CN108527431A - Inside and outside concentric manipulator - Google Patents
Inside and outside concentric manipulator Download PDFInfo
- Publication number
- CN108527431A CN108527431A CN201810335787.5A CN201810335787A CN108527431A CN 108527431 A CN108527431 A CN 108527431A CN 201810335787 A CN201810335787 A CN 201810335787A CN 108527431 A CN108527431 A CN 108527431A
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- CN
- China
- Prior art keywords
- plate
- connect
- clamping jaw
- manipulator
- pin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention belongs to manipulator design technical fields, more particularly, to concentric manipulator inside and outside one kind.The inside and outside concentric manipulator includes that the big clamp hand of three big clamping jaw composition is used to that the second part to be clamped, and further includes bikini clamping jaw, which is located at the center of three big clamping jaw, for the first part to be clamped.Since bikini clamping jaw and big clamp hand are concentric, so that the first part and the second part of its clamping also achieve with one heart.
Description
Technical field
The invention belongs to manipulator design technical fields, more particularly, to concentric manipulator inside and outside one kind.
Background technology
Manipulator is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object
Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.
Manipulator is mainly made of executing agency, driving mechanism and control system three parts.Hand is for grasping work
The component of part (or tool), according to by the shape of grasping object, size, weight, material and job requirements and there are many structure shape
Formula, such as clamp-type, holding type and absorbent-type.Motion makes hand complete various rotations (swing), mobile or compound motion
It realizes defined action, changes by the position of grasping object and posture.Motion such as lifts, stretches, rotating at the independent fortune
Flowing mode, the referred to as degree of freedom of manipulator.In order to capture the object of any position and orientation in space, there need to be 6 degree of freedom.From
It is the key parameter of manipulator design by degree.Degree of freedom is more, and the flexibility of manipulator is bigger, and versatility is wider, structure
It is more complicated.General special manipulator has 2~3 degree of freedom.Control system is by the motor to each degree of freedom of manipulator
Control, to complete specific action.Receiving sensor feedack simultaneously, forms stable closed-loop control.The core of control system
The heart is typically to be made of microcontroller chips such as microcontroller or dsp, and wanted function is realized by being programmed to it.
Existing manipulator Various Functions, clamp-type manipulator can only generally be clamped a part and arrive in holding parts
Designated position.Some two parts used that complement one another are needed to be clamped respectively and be transported to designated position, assembling effect in assembling
Rate is low.
Invention content
For this reason, it may be necessary to provide a kind of manipulator that two parts can be clamped simultaneously, the present invention proposes same inside and outside one kind
Two matching used parts can not only be clamped in aligning mechanical hand simultaneously, and ensure that two parts are concentric.
To achieve the above object, the present invention adopts the following technical scheme that：
Inside and outside concentric manipulator, it includes connecting pole, bottom plate, bearing, backing plate, rotor plate, cylinder mounting column, cylinder installation
Plate, bikini clamping jaw, cylinder driving mechanism, limited block and big clamping jaw, the connecting pole is fixedly connected with bottom plate upper end, under bottom plate
End is fixedly connected with cylinder mounting column, and cylinder mounting column is arranged with bearing, backing plate and rotor plate, the bearing successively from top to bottom
Outer ring be fixedly connected with bottom plate, the inner ring of bearing is fixedly connected with backing plate, and backing plate is fixedly connected with rotor plate, cylinder peace
Loading board is fixedly connected with cylinder mounting column, and bikini clamping jaw is fixedly mounted on cylinder mounting plate；
The limited block is fixed on bottom plate, and cylinder driving mechanism one end is connect with bottom plate, and the other end is connect with rotor plate,
The big clamping jaw is connect with bottom plate；
The big clamping jaw includes sliding rail, sliding block, fixture block, clamping plate, big clamping jaw, rotational pin, spring, and the sliding rail is fixed on bottom
Plate lower end, sliding rail are slidably connected with sliding block, and sliding block is fixed on fixture block upper surface, and Boards wall is in the lower surface with fixture block, fixture block
One end is connect with rotor plate, and clamping plate is connect by rotational pin with big clamping jaw, and first spring one end is connect with clamping plate, the other end
It is connect with big clamping jaw.
The technical program further optimizes, and further includes pressing mechanism, and the pressing mechanism is fixed on bottom plate, the pressure
Pin mechanism includes pressing link block and binder positioning component, and the pressing link block is fixed on bottom plate, and binder positioning component is solid
It is scheduled on pressing link block.
The technical program further optimizes, and further includes sensor mounting plate and first sensor, the sensor peace
Loading board is fixed on pressing link block, and first sensor is arranged on sensor mounting plate.
The technical program further optimizes, and the binder positioning component includes positioning pin, washer, second spring, pressure
Set and backing pin, the pressing sleeve are set in by backing pin and positioning pin connection, second spring on positioning pin, and the washer setting is fixed
Position pin top, the positioning pin are connect with pressing link block.
The technical program further optimizes, the cylinder driving mechanism include locking cylinder, connecting pin, flake connector and
Turntable bar, described locking cylinder one end are connect with pin connection, the other end is connect with flake connector, the eye and turntable of flake connector
Bar connects.
The technical program further optimizes, and there are two first springs.
The technical program further optimizes, and further includes that second sensor described in second sensor is arranged in bikini clamping jaw
Small clamping jaw on.
It is different from the prior art, above-mentioned technical proposal has the following advantages that：
1, two parts match, and inside and outside concentric manipulator can grab two parts simultaneously, and ensure the two parts
With one heart；
2, the special designing of the inside and outside big clamping jaw of concentric manipulator can realize that three big clamping jaw synchronizes, it is ensured that part is opposite
The center of circle；
3, inside and outside concentric manipulator also has there are three pressing mechanism, and the binder positioning component of each pressing mechanism is respectively provided with
First sensor, the part for detecting clamping whether there is, are crooked；
4, the grip block on big clamping jaw can floating rotating, adapt to the angle of different parts, big clamping jaw and pressing mechanism phase
Cooperation, can capture the part of different-thickness, different-diameter；
5, big clamping jaw and bikini clamping jaw concentric design, it is compact-sized, it is ingenious in design.
Description of the drawings
Fig. 1 is inside and outside concentric manipulator overall schematic；
Fig. 2 is inside and outside concentric manipulator explosive view；
Fig. 3 is the schematic diagram of cylinder driving mechanism；
Fig. 4 is the schematic diagram of binder positioning component；
Fig. 5 is the sectional view of binder positioning component；
Fig. 6 is the part explosive view of inside and outside concentric manipulator；
Fig. 7 is inside and outside concentric manipulator entirety side view.
Reference sign：
1, connecting pole, 2, bottom plate, 3, bearing, 4, backing plate, 5, rotor plate, 6, cylinder mounting column, 7, cylinder mounting plate, 8, three
Point type clamping jaw, 9, cylinder driving mechanism, 10, limited block, 11, big clamping jaw, 12, pressing mechanism, the 13, first part, the 14, the 2nd 0
Part；
111, sliding rail, 112, sliding block, 113, fixture block, 114, clamping plate, 115, grip block, 116, rotational pin, 117, spring；
121, pressing link block, 122, sensor mounting plate, 123, first sensor, 124, binder positioning component；
81, second sensor；
91, locking cylinder, 92, connecting pin, 93, flake connector, 94, turntable bar；
1241, positioning pin, 1242, washer, 1243, second spring, 1244, pressing sleeve, 1245, backing pin.
Specific implementation mode
For the technology contents of technical solution, construction feature, the objects and the effects are described in detail, below in conjunction with specific reality
It applies example and attached drawing is coordinated to be explained in detail.
It please refers to Fig.1, shown in Fig. 2, Fig. 6 and Fig. 7, for the schematic diagram of a preferably embodiment of the invention, inside and outside same aligning mechanical
Hand, it includes connecting pole 1, bottom plate 2, bearing 3, backing plate 4, rotor plate 5, cylinder mounting column 6, cylinder mounting plate 7, bikini clamping jaw
8, cylinder driving mechanism 9, limited block 10, big clamping jaw 11 and pressing mechanism 12.The connecting pole 1 is fixedly connected with 2 upper end of bottom plate,
2 lower end of bottom plate is fixedly connected with cylinder mounting column 6, and cylinder mounting column 6 is arranged with bearing 3, backing plate 4 and rotation successively from top to bottom
The periphery of plate 5, the bearing 3 is fixedly connected with bottom plate 2, and the inner ring of bearing 3 is fixedly connected with backing plate 4, backing plate 4 and rotor plate 5
It is fixedly connected, the cylinder mounting plate 7 is fixedly connected with cylinder mounting column 6, and bikini clamping jaw 8 is fixedly mounted on cylinder mounting plate
On 7.
The limited block 10 is fixed on a base plate 2, and 9 one end of cylinder driving mechanism is connect with bottom plate 2, the other end and rotor plate
5 connections, the big clamping jaw 11 are connect with bottom plate 2.
The big clamping jaw 11 include sliding rail 111, sliding block 112, fixture block 113, clamping plate 114, grip block 115, rotational pin 116,
Spring 117, the sliding rail 111 are fixed on 2 lower end of bottom plate, and sliding rail 111 is slidably connected with sliding block 112, and sliding block 112 is fixed on fixture block
113 upper surfaces, clamping plate 114 are fixed on the lower surface with fixture block 113, and 113 one end of fixture block is connect with rotor plate 5, fixture block 113 with turn
Movable plate clamping plate 114 is connect by rotational pin 116 with grip block 115, and there are two the first springs 117, each first spring, 117 one end
It is connect with clamping plate 114, the other end is connect with grip block 115.
The embodiment pressing mechanism 12 is fixed on a base plate 2, and the pressing mechanism 12 includes pressing link block 121 and binder
Positioning component 124, the pressing link block 121 are fixed on a base plate 2, and binder positioning component 124 is fixed on pressing link block 121
On.
The pressing mechanism 12 of the embodiment further includes sensor mounting plate 122 and first sensor 123, the sensor peace
Loading board 122 is fixed on pressing link block 121, and first sensor 123 is arranged on sensor mounting plate 122.
The embodiment further includes second sensor 81, and the small clamping jaw in bikini clamping jaw 8 is arranged in the second sensor 81
On.
Shown in Fig. 4 and Fig. 5, the respectively schematic diagram and sectional view of binder positioning component, the binder positioning component
124 include positioning pin 1241, washer 1242, second spring 1243, pressing sleeve 1244 and backing pin 1245, and the pressing sleeve 1224 passes through gear
Pin 1245 is connect with positioning pin 1241, and second spring 1243 is set on positioning pin 1241, and the setting of the washer 1242 is positioning
1241 top of pin, the positioning pin 1241 are connect with pressing link block 121.Second is equipped between pressing sleeve 1224 and positioning pin 1241
Spring 1243, therefore pressing sleeve 1224 can do certain up and down motion relative to positioning pin 1241.
As shown in fig.3, for the schematic diagram of cylinder driving mechanism, cylinder driving mechanism 9 includes locking cylinder 91, connecting pin
92, flake connector 93 and turntable bar 94,91 one end of the locking cylinder are connect with connecting pin 92, and the other end connects with flake connector 93
It connects, the eye of flake connector 93 is connect with turntable bar 94.
The cylinder driving mechanism 9 of the embodiment, limited block 10, big clamping jaw 11 and pressing mechanism 12 quantity be 3, bottom
There are three extension boards for plate 2, and three big clamping jaw 11 and pressing mechanism 12 are fixed on the extension board of bottom plate 2.
The outer ring of bearing 3 is fixedly connected with bottom plate 2, and the inner ring of bearing 3 is fixedly connected with backing plate 4,
Cylinder driving mechanism 9 is for driving rotor plate 5 to be rotated relative to bottom plate 2, due to the turntable bar of cylinder driving mechanism 9
94 are located in limited block 10, therefore limited block 10 can limit the rotational angle that cylinder driving mechanism 9 drives rotor plate 5.5 band of rotor plate
Dynamic fixture block 113 moves, and sliding block 112 is fixed on fixture block 113 so that sliding block 112 is moved relative to sliding rail 111, so as to adjust folder
Position of the plate 114 relative to the second part 14 realizes that grip block 115 is contacted or detached with the second part 14.
The connecting pole 1 of the embodiment is connect with mechanical arm, and mechanical arm drives the inside and outside concentric manipulator to be moved to specific bit
It sets, big clamping jaw 11 is for capturing the second part 14, and bikini clamping jaw 8 is for capturing the first part 13.Big clamping jaw 11 is in crawl the
When two part 14, sliding block 112 is moved relative to sliding rail 111 so that the grip block 115 of big clamping jaw 14 touches the second part
14, since the outer surface of the second part 14 is the inclined-plane for having certain radian, grip block 115 can be rotated relative to clamping plate 114 so that
Grip block 115 is tilted a certain angle, and is bonded completely with the inclined-plane of the second part 14, and grip block 115 and the second part 14 are increased
Contact area prevents the second part 14 in moving process from falling.The special designing of the three big clamping jaw of the embodiment 11, Neng Goushi
The existing three big synchronization of clamping jaw 11, it is ensured that the second part 14 is against the center of circle of bottom plate.
After big clamping jaw 11 clamps the second part 14, the pressing sleeve 1224 of pressing mechanism 12 and the upper surface of the second part 14 connect
It touches, three pressing mechanisms 12 can flatten the second part 14, and the binder positioning component 124 of each pressing mechanism 12 is respectively provided with the
One sensor 123, the part that first sensor 123 is used to detect clamping whether there is, are crooked.
Grip block 115 on big clamping jaw 11 can floating rotating, adapt to the angle of different parts, big clamping jaw 11 and pin pressing machine
Structure 12 matches, and can capture the part of different-thickness, different-diameter.
Bikini clamping jaw 8 and bottom plate 2 be it is concentric install, bikini clamping jaw 8 is for being clamped the first part 13, the first part 13
It is concentric with bikini clamping jaw 8.The design of the embodiment can not only capture the first part 13 and the second part 14 simultaneously, and
So that the first part 13 and the second part 14 are concentric.Second sensor 81 on the embodiment bikini clamping jaw 8 is for detecting
Whether first part 13 is caught.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, term " including ", " including " or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or terminal device including a series of elements include not only those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or end
The intrinsic element of end equipment.In the absence of more restrictions, being limited by sentence " including ... " or " including ... "
Element, it is not excluded that there is also other elements in process, method, article or the terminal device including the element.This
Outside, herein, " being more than ", " being less than ", " being more than " etc. are interpreted as not including this number；" above ", " following ", " within " equal understanding
It includes this number to be.
Although the various embodiments described above are described, once a person skilled in the art knows basic wounds
The property made concept, then additional changes and modifications can be made to these embodiments, so example the above is only the implementation of the present invention,
It is not intended to limit the scope of patent protection of the present invention, it is every to utilize equivalent structure made by description of the invention and accompanying drawing content
Or equivalent process transformation, it is applied directly or indirectly in other relevant technical fields, the patent for being similarly included in the present invention
Within protection domain.
Claims (7)
- Concentric manipulator inside and outside 1., it is characterised in that：It includes connecting pole (1), bottom plate (2), bearing (3), backing plate (4), rotation Plate (5), cylinder mounting column (6), cylinder mounting plate (7), bikini clamping jaw (8), cylinder driving mechanism (9), limited block (10) and Big clamping jaw (11), the connecting pole (1) are fixedly connected with bottom plate (2) upper end, and bottom plate (2) lower end is fixed with cylinder mounting column (6) Connection, cylinder mounting column (6) are arranged with bearing (3), backing plate (4) and rotor plate (5) successively from top to bottom, the bearing (3) Outer ring is fixedly connected with bottom plate (2), and the inner ring of bearing (3) is fixedly connected with backing plate (4), backing plate (4) and the fixed company of rotor plate (5) It connects, the cylinder mounting plate (7) is fixedly connected with cylinder mounting column (6), and bikini clamping jaw (8) is fixedly mounted on cylinder mounting plate (7) on；The limited block (10) is fixed on bottom plate (2), and cylinder driving mechanism (9) one end is connect with bottom plate (2), the other end with turn Movable plate (5) connects, and the big clamping jaw (11) connect with bottom plate (2)；The big clamping jaw (11) includes sliding rail (111), sliding block (112), fixture block (113), clamping plate (114), grip block (115), turns Dynamic pin (116), spring (117), the sliding rail (111) are fixed on bottom plate (2) lower end sliding rail (111) and connect with sliding block (112) sliding It connects, sliding block (112) is fixed on fixture block (113) upper surface, and clamping plate (114) is fixed on and the lower surface of fixture block (113), fixture block (113) one end is connect with rotor plate (5), and clamping plate (114) is connect by rotational pin (116) with grip block (115), first bullet Spring (117) one end is connect with clamping plate (114), and the other end is connect with grip block (115).
- 2. inside and outside concentric manipulator as described in claim 1, it is characterised in that：Further include pressing mechanism (12), the pin pressing machine Structure (12) is fixed on bottom plate (2), and the pressing mechanism (12) includes pressing link block (121) and binder positioning component (124), The pressing link block (121) is fixed on bottom plate (2), and binder positioning component (124) is fixed on pressing link block (121).
- 3. inside and outside concentric manipulator as claimed in claim 2, it is characterised in that：Further include sensor mounting plate (122) and first Sensor (123), the sensor mounting plate (122) are fixed on pressing link block (121), first sensor (123) setting On sensor mounting plate (122).
- 4. inside and outside concentric manipulator as claimed in claim 2, it is characterised in that：The binder positioning component (124) includes positioning Pin (1241), washer (1242), second spring (1243), pressing sleeve (1244) and backing pin (1245), the pressing sleeve (1224) pass through Backing pin (1245) is connect with positioning pin (1241), and second spring (1243) is set on positioning pin (1241), the washer (1242) it is arranged on positioning pin (1241) top, the positioning pin (1241) connect with pressing link block (121).
- 5. inside and outside concentric manipulator as described in claim 1, it is characterised in that：The cylinder driving mechanism (9) includes locking gas Cylinder (91), connecting pin (92), flake connector (93) and turntable bar (94), described locking cylinder (91) one end connect with connecting pin (92) It connects, the other end is connect with flake connector (93), and the eye of flake connector (93) is connect with turntable bar (94).
- 6. inside and outside concentric manipulator as described in claim 1, it is characterised in that：There are two first springs (117).
- 7. inside and outside concentric manipulator as described in claim 1, it is characterised in that：Further include second sensor (81), described second Sensor (81) is arranged on the small clamping jaw of bikini clamping jaw (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810335787.5A CN108527431B (en) | 2018-04-13 | 2018-04-13 | Internal and external concentric manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810335787.5A CN108527431B (en) | 2018-04-13 | 2018-04-13 | Internal and external concentric manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108527431A true CN108527431A (en) | 2018-09-14 |
| CN108527431B CN108527431B (en) | 2021-09-03 |
Family
ID=63481173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810335787.5A Active CN108527431B (en) | 2018-04-13 | 2018-04-13 | Internal and external concentric manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108527431B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048962A (en) * | 2018-09-25 | 2018-12-21 | 苏州富强科技有限公司 | Clamp structure and manipulator |
| CN109998205A (en) * | 2019-01-24 | 2019-07-12 | 湖南海擎智能科技有限责任公司 | A kind of button upper cover grabs lid manipulator |
| CN110027901A (en) * | 2019-04-29 | 2019-07-19 | 中国工程物理研究院化工材料研究所 | A kind of flexible holding device for more dimensions explosives |
| CN110788878A (en) * | 2019-12-03 | 2020-02-14 | 无锡奥普特自动化技术有限公司 | Lens clamping device |
| CN114161394A (en) * | 2019-03-14 | 2022-03-11 | 牧今科技 | Robot system with steering mechanism and method of operating the same |
| CN114715662A (en) * | 2022-03-15 | 2022-07-08 | 成都晶宝时频技术股份有限公司 | Automatic material turning device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104985605A (en) * | 2015-06-24 | 2015-10-21 | 东莞市天美新自动化设备有限公司 | Water heater inner container mixed production type robot automatic and concentric grasping paw |
-
2018
- 2018-04-13 CN CN201810335787.5A patent/CN108527431B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104985605A (en) * | 2015-06-24 | 2015-10-21 | 东莞市天美新自动化设备有限公司 | Water heater inner container mixed production type robot automatic and concentric grasping paw |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048962A (en) * | 2018-09-25 | 2018-12-21 | 苏州富强科技有限公司 | Clamp structure and manipulator |
| CN109998205A (en) * | 2019-01-24 | 2019-07-12 | 湖南海擎智能科技有限责任公司 | A kind of button upper cover grabs lid manipulator |
| CN109998205B (en) * | 2019-01-24 | 2021-05-18 | 湖南海擎智能科技有限责任公司 | Button upper cover grabbing mechanical arm |
| CN114161394A (en) * | 2019-03-14 | 2022-03-11 | 牧今科技 | Robot system with steering mechanism and method of operating the same |
| CN110027901A (en) * | 2019-04-29 | 2019-07-19 | 中国工程物理研究院化工材料研究所 | A kind of flexible holding device for more dimensions explosives |
| CN110788878A (en) * | 2019-12-03 | 2020-02-14 | 无锡奥普特自动化技术有限公司 | Lens clamping device |
| CN114715662A (en) * | 2022-03-15 | 2022-07-08 | 成都晶宝时频技术股份有限公司 | Automatic material turning device |
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| Publication number | Publication date |
|---|---|
| CN108527431B (en) | 2021-09-03 |
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Effective date of registration: 20221213 Address after: 215000 # 2 Workshop, No. 5, Weixi Road, Suzhou Industrial Park, Suzhou, Jiangsu Province (the address is not allowed to engage in retail) Patentee after: Suzhou shenchuang Automation Technology Co.,Ltd. Address before: 233500 112, Jikang Middle Road, Lengjian community, Mengcheng County, Bozhou City, Anhui Province Patentee before: BOZHOU KEDAHUI AUTOMATION TECHNOLOGY CO.,LTD. |