched out towards workpiece 20, and when heater during at origin position, require the center line vertical (namely intersecting also vertical with the center line of heater length direction) on backstay and plane, heater place, the axis of cross line laser is parallel with the center line of heater, this cross laser device arranges with calibrating position (shown in cross hairs among Figure 13 21) that towards the big end of workpiece or the circular hole 22 of small end namely the axis of the rotating shaft of described swing arm, pressure roller, heater and cross line laser all is arranged in parallel with transverse arm.
Below hypothesis guide rail direction of extension is X-axis, and the worm screw direction of extension is Y-axis, and the swaying direction of swing span is the Z direction.
The present invention requires the motion of X-axis, Y-axis, Z direction to do the interpolation operation in strict accordance with the circular arc of workpiece, and antijamming capability is strong, and working stability is reliable.Can main control system control X, Y-axis be normally moved in strict accordance with the cylindrical of workpiece, and can the Z direction keep on heater and the circular arc tangential line of pinch roller perpendicular to workpiece, most critical be the accuracy of seeing this point of trying the school; Strictly say, require main control system to walk by the track of a circular arc, 3 of the pilot teaching circle is best; But since the particularity of workpiece (workpiece has always, and steel plate 19 blocks, see Fig. 9, Figure 10, Figure 13), can not try school 3 points, and can only pilot teaching a bit, and the track of circle is to determine by this point of pilot teaching and the diameter of giving, diameter is constant, so this point of institute's pilot teaching is with regard to particular importance.For the good this point of pilot teaching exactly, welded a backstay 24-1 in the rotating shaft of servomechanism, when Z direction during at origin position, require the center line vertical (intersecting also vertical) on backstay and plane, heater place, in the termination of bar cross line laser 24-2 is housed, and imitate the track of accurate heater, so just the good this point of pilot teaching is easily seen Figure 13.
High frequency plane heating system partly is made up of high frequency electric source cabinet, high frequency transformer, heater, guidance panel etc.; To exchange 380V and behind rectifying and wave-filtering, become direct current, and behind IGBT and control circuit, HVDC be become high-frequency and high-voltage exchange, and through the high frequency transformer transformation, make high-frequency and high-voltage become low-voltage, high-current, convert electric energy to heat energy behind the heater via.
Among the present invention, heater to add thermal effect extremely important, if it is bad to add thermal effect, the temperature of steel plate just do not reach can be crooked temperature (thickness of invar plate is 15mm, and the heater speed of travel is 300mm/ minute), the pinch roller of main control system control just can't be pressed onto steel plate needed position, cause the crashproof spring of plant equipment to compress backward, make the pinch roller heater farther apart from steel plate, cause serious vicious circle, wrapper sheet can't normally be carried out.
Because the efficiency of heating surface of plane eddy-current heating is lower, in order to improve the efficient of heating, can take two kinds of schemes, the one, the power of increase heater (the same ring-like heating of workpiece only needs 160KW, increases during the eddy-current heating of plane to be 230kW), the 2nd, increase ferrite magnetic conduction magnetic core at the heater copper pipe, increase its permeability, in this state, the required distance between steel plate and the heater is remained between the 5-10mm, otherwise it is also very poor to add thermal effect.In addition, in heating process, if heater is run into workpiece (steel plate), be easy to damage heater, for addressing this problem, respectively increased the anti-collision locating wheel on the heater both sides, heater had both bumped less than workpiece like this, had guaranteed the distance between steel plate and the heater again.
When heater is heating, pinch roller is in the compressed steel plate, heater can occur along the close together of the direction heater that advances apart from steel plate, the heater back then from the distance of steel plate away from, so add thermal effect or not ideal, for addressing this problem, reverse side at heater has increased oscillation system, make heater swing 25 in ± 30 ° direction, angle of heater swing in the process of heater operation, make the anti-collision locating wheel of heater follow the tracks of upper steel plate all the time, guaranteed the distance between heater and the steel plate, made heater bring into play the best thermal effect that adds.
Still need and be pointed out that, in order to produce slippage phenomenon between the walking mechanism middle gear tooth bar pair that prevents portal frame (because tooth bar can the machine-shaping of branch more piece when longer, the joint has certain error, be difficult to fit like a glove, gear is easy to generate jumping phenomena when walking), gear and drive motors thereof can be installed on the movable block, this movable block is pressed on the tooth bar by spring mechanism, make and possess certain elastic space between the rack and pinion, this is the conventional match mechanism of rack-and-pinion, is not described in detail at this.
Among the present invention, all electronic equipments all can outsourcing obtain (as main control system, cross line laser etc.), and the control software of main control system is write by the ordinary procedure personnel.Also have maintenance guardrail 4, maintenance cat ladder 5 among the figure.
Claims (8)
1. jib automatic assembly line wrapper sheet machine is characterized in that: but described wrapper sheet machine comprise horizontal sliding gantry device, be installed on this gantry device and the transverse arm device of vertically slippage, be installed on the transverse arm device and the presser device that can swing up and down and main control system (9);
Described gantry device, the portal frame (1) and the walking mechanism thereof that comprise vertical layout, described walking mechanism comprises two guide rails (6) that along continuous straight runs is arranged in parallel, portal frame is across above two guide rails, the bottom of two columns of portal frame is installed in respectively on two guide rails, is respectively equipped with first driving mechanism in each column and drives portal frame along the guide rail horizontal sliding;
Described transverse arm device, comprise horizontally disposed transverse arm (7) and an elevating mechanism thereof between portal frame two columns, described elevating mechanism comprises two worm screws (2) of arranging along portal frame two column inboard, upright, the two ends of transverse arm are installed on two worm screws by a worm gear with the worm screw coupling respectively, and the top of portal frame is provided with second driving mechanism that drives described worm screw;
Described presser device comprises high frequency plane heating system and is arranged on press plate mechanism on the transverse arm; Described press plate mechanism comprises at least one pressure roller (8) that the swing span that is installed in described transverse arm middle part and level are installed in the swing span front end; Described high frequency plane heating system comprises high frequency electric source cabinet (3), high frequency transformer (12) and the heater (17) that is installed in described swing span front end, heater and pressure roller are arranged in parallel, and described high frequency electric source cabinet and first, second driving mechanism all are connected with described main control system.
2. jib automatic assembly line wrapper sheet machine according to claim 1, it is characterized in that: described swing span comprises two swing arms that are arranged in parallel (23-1), two swing arms are installed in the opening at described transverse arm middle part by rotating shaft (14), the front end of two swing arms is equipped with a support (23-2) by slide bar (13), aforementioned pressure roller and heater are installed on the described support, are arranged with crashproof spring (18) on two slide bars between support and the swing arm respectively.
3. jib automatic assembly line wrapper sheet machine according to claim 2, it is characterized in that: described presser device also is provided with follower, this follower comprises that one is installed on the transverse arm and disposes the servomotor (10) of decelerator, the servo-driver of servomotor is connected with aforementioned main control system, and the output gear of speed reducer of follower (11-2) is up and down reciprocatingly swung in perpendicular to drive swing span with this gear wheel (15) engagement.
4. according to claim 2 or 3 described jib automatic assembly line wrapper sheet machines, it is characterized in that: described wrapper sheet machine also is provided with calibrating installation, comprise a cross line laser (24-2) that is installed in backstay (24-1) front end, cross line laser is connected with main control system, and the rear end of described backstay is fixed on the end of aforementioned rotating shaft; This backstay is horizontally disposed to be stretched out and vertical with the center line of heater towards workpiece, and the axis of cross line laser is parallel with the center line of heater.
5. jib automatic assembly line wrapper sheet machine according to claim 4, it is characterized in that: described first, second driving mechanism includes the servomotor that disposes decelerator, and the servo-driver of servomotor all is connected with aforementioned main control system; Wherein first driving mechanism also comprises a rack-and-pinion, and tooth bar (11-1) is fixed on the described guide rail also in parallel, and the output gear of speed reducer of first driving mechanism (11-2) meshes to drive portal frame along the guide rail level toward polyslip with this tooth bar.
6. jib automatic assembly line wrapper sheet machine according to claim 5, it is characterized in that: described high frequency transformer is fixed between aforementioned two swing arms, and described high frequency electric source cabinet is fixed on the crossbeam at portal frame top.
7. jib automatic assembly line wrapper sheet machine according to claim 6, it is characterized in that: the axis of the rotating shaft of described swing arm, pressure roller, heater and cross line laser all is arranged in parallel with transverse arm.
8. jib automatic assembly line wrapper sheet machine according to claim 7, it is characterized in that: the both sides of described heating are respectively equipped with anti-collision locating wheel (16).
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| CN201310138278.0A CN103230972B (en) | 2013-04-19 | 2013-04-19 | Plate wrapping machine for automatic production line of arm support |
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| CN201310138278.0A CN103230972B (en) | 2013-04-19 | 2013-04-19 | Plate wrapping machine for automatic production line of arm support |
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| CN106181669A (en) * | 2016-08-04 | 2016-12-07 | 岑溪市藤超机械有限公司 | Edge polisher edging hunting gear |
| CN106238518A (en) * | 2016-09-29 | 2016-12-21 | 华中科技大学 | A kind of multipurpose sensing Heating Experiment platform and using method thereof |
| CN107717966A (en) * | 2017-11-01 | 2018-02-23 | 上海贺元自动化设备技术有限公司 | A kind of Qu Tong robots and its operating method |
| CN108568905A (en) * | 2018-07-04 | 2018-09-25 | 佛山市顺德区悍天睿数控机械有限公司 | A kind of saw stone position restriction structure of stone sawing machine |
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| CN109226397A (en) * | 2018-09-28 | 2019-01-18 | 青岛欧特美交通装备有限公司 | A kind of electronic hemmer |
| CN110666943A (en) * | 2019-09-19 | 2020-01-10 | 中建材创新科技研究院有限公司 | Zero point correction device and method for pushing wrapping edges |
| CN111229867A (en) * | 2020-01-08 | 2020-06-05 | 合肥工业大学 | Local top bend straightening mechanism for inner wall of movable vacuum chamber sub-sector |
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| CN103230972B (en) | 2014-11-12 |
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Address after: Five 311232 Hangzhou Road, Zhejiang province Xiaoshan economic and Technological Development Zone No. 6 Hui Ken Applicant after: Hangzhou Science and Technology Ltd. of Kai Erda robot Address before: Five 311232 Hangzhou Road, Zhejiang province Xiaoshan economic and Technological Development Zone No. 6 Hui Ken Applicant before: Hangzhou Kaierda Robot Technology Company Limited |
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Address after: Five 311232 Hangzhou Road, Zhejiang province Xiaoshan economic and Technological Development Zone No. 6 Hui Ken Patentee after: Hangzhou Kaierda Robot Technology Company Limited Address before: Five 311232 Hangzhou Road, Zhejiang province Xiaoshan economic and Technological Development Zone No. 6 Hui Ken Patentee before: Hangzhou Science and Technology Ltd. of Kai Erda robot |
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Address after: No. 778, Changming Road, hongken farm, Xiaoshan Economic and Technological Development Zone, Hangzhou, Zhejiang 311215 Patentee after: Hangzhou kelda welding robot Co.,Ltd. Address before: No. 6, kenhui fifth road, Xiaoshan Economic and Technological Development Zone, Hangzhou, Zhejiang 311232 Patentee before: HANGZHOU KAIERDA ROBOT TECHNOLOGY Co.,Ltd. |