CN105480313A - Reconstructive tracked robot - Google Patents
Reconstructive tracked robot Download PDFInfo
- Publication number
- CN105480313A CN105480313A CN201510845294.2A CN201510845294A CN105480313A CN 105480313 A CN105480313 A CN 105480313A CN 201510845294 A CN201510845294 A CN 201510845294A CN 105480313 A CN105480313 A CN 105480313A
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- rear portion
- wheel
- robot
- motor
- assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a reconstructive tracked robot, which relates to a robot. The invention is to solve problems that the passing ability of the traditional tracked robot is affected due to no arm swinging function and some robots with arm swinging functions may affect robot running flexibilities. The reconstructive tracked robot comprises a main body independent walking robot and a rear part independent walking robot, wherein the rear part independent walking robot comprises a first motor, a second motor, a first motor stand, a second motor stand, a first synchronizing wheel, a rear part worm wheel transmission body, a worm, a rear independent walking robot shell, a first synchronous belt, two second synchronizing wheels, two second motor output wheels, two third synchronizing wheels, two rear part axle driving assemblies, two rear part driving wheels, two rear part driven wheels, two rear part wheel fixing plates, two second synchronous conveying belts, two rear part tracks, four rear part small driven wheels and a plurality of groups of rear part track transitional wheels. The reconstructive tracked robot provided by the invention is used for the field of robots.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of reconstruct formula caterpillar robot.
Background technology
Along with the development and progress of science and technology, caterpillar type robot is more and more applied in actual life, in live and work environment, dangerous and other safety hazard needs to use caterpillar type robot and carries out work, but existing caterpillar robot does not possess swing arm function, have impact on caterpillar type robot crossing ability, the robot with swing arm function had can affect the manoevreability that robot runs.
Summary of the invention
Content of the present invention does not possess swing arm function to solve existing caterpillar robot, have impact on caterpillar type robot crossing ability, and the robot with swing arm function had can affect the problem of the manoevreability that robot runs.And then a kind of reconstruct formula caterpillar robot is provided.
The present invention is the technical scheme adopted that solves the problem:
A kind of reconstruct formula caterpillar robot, it comprises body independent ambulation robot and rear portion independent ambulation robot, rear portion independent ambulation robot comprises the first motor, second motor, first motor cabinet, second motor cabinet, first synchronizing wheel, rear portion worm drive body, worm screw, rear portion independent ambulation robot housing, first synchrome conveying belt, two the second synchronizing wheels, two the second motor output wheels, two the 3rd synchronizing wheels, two rear axle drive assembly, two rear portions drive driving wheel, two rear portion flower wheels, two rear wheel adapter plates, two the second synchrome conveying belts, two rear portion crawler belts, four driven steamboats in rear portion and many group rear portions crawler belt transition wheel, first motor is arranged on the first motor cabinet, first motor cabinet is arranged on a rear axle and drives on assembly, second motor is arranged on the second motor cabinet, two the second motor output wheels are sleeved on the output revolving shaft of the second motor, second motor cabinet is arranged on the worm drive body of rear portion, first synchronizing wheel is sleeved on the output revolving shaft of the first motor, one end of worm screw is arranged on the worm drive body of rear portion, second synchronizing wheel is sleeved on the other end of worm screw, and the first synchronizing wheel and the second synchronizing wheel are in transmission connection by the first synchrome conveying belt, two rear axle drive assembly to be symmetricly set on the worm drive body of rear portion, each rear axle drives between assembly and rear portion worm drive body and is provided with the 3rd synchronizing wheel, and each 3rd synchronizing wheel is connected with a second motor output wheel by the second synchrome conveying belt, each rear axle drives one end of assembly to be arranged on the worm drive body of rear portion, and each rear axle drives the other end of assembly to be provided with a rear portion driving driving wheel and rear portion flower wheel, rear portion drives driving wheel and rear portion flower wheel coaxially to arrange, a rear wheel adapter plate is arranged on a rear portion and drives between driving wheel and a rear portion flower wheel, the other end of each rear wheel adapter plate is installed with two driven steamboats in rear portion, and two driven steamboats in rear portion are symmetricly set on the both sides of rear wheel adapter plate, many groups rear portion crawler belt transition wheel is separately positioned on the both sides of rear wheel adapter plate, each rear portion crawler belt is set in the rear portion be disposed adjacent and drives driving wheel, on rear portion flower wheel and two driven steamboats in rear portion, rear portion independent ambulation robot housing is sleeved on the first motor, second motor, first motor cabinet, the outside of the second motor cabinet, the first synchronizing wheel, rear portion worm drive body, worm screw and the second synchronizing wheel, rear portion independent ambulation robot housing is arranged on the rear portion of body independent ambulation robot.
The invention has the beneficial effects as follows:
1, body independent ambulation robot 2 of the present invention can carry out independent swing walking work, and rear portion independent ambulation robot 3 can carry out separately the work swinging and walk.
2, body independent ambulation robot 2 of the present invention can independently in the wild preferably road surface run, possess stronger manoevreability.
3, the present invention carries out the operation of front and back swing arm independent ambulation on better ground by the robot after body independent ambulation robot 2 and the reconstruct of rear portion independent ambulation robot 3 composition, improve manoevreability, and at complicated ground, front and back swing arm forms an entirety, body independent ambulation robot 2 of the present invention and rear portion independent ambulation robot 3 can form front and back oscillating arm mechanisms, add robot obstacle climbing ability, make robot can carry out work by penetrate.
4, rear portion independent ambulation robot 3 and body independent ambulation robot 2 can split by robot of the present invention, adopt different robots to carry out work, add the range of use of robot of the present invention at different working environments.
Accompanying drawing explanation
Fig. 1 is integral structure structural representation of the present invention, Fig. 2 is the structural representation of body independent ambulation robot 2, Fig. 3 is the structural representation of rear portion independent ambulation robot 3, not installing rear portion crawler belt 23 and rear portion independent ambulation robot housing 20, Fig. 4 in figure is that two rear axle drive assemblies 13 to be arranged on schematic diagram on rear portion worm drive body 9.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Fig. 4 illustrates present embodiment, a kind of reconstruct formula caterpillar robot described in present embodiment, it comprises body independent ambulation robot 2 and rear portion independent ambulation robot 3, rear portion independent ambulation robot 3 comprises the first motor 4, second motor 5, first motor cabinet 6, second motor cabinet 7, first synchronizing wheel 8, rear portion worm drive body 9, worm screw 19, rear portion independent ambulation robot housing 20, first synchrome conveying belt 21, two the second synchronizing wheels 10, two the second motor output wheels 11, two the 3rd synchronizing wheels 12, two rear axle drive assembly 13, two rear portions drive driving wheel 14, two rear portion flower wheels 15, two rear wheel adapter plates 16, two the second synchrome conveying belts 22, two rear portion crawler belts 23, four driven steamboats 17 in rear portion and many group rear portions crawler belt transition wheel 18, first motor 4 is arranged on the first motor cabinet 6, first motor cabinet 6 is arranged on a rear axle and drives on assembly 13, second motor 5 is arranged on the second motor cabinet 7, two the second motor output wheels 11 are sleeved on the output revolving shaft of the second motor 5, second motor cabinet 7 is arranged on rear portion worm drive body 9, first synchronizing wheel 8 is sleeved on the output revolving shaft of the first motor 4, one end of worm screw 19 is arranged on rear portion worm drive body 9, second synchronizing wheel 10 is sleeved on the other end of worm screw 19, and the first synchronizing wheel 8 and the second synchronizing wheel 10 are in transmission connection by the first synchrome conveying belt 21, two rear axle drive assembly 13 to be symmetricly set on rear portion worm drive body 9, each rear axle drives between assembly 13 and rear portion worm drive body 9 and is provided with the 3rd synchronizing wheel 12, and each 3rd synchronizing wheel 12 is connected with a second motor output wheel 11 by the second synchrome conveying belt 22, each rear axle drives one end of assembly 13 to be arranged on rear portion worm drive body 9, and each rear axle drives the other end of assembly 13 to be provided with a rear portion driving driving wheel 14 and rear portion flower wheel 15, rear portion drives driving wheel 14 and rear portion flower wheel 15 coaxially to arrange, a rear wheel adapter plate 16 is arranged on a rear portion and drives between driving wheel 14 and a rear portion flower wheel 15, the other end of each rear wheel adapter plate 16 is installed with two driven steamboats 17 in rear portion, and two driven steamboats 17 in rear portion are symmetricly set on the both sides of rear wheel adapter plate 16, many groups rear portion crawler belt transition wheel 18 is separately positioned on the both sides of rear wheel adapter plate 16, each rear portion crawler belt 23 is set in the rear portion be disposed adjacent and drives driving wheel 14, on rear portion flower wheel 15 and two driven steamboats 17 in rear portion, rear portion independent ambulation robot housing 20 is sleeved on the first motor 4, second motor 5, first motor cabinet 6, the outside of the second motor cabinet 7, first synchronizing wheel 8, rear portion worm drive body 9, worm screw 19 and the second synchronizing wheel 10, rear portion independent ambulation robot housing 20 is arranged on the rear portion of body independent ambulation robot 2, and each anterior traveling gear 1 is fixedly mounted on the road wheel of body independent ambulation robot 2 front portion.
Start to slap the rotation that connecting element 2 can carry out two degree of freedom by external motor rotating band in present embodiment, the wrist joint driving palm connecting element 2 to rotate corresponding human body by external motor carries out flexion and extension and outreach adduction campaign, the first elbow joint is driven to drive fixed wheel 10 and the second elbow joint to drive fixed wheel 11 to rotate respectively by external motor, elbow joint satellite gear 8 is driven to carry out revolution and automatically rotate, so drive elbow joint satellite gear 8 to carry out moving the flexion and extension of corresponding human elbow and the outward turning of elbow joint and inward turning motion, driving shoulder joint to drive fixed wheel 16 and shoulder joint actuator 14 to rotate respectively by external motor drives shoulder joint satellite gear 13 to carry out revolving round the sun and spinning motion, rotate the corresponding flexion and extension of human body shoulder joint and the abduction of shoulder joint and adduction by shoulder joint satellite gear 13 to move, and then reach the ectoskeletal six-freedom degree motion of upper limbs.
Detailed description of the invention two: composition graphs 1-Fig. 4 illustrates present embodiment, a kind of reconstruct formula caterpillar robot described in present embodiment, described rear portion worm drive body 9 comprises rear portion turbine body 1 and rear portion worm gear 41, rear portion worm gear 41 is arranged in rear portion turbine body 1, and other is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1-Fig. 4 illustrates present embodiment, a kind of reconstruct formula caterpillar robot described in present embodiment, described rear axle drives assembly 13 to comprise rear axle and drives assembly hollow shaft 40, rear axle drives assembly rotating shaft 42 and rear axle to drive assembly cylindrical shell 43, rear axle drives assembly rotating shaft 42 to be inserted into rear axle driving assembly hollow shaft 40 from inside to outside successively and rear axle drives in assembly cylindrical shell 43, rear axle drives assembly rotating shaft 42, rear axle drives assembly hollow shaft 40 and rear axle to drive assembly cylindrical shell 43 coaxially to arrange, rear axle drives one end of assembly rotating shaft 42 to be fixedly mounted on rear portion worm gear 41, rear axle drives one end of assembly hollow shaft 40 to be fixedly mounted on the 3rd synchronizing wheel 12, rear axle drives the other end of assembly hollow shaft 40 to be processed with rear portion driving driving wheel and fixes shoulder 44, rear axle drives the other end of assembly rotating shaft 42 to be processed with rear wheel adapter plate and fixes shoulder 45 and rear portion flower wheel fixes shoulder 46, rear portion drives driving wheel to fix on shoulder 44 and is installed with a rear portion driving driving wheel 14, one end of rear wheel adapter plate 16 is fixedly mounted on rear wheel adapter plate and fixes on shoulder 45, rear portion flower wheel 15 is rotationally connected and is arranged on rear portion flower wheel and fixes on shoulder 46, other is identical with detailed description of the invention two.
Detailed description of the invention four: composition graphs 1-Fig. 3 illustrates present embodiment, a kind of reconstruct formula caterpillar robot described in present embodiment, described often group rear portion crawler belt transition wheel 18 is coaxially arranged by two rear portion crawler belt transition wheels and forms, and two rear portion crawler belt transition wheels 18 are symmetricly set on the both sides of rear wheel adapter plate 16, the both sides being symmetricly set on rear wheel adapter plate 16 by two rear portion crawler belt transition wheels 18 can make robot ambulation of the present invention more stable, and other is identical with detailed description of the invention one.
Principle of work
Body is driven to walk by body independent ambulation robot 2 when the present invention works, rear portion independent ambulation robot 3 drives the first synchronizing wheel 8 and the second synchronizing wheel 10 to rotate by opening the first motor 4 switch when carrying out work successively, worm screw 19 is driven to rotate by the second synchronizing wheel 10, rear portion worm gear 41 is driven to rotate by worm screw 19, rotating drive two rear axle by rear portion worm gear 41 drives assembly rotating shaft 42 to rotate, and then drive assembly rotating shaft 42 to drive rear wheel adapter plate 16 to rotate around rear wheel adapter plate 16 center line by rear axle, realize the swing arm motion of rear portion independent ambulation robot 3, rear portion independent ambulation robot 3 drives the 3rd synchronizing wheel 12 to rotate by the switch opening the second motor 5 when carrying out work, rear axle is driven to drive assembly hollow shaft 40 to rotate by the 3rd synchronizing wheel 12, rear axle drives assembly hollow shaft 40 to drive rear portion to drive driving wheel 14 to rotate, driving wheel 14 is driven to drive the driven steamboat in rear portion 17 and multiple rear portions crawler belt transition wheel 18 to rotate the object realizing walking respectively by rear portion, body independent ambulation robot 2 of the present invention and rear portion independent ambulation robot 3 can carry out the object that work realizes swinging walking simultaneously.
Claims (3)
1. a reconstruct formula caterpillar robot, it is characterized in that: it comprises body independent ambulation robot (2) and rear portion independent ambulation robot (3), rear portion independent ambulation robot (3) comprises the first motor (4), second motor (5), first motor cabinet (6), second motor cabinet (7), first synchronizing wheel (8), rear portion worm drive body (9), worm screw (19), rear portion independent ambulation robot housing (20), first synchrome conveying belt (21), second synchronizing wheel (10), two the second motor output wheels (11), two the 3rd synchronizing wheels (12), two rear axle drive assembly (13), two rear portions drive driving wheel (14), two rear portion flower wheels (15), two rear wheel adapter plates (16), two the second synchrome conveying belts (22), two rear portion crawler belts (23), four the driven steamboat in rear portions (17) and many groups rear portion crawler belt transition wheel (18), first motor (4) is arranged on the first motor cabinet (6), first motor cabinet (6) is arranged on a rear axle and drives on assembly (13), second motor (5) is arranged on the second motor cabinet (7), two the second motor output wheels (11) are sleeved on the output revolving shaft of the second motor (5), second motor cabinet (7) is arranged on rear portion worm drive body (9), first synchronizing wheel (8) is sleeved on the output revolving shaft of the first motor (4), one end of worm screw (19) is arranged on rear portion worm drive body (9), second synchronizing wheel (10) is sleeved on the other end of worm screw (19), and the first synchronizing wheel (8) and the second synchronizing wheel (10) are in transmission connection by the first synchrome conveying belt (21), two rear axle drive assembly (13) to be symmetricly set on rear portion worm drive body (9), each rear axle drives between assembly (13) and rear portion worm drive body (9) and is provided with the 3rd synchronizing wheel (12), and each 3rd synchronizing wheel (12) is connected with a second motor output wheel (11) by the second synchrome conveying belt (22), each rear axle drives one end of assembly (13) to be arranged on rear portion worm drive body (9), and each rear axle drives the other end of assembly (13) to be provided with rear portion driving driving wheel (14) and rear portion flower wheel (15), rear portion drives driving wheel (14) and rear portion flower wheel (15) coaxially to arrange, a rear wheel adapter plate (16) is arranged on a rear portion and drives between driving wheel (14) and a rear portion flower wheel (15), the other end of each rear wheel adapter plate (16) is installed with two the driven steamboat in rear portions (17), and two the driven steamboat in rear portions (17) are symmetricly set on the both sides of rear wheel adapter plate (16), many groups rear portion crawler belt transition wheel (18) is separately positioned on the both sides of rear wheel adapter plate (16), each rear portion crawler belt (23) is set in the rear portion be disposed adjacent and drives driving wheel (14), on rear portion flower wheel (15) and two the driven steamboat in rear portions (17), rear portion independent ambulation robot housing (20) is sleeved on the first motor (4), second motor (5), first motor cabinet (6), the outside of the second motor cabinet (7), the first synchronizing wheel (8), rear portion worm drive body (9), worm screw (19) and the second synchronizing wheel (10), rear portion independent ambulation robot housing (20) is arranged on the rear portion of body independent ambulation robot (2).
2. a kind of reconstruct formula caterpillar robot according to claim 1, it is characterized in that: described rear portion worm drive body (9) comprises rear portion turbine body (1) and rear portion worm gear (41), and rear portion worm gear (41) is arranged in rear portion turbine body (1).
3. a kind of reconstruct formula caterpillar robot according to claim 2, it is characterized in that: described rear axle drives assembly (13) to comprise rear axle and drives assembly hollow shaft (40), rear axle drives assembly rotating shaft (42) and rear axle to drive assembly cylindrical shell (43), rear axle drives assembly rotating shaft (42) to be inserted into rear axle driving assembly hollow shaft (40) from inside to outside successively and rear axle drives in assembly cylindrical shell (43), rear axle drives assembly rotating shaft (42), rear axle drives assembly hollow shaft (40) and rear axle to drive assembly cylindrical shell (43) coaxially to arrange, rear axle drives one end of assembly rotating shaft (42) to be fixedly mounted on rear portion worm gear (41), rear axle drives one end of assembly hollow shaft (40) to be fixedly mounted on the 3rd synchronizing wheel (12), rear axle drives the other end of assembly hollow shaft (40) to be processed with rear portion driving driving wheel and fixes shoulder (44), rear axle drives the other end of assembly rotating shaft (42) to be processed with rear wheel adapter plate and fixes shoulder (45) and rear portion flower wheel fixes shoulder (46), rear portion drives driving wheel to fix on shoulder (44) and is installed with rear portion driving driving wheel (14), one end of rear wheel adapter plate (16) is fixedly mounted on rear wheel adapter plate and fixes on shoulder (45), rear portion flower wheel (15) is rotationally connected and is arranged on rear portion flower wheel and fixes on shoulder (46).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510845294.2A CN105480313B (en) | 2015-11-26 | 2015-11-26 | A kind of reconstruct formula caterpillar robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510845294.2A CN105480313B (en) | 2015-11-26 | 2015-11-26 | A kind of reconstruct formula caterpillar robot |
Publications (2)
| Publication Number | Publication Date |
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| CN105480313A true CN105480313A (en) | 2016-04-13 |
| CN105480313B CN105480313B (en) | 2017-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510845294.2A Active CN105480313B (en) | 2015-11-26 | 2015-11-26 | A kind of reconstruct formula caterpillar robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248709A (en) * | 2017-12-28 | 2018-07-06 | 华中光电技术研究所（中国船舶重工集团公司第七七研究所） | A kind of small-sized double-pendulum arms caterpillar mobile robot platform |
| WO2020133546A1 (en) * | 2018-12-29 | 2020-07-02 | 中国科学院沈阳自动化研究所 | Reconfigurable joint track composite mobile robot |
| CN116697190A (en) * | 2023-08-08 | 2023-09-05 | 国网安徽省电力有限公司电力科学研究院 | Robot and inspection method suitable for synchronous inspection of long branch pipeline and main pipeline |
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| CN103624765A (en) * | 2013-12-23 | 2014-03-12 | 哈尔滨工业大学 | Modular search and rescue robot with reconfigurable function |
| US20140070502A1 (en) * | 2012-08-21 | 2014-03-13 | Andrew Ferguson | Mobile reconnaissance apparatus with articulating traction control |
| WO2015016493A1 (en) * | 2013-07-29 | 2015-02-05 | Joo Jae Hoon | Omnidirectional continuous track wheel and omnidirectional moving vehicle using same |
| CN104802868A (en) * | 2014-01-28 | 2015-07-29 | 南京聚特机器人技术有限公司 | Multifunctional portable moving platform |
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| CN201516604U (en) * | 2009-10-12 | 2010-06-30 | 唐山开诚机器人制造有限公司 | Modular track rocker-arm type colliery underground robotic explorer |
| US20140070502A1 (en) * | 2012-08-21 | 2014-03-13 | Andrew Ferguson | Mobile reconnaissance apparatus with articulating traction control |
| WO2015016493A1 (en) * | 2013-07-29 | 2015-02-05 | Joo Jae Hoon | Omnidirectional continuous track wheel and omnidirectional moving vehicle using same |
| CN103624765A (en) * | 2013-12-23 | 2014-03-12 | 哈尔滨工业大学 | Modular search and rescue robot with reconfigurable function |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248709A (en) * | 2017-12-28 | 2018-07-06 | 华中光电技术研究所（中国船舶重工集团公司第七七研究所） | A kind of small-sized double-pendulum arms caterpillar mobile robot platform |
| WO2020133546A1 (en) * | 2018-12-29 | 2020-07-02 | 中国科学院沈阳自动化研究所 | Reconfigurable joint track composite mobile robot |
| US11235821B2 (en) | 2018-12-29 | 2022-02-01 | Shenyang Institute Of Automation, Chinese Academy Of Sciences | Reconfigurable joint track compound mobile robot |
| CN116697190A (en) * | 2023-08-08 | 2023-09-05 | 国网安徽省电力有限公司电力科学研究院 | Robot and inspection method suitable for synchronous inspection of long branch pipeline and main pipeline |
| CN116697190B (en) * | 2023-08-08 | 2023-10-31 | 国网安徽省电力有限公司电力科学研究院 | Robot and inspection method suitable for synchronous inspection of long branch pipeline and main pipeline |
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| CN105480313B (en) | 2017-07-28 |
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Effective date of registration: 20210118 Address after: Room 1107, 11 / F, National University Science Park, Harbin Institute of technology, No. 434, youyou street, Nangang District, Harbin City, Heilongjiang Province, 150006 Patentee after: Harbin Institute of Technology Asset Management Co.,Ltd. Patentee after: Liu Yiwei Address before: 150001 No. 92 West straight street, Nangang District, Heilongjiang, Harbin Patentee before: HARBIN INSTITUTE OF TECHNOLOGY |
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Effective date of registration: 20210202 Address after: Room 411, No.1 building, China Cloud valley software park, No.9 Songhua Road, Harbin Economic Development Zone, Heilongjiang Province, 150001 Patentee after: Harbin Institute of technology robot Innovation Center Co.,Ltd. Address before: Room 1107, 11 / F, National University Science Park, Harbin Institute of technology, No. 434, youyou street, Nangang District, Harbin City, Heilongjiang Province, 150006 Patentee before: Harbin Institute of Technology Asset Management Co.,Ltd. Patentee before: Liu Yiwei |
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Address after: 150000 Room 411, building 1, China Cloud valley software park, No. 9, Songhua Road, haping road concentration area, economic development zone, Harbin, Heilongjiang Province Patentee after: Guochuang Robot Innovation Center (Harbin) Co.,Ltd. Address before: Room 411, No.1 building, China Cloud valley software park, No.9 Songhua Road, Harbin Economic Development Zone, Heilongjiang Province, 150001 Patentee before: Harbin Institute of technology robot Innovation Center Co.,Ltd. |