CN105564527A - Steer-by-wire manipulating platform and method for heavy manned foot type robot - Google Patents
Steer-by-wire manipulating platform and method for heavy manned foot type robot Download PDFInfo
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- CN105564527A CN105564527A CN201610004735.0A CN201610004735A CN105564527A CN 105564527 A CN105564527 A CN 105564527A CN 201610004735 A CN201610004735 A CN 201610004735A CN 105564527 A CN105564527 A CN 105564527A
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- steering
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- bearing circle
- manipulating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a steer-by-wire manipulating platform and method for a heavy manned foot type robot, and aims to solve the problems that the manipulating difficulty is large due to attributes of large weight, complex structure and the like of the robot in the sheering process. The manipulating platform consists of a steering wheel module, a motion control unit module and a sheering execution module. The manipulating method realized based on the manipulating platform can be summarized as follows: the steering wheel module is used for receiving manipulating instructions of a driver on one hand and feeding back road sensing information to the driver on the other hand; the motion control unit module is used for planning the foot end coordinates of the robot on one hand and controlling a road sensing motor to output resisting moment on the other hand; the sheering execution module is used for planning the target corners of joints of leg parts and driving the legs to support a robot body to sheer on one hand, and feeding back collected leg part information to the motion control unit module on the other hand. Through introduction of the steering wheel manipulating mode, the manipulating load of the driver is reduced, and meanwhile the manipulating accuracy is improved. The steer-by-wire manipulating platform and method are suitable for manipulating the foot type robot.
Description
Technical field
The invention belongs to legged type robot manipulation technology field, be specifically related to a kind ofly complete to drive legged type robot a divertical motion method of advancing with the pattern of steering dish, and the manipulation information of bearing circle transmits in the mode of electric signal.
Background technology
Heavy manned legged type robot is because of its adaptability under full working scope landform, and large load-carrying capacity, the features such as high stability have become one of study hotspot in robot field.As a kind of legged type robot of manned, multi-joint redundancy, existing intelligent control algorithm well can't ensure that robot independently completes the task specified by chaufeur under extremely complex environment, thus design a set of reliably, easily maneuvering system just become one of problem demanding prompt solution before heavy manned sufficient formula mobile robot is able to place in operation.
In the middle of the multiple operating pattern under many complex working conditions, the demand of robot crossing ability designed, unique in the maneuverability pattern most turning to link to develop for legged type robot, its reason is that legged type robot supports body by foot-ground contact action and each mode of closing internode cooperation and carries out divertical motion, joystick or button isotype is used to control body when turning to, because the discretization degree in robot steering procedure is higher, can not be accurate, intuitively for chaufeur reflects the Mode variation in body steering procedure, so the present invention is based on the manipulation custom that the mankind drive a car for many years, introduce the handling maneuver pattern of bearing circle.In addition, for robot leg in the reason supporting mode associated working in body steering procedure, mechanically operated mode can not be used to carry out the master mode of design direction dish manipulation legged type robot, attempt the steering-by-wire technology in automotive field to be incorporated in the middle of the handling maneuver pattern of legged type robot so final.The mode also do not exported by bearing circle at present handles the precedent of heavy manned legged type robot.
Summary of the invention
The present invention can not handle heavy legged type robot execution divertical motion problem very submissive, very easily in order to solve chaufeur, now provides steering-by-wire manoeuvring platform and the method for operating of the manned legged type robot of a kind of heavy type.
The steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type designs based on modular thought, is mainly divided into three parts: bearing circle module, motion control unit module and turn to execution module.
Bearing circle module comprises again bearing circle, steering shaft, torque sensor, rotary angle transmitter, road feel motor, retarder and motor current sensor:
Bearing circle is used for human organism's left and right turn of operating machine, and the information of road surface that road feel motor simulates is fed back to chaufeur;
Steering shaft is used for other devices in module to be concatenated, and is delivered on bearing circle by road feel information;
Torque sensor is applied to size and the direction of moment on steering shaft for measuring road feel motor;
Rotary angle transmitter is used for the output corner of direction of measurement dish under chaufeur manipulation;
Road feel motor acts on the parsing moment at body center of gravity place for simulating foot-ground contact force, pass to chaufeur, thus complete the real simulation of road pavement information;
Retarder is used for reducing rotating speed in road feel simulation process, increases torque;
Motor current sensor is for measuring the armature current value of road feel motor.
Motion control unit module comprises again motion planning unit and motion controller:
Motion planning unit is responsible for parsing the sufficient target foot marking and swing phase of sitting up straight with the target of the support phase corresponding to bearing circle output corner by its embedded legged type robot with the kinematics model that any radius turns to and is held track;
Motion controller is responsible for converting control function to logical language by analytical expression, final exporting to the form of control command turns to execution module, and the robotary information collected is converted to the resisting moment form that foot-ground contact information exports with motor and feed back to chaufeur.
Execution module is turned to comprise again single leg controller, three degree of freedom hydraulic-driven leg, magslip, pressure sensor and displacement pickup:
Single leg controller, on the one hand for receiving the motion control instruction that motion controller exports towards single leg, being responsible for the feedback data gathering each sensor of leg on the other hand, and being sent to motion control unit module;
Three degree of freedom hydraulic-driven leg is made up of base pitch, thigh, shank three part, and between them, each freedom rotary joint is connected, for swing find subsequent time fall foot point and support body complete corresponding motion;
Magslip is for measuring the rotational angle in each joint of legged type robot leg;
Pressure sensor is for measuring the difference of pressure in hydraulic actuating cylinder two chamber;
Displacement pickup is for measuring the displacement of piston in hydraulic cylinder bar.
According to the method for operating that a kind of steering-by-wire manoeuvring platform of heavy legged type robot realizes, the method comprises the following steps:
Step 1, chaufeur export target rotation angle by the bearing circle in steering disk module, by rotary angle transmitter, target rotation angle are sent to motion control unit as electronic signals;
Step 2, motion control unit module receive the target rotation angle value that bearing circle module sends in electrical signal form, the motion planning unit of its inside establishes the mapping relations one by one between bearing circle target rotation angle and Turning radius, the kinematics model that the legged type robot cooked up by the present invention is again turned to any radius, derives the target foot supporting phase in bearing circle target rotation angle and robot steering procedure and sits up straight target mark and swing phase and hold track enough;
Step 3, sufficient client information step 2 calculated by the motion controller in motion control unit module are sent to the single leg controller turning to execution module inside with the form of control command, by the single leg kinematics equation that its inside embeds, the target rotation angle in each joint on the sufficient single leg corresponding to client information of the target supporting mutually and swing phase can be calculated in robot steering procedure;
Step 4, turn to the three degree of freedom hydraulic-driven leg in execution module based on receive single leg controller send target rotation angle value, by arrangement and the type of drive of hydraulic actuating cylinder, derive the target stroke of each piston in hydraulic cylinder bar of leg;
Step 5, single leg controller drive respective leg to complete required movement, thus support body completes divertical motion;
Step 6, turn to each sensor in execution module that the leg information collected is sent to motion control unit module, the moment information that foot-ground contact force acts on body center of gravity place can be calculated by the sufficient end position information in the foot in motion planning unit-ground contact mechanics model and steering procedure, last by motion controller Dominating paths electrification machine, the resisting moment form that this moment information road feel motor exports fed back to chaufeur, direct drivers is more stable, handle legged type robot more accurately and complete appointment handling maneuver.
The present invention has following beneficial effect:
The design of the steering-by-wire operating control of the manned sufficient formula mobile platform of described heavy type, the maneuverability pattern turned between advancing compared to robot such as hardware implementing such as employing joystick or button etc., method designed by the present invention manipulates robot by incoming direction dish and turns to, thus improve the compliance of legged type robot in steering procedure, the driving habit that the reference mankind manipulate automobile all the year round and form turns to manipulate legged type robot, adds the driver comfort of chaufeur; For the transmission demand of steering wheel assembly, replace the mode of mechanical connection in the mode of line traffic control, thus alleviate the manipulation burden of chaufeur, add the alerting ability that legged type robot turns to driving.
Accompanying drawing explanation
Fig. 1 is the structural representation of heavy manned legged type robot wire-controlled steering system;
Fig. 2 is bearing circle module reduction structural representation;
Fig. 3 is legged type robot body, leg system of axes and simplified structure schematic diagram;
Fig. 4 is legged type robot running divertical motion planning schematic diagram;
Fig. 5 is the control block diagram that legged type robot turns to execution module;
Fig. 6 is heavy manned legged type robot list leg structural representation.
Wherein 1-1, road feel motor, 1-2, motor current sensor, 1-3, bearing circle, 1-4, biography angle transducer, 1-5, torque sensor, 1-6, retarder, 1-7, magslip, 1-8, pressure sensor, 1-9, displacement pickup, 2-1, road feel motor, 2-2, retarder, 2-3, torque sensor, 2-4, rotary angle transmitter, 2-5, steering shaft, 2-6, bearing circle, 6-1, coxal fluid cylinder pressure, 6-2, thigh hydraulic actuating cylinder, 6-3, knee joint, 6-4, root joint, 6-5, hip joint, 6-6, shank hydraulic actuating cylinder, 6-7, foot end.
Detailed description of the invention
detailed description of the invention 1:present embodiment is illustrated with reference to accompanying drawing 1, the linear handling maneuver platform of the manned legged type robot of the heavy type described in present embodiment, comprise bearing circle module, motion-control module and turn to execution module, described bearing circle module is made up of bearing circle, steering shaft, torque sensor, rotary angle transmitter, road feel motor, retarder and motor current sensor; Described motion control unit module is made up of motion planning unit and motion controller; The described execution module that turns to is made up of single leg controller, three degree of freedom hydraulic-driven leg, magslip, pressure sensor and displacement pickup.
detailed description of the invention 2:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, the present embodiment is illustrated with reference to accompanying drawing 2, bearing circle in bearing circle module is connected by key and one end of steering shaft fixes, work and show as two aspects, on the one hand the torque conversion that chaufeur inputs is become steering angle and exports; On the other hand by road feel information feed back to chaufeur.
detailed description of the invention 3:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, the present embodiment is illustrated with reference to accompanying drawing 2, steering shaft in bearing circle module is as rigid connector, for other devices in module are concatenated, and the information of road surface that road feel motor simulates is applied on bearing circle.
detailed description of the invention 4:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, the present embodiment is illustrated with reference to accompanying drawing 2, torque sensor in bearing circle module is fixed on steering shaft by coupler, is applied to size and the direction of moment on steering shaft for measuring road feel motor.
detailed description of the invention 5:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, the present embodiment is illustrated with reference to accompanying drawing 2, rotary angle transmitter in bearing circle module is fixing with on steering shaft by coupler, for the output corner of direction of measurement dish under chaufeur manipulation.
detailed description of the invention 6:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, the present embodiment is illustrated with reference to accompanying drawing 2, road feel motor in bearing circle module is as the main performer of road feel simulation link, the parsing moment at body center of gravity place is acted on for simulating foot-ground contact force, again institute's output resistance square is passed through retarder, steering shaft and bearing circle pass to chaufeur, thus complete the real simulation of road pavement information, the present invention adopts permanent magnet DC motor as road feel motor, reason is its good mechanical specialities, detent torque is large, easy to control.
detailed description of the invention 7:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, the present embodiment is illustrated with reference to accompanying drawing 2, retarder one end in bearing circle module is connected by coupler and steering shaft end, the other end is connected with road feel motor by the mode of gears meshing, for reducing rotating speed in road feel simulation process, increase torque.
detailed description of the invention 8:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, the present embodiment is illustrated with reference to accompanying drawing 1, motor current sensor in bearing circle module is connected with road feel motor by the mode of pin wiring, for measuring the current value that road feel motor internal armature produces.
detailed description of the invention 9:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, with reference to accompanying drawing 3, 4 illustrate the present embodiment, motion planning module in motion control unit module, pass through the manned sufficient formula mobile robot of cooked up heavy type advance between the kinematics model that turns to any radius and foot end trajectory planning model, its analytical expression is encapsulated in motion planning unit with the form of logical language, by setting up the mapping relations between the Turning radius in bearing circle output corner and body traveling process, finally realize supporting in bearing circle input corner and robot steering procedure phase fall foot point coordinate and swing phase foot end track between data interaction.
detailed description of the invention 10:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, the present embodiment is illustrated with reference to accompanying drawing 5, motion controller in motion control unit module adopts and grinds magnificent PC104 industrial computer and data collecting card, convert the control function in wire-controlled steering system to computing machine discernible assembly language by analytical expression on the one hand, finally export with the form of control command; The robotary information turning to execution module internal feedback to return by data collecting card collection on the other hand, after these information integration, converts the resisting moment that road feel motor exports to, by steering wheel feedback to chaufeur.
detailed description of the invention 11:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, the present embodiment is illustrated with reference to accompanying drawing 5, turn to the single leg controller in execution module also to have selected and grind magnificent PC104 control card and data collecting card, it is communicated by CAN with motion controller, for receiving the motion control instruction that motion controller exports towards single leg, corresponding joint rotation angle is calculated by the single leg kinematics solution of equation cooked up, drive the displacement of each piston in hydraulic cylinder bar of leg by the joint rotation angle needed for motion thus support body and complete a divertical motion of advancing, the feedback data gathering each sensor of leg is responsible for by single leg controller on the other hand, and by these Data Integrations, send to motion control unit module.
detailed description of the invention 12:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, the present embodiment is illustrated with reference to accompanying drawing 6, turn to three degree of freedom hydraulic-driven leg in execution module based on bionic biology behavior of structure, take the mechanism of syllogic, specifically be divided into base pitch, thigh and shank, base pitch is connected with body mutually by two asymmetric servo cylinders, between rotary joint be defined as with joint, two hydraulic actuating cylinders are arranged symmetrically in both sides, joint, base pitch is connected by an asymmetric servo cylinder and thigh, between rotary joint be defined as hip joint, thigh is connected by an asymmetric servo cylinder and shank, between rotary joint be defined as ankle-joint, foot end is connected in the mode of ball hinge with shank end, for swing find subsequent time fall foot point and support body complete corresponding motion.
detailed description of the invention 13:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, the present embodiment is illustrated with reference to accompanying drawing 5, the magslip in execution module is turned to be fixed between two shift forks, again two shift forks are connected in two ends, joint respectively, for measuring the rotational angle in sufficient each joint of formula mobile robot leg.
detailed description of the invention 14:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, the present embodiment is illustrated with reference to accompanying drawing 5, the pressure sensor in execution module is turned to be arranged on the turnover oil-piping of each hydraulic actuating cylinder, for measuring the difference of pressure in hydraulic actuating cylinder two chamber.
detailed description of the invention 15:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, the present embodiment is illustrated with reference to accompanying drawing 5, turn to the displacement pickup in execution module in parallel with the piston rod in hydraulic actuating cylinder, for measuring the displacement of piston in hydraulic cylinder bar.
detailed description of the invention 16:present embodiment is described further the method for operating that the steering-by-wire manoeuvring platform of the manned legged type robot of a kind of heavy type described in detailed description of the invention 1 realizes, with reference to accompanying drawing 2, 5 illustrate the present embodiment, by setting up the kinetics equation of bearing circle module in wire-controlled steering system, its analytical expression is encapsulated in motion planning unit with the form of logical language, again the robotary information turning to execution module to send it back received by the data collecting card in motion controller is become the resisting moment value exported needed for road feel motor through motion planning cell translation, by motion controller Dominating paths sense electric machine rotation, the resisting moment that it is exported by steering shaft and steering wheel feedback to chaufeur, make chaufeur energy sense of reality to the road feel information in robot steering procedure, thus improve heavy manned sufficient formula mobile robot in the stability handled in link and accuracy.
Claims (5)
1. the steering-by-wire manoeuvring platform of the manned legged type robot of heavy type, comprise bearing circle module, motion control unit module and turn to execution module, it is characterized in that: described bearing circle module includes again bearing circle, rotary angle transmitter, torque sensor, motor current sensor, road feel motor and retarder; Motion control unit module includes again motion planning unit and motion controller; Execution module is turned to include again single leg controller, three degree of freedom hydraulic-driven leg, magslip, pressure sensor and displacement pickup.
2. the method for operating of the steering-by-wire manoeuvring platform realization of the manned legged type robot of a kind of heavy type according to claim 1, it is characterized in that: steering command is sent to motion control unit module with the form of corner by bearing circle module by chaufeur, corner value is converted to the target foot end track that target foot that robot supports phase sits up straight mark and swing phase and re-sends to and turn to execution module by motion control unit module, execution module is turned to robot foot client information to be converted to the target rotation angle value in each joint in respective leg, and drive the flexible of each piston in hydraulic cylinder bar of leg thus support body and complete the divertical motion of specifying.
3. the maneuverability pattern of the steering-by-wire manoeuvring platform realization of the manned legged type robot of a kind of heavy type according to claim 2, it is characterized in that: chaufeur exports steering order by the bearing circle in steering disk module, wherein one end of bearing circle and steering shaft is connected, and the steering effort of chaufeur is applied on bearing circle; The other end and the retarder of steering shaft are connected, retarder is meshed by gear with road feel motor, road feel motor is responsible for simulating the foot-ground contact information in sufficient formula mobile robot steering procedure, and with the form of resisting moment by steering shaft and steering wheel feedback to chaufeur; Rotary angle transmitter in bearing circle module and torque sensor are arranged on steering shaft by coupler, are responsible for gathering the moment of torsion that the angle that turns over of bearing circle and steering bearing are subject to respectively; Motor current sensor in bearing circle module is responsible for the current value gathering road feel motor.
4. the method for operating of the steering-by-wire manoeuvring platform realization of the manned legged type robot of a kind of heavy type according to claim 2, it is characterized in that: the transmission being realized control command and feedback information between chaufeur and robot by motion control unit module, motion planning unit embedded robot steering kinematics equation in motion control unit module, by resolving to the foot end track of fall foot point coordinate and the corresponding swing phase of respective support phase by bearing circle output corner; Motion controller in motion control unit is responsible for sufficient client information to be passed to turn to execution module, and the robotary encode information turning to execution module to feed back to is become electric machine control instruction, thus Dominating paths electrification machine exports corresponding resisting moment information feed back to chaufeur.
5. the method for operating of the steering-by-wire manoeuvring platform realization of the manned legged type robot of a kind of heavy type according to claim 2, it is characterized in that: the action that wire-controlled steering system will complete by turning to execution module to realize chaufeur designated robot, the joint rotation angle information receiving the transmission of motion control unit module is responsible for by the single leg controller performed in steering module, derives the displacement of leg hydraulic actuating cylinder thus drive leg exercise by embedded single leg kinematics equation and geometric relationship; Turn to the three degree of freedom hydraulic-driven leg in execution module to receive the displacement commands of the piston in hydraulic cylinder bar that single leg control controller sends, be responsible for supporting robot and complete corresponding divertical motion; Turn to the magslip in execution module to be arranged on each joint of leg to be responsible for gathering its rotational angle; Turn to the pressure sensor in execution module to be arranged on the turnover oil-piping of each hydraulic actuating cylinder, be responsible for the difference of pressure in measurement two chamber; The displacement pickup in execution module is turned to be arranged in each hydraulic actuating cylinder the displacement being responsible for gathering piston rod.
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| CN201610004735.0A CN105564527B (en) | 2016-01-07 | 2016-01-07 | A kind of the steering-by-wire manoeuvring platform and method of operating of the manned legged type robot of heavy type |
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| CN201610004735.0A CN105564527B (en) | 2016-01-07 | 2016-01-07 | A kind of the steering-by-wire manoeuvring platform and method of operating of the manned legged type robot of heavy type |
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| CN105564527B CN105564527B (en) | 2018-04-10 |
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| CN109987135A (en) * | 2017-12-29 | 2019-07-09 | 陕西重型汽车有限公司 | Steering system for heavy vehicle |
| CN110015338A (en) * | 2017-12-07 | 2019-07-16 | 操纵技术Ip控股公司 | The notice of the rack gear limitation situation of steering-by-wire steerable system |
| CN110406611A (en) * | 2019-08-09 | 2019-11-05 | 桂林航天工业学院 | A kind of polypody movable type engineer equipment chassis |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11834116B2 (en) | 2021-12-02 | 2023-12-05 | Volvo Car Corporation | Vehicle steering non-uniformity compensation |
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Denomination of invention: A Wire Controlled Steering Control Platform and Control Method for a Heavy Duty Manned Foot Robot Effective date of registration: 20230526 Granted publication date: 20180410 Pledgee: Industrial Bank Limited by Share Ltd. Hefei branch Pledgor: Strict scientific and Technological Innovation Industry Development Group Hefei Co.,Ltd. Registration number: Y2023980041849 |