CN110593587B - Automatic change system of building a wall - Google Patents
Automatic change system of building a wall Download PDFInfo
- Publication number
- CN110593587B CN110593587B CN201910900416.1A CN201910900416A CN110593587B CN 110593587 B CN110593587 B CN 110593587B CN 201910900416 A CN201910900416 A CN 201910900416A CN 110593587 B CN110593587 B CN 110593587B
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- Prior art keywords
- frame
- cross beam
- clamping
- translation
- length direction
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- 230000008859 change Effects 0.000 title description 2
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 239000004570 mortar (masonry) Substances 0.000 claims description 36
- 239000000463 material Substances 0.000 claims description 12
- 238000007790 scraping Methods 0.000 claims description 10
- 238000010276 construction Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/20—Tools or apparatus for applying mortar
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention relates to an automatic wall building system, which comprises a cross beam (2) horizontally erected on the ground through a stand column (1), wherein a transverse moving frame (3) moving along the length direction of the cross beam is arranged on the cross beam (2), a longitudinal beam (4) is vertically arranged on the transverse moving frame (3), and a lifting frame (5) is arranged on the longitudinal beam (4) along the length direction of the longitudinal beam; a translation frame (6) is horizontally arranged on the lifting frame (5) in a moving way, and the moving direction of the translation frame (6) is perpendicular to the length direction of the cross beam (2); the translation frame (6) is provided with a clamping mechanism (8) driven by a rotating mechanism (7). The automatic wall building system is simple in structure, convenient to operate and higher in reliability.
Description
Technical Field
The invention relates to an automatic wall building system based on mechanized equipment, and belongs to the technical field of building equipment.
Background
At present, in the field of building masonry construction, building blocks are manually built into walls to realize isolation of indoor space; the construction operation with high labor intensity is realized, and particularly, with the improvement of the construction process, the building structure of the present day needs to adopt larger building blocks to construct the wall after the concrete frame is completed, so that the construction operation can consume more labor force of workers, and with the rising of the wall body in the wall construction process, the building blocks need to be manually lifted up to the scaffold, and the labor consumption of workers for auxiliary operation is also extremely high; meanwhile, along with the increasing shortage of labor resources in China, new-generation laborers are generally reluctant to engage in building operations with strong physical labor, so that the masonry industry is used as a building operation with extremely high technical and physical requirements, and faces huge manpower gaps.
Therefore, enterprises develop an automatic wall-building robot to replace manual operation, such as a wall-building robot disclosed in China patent 201410381613.4, which can grasp building blocks and perform plastering operation, but has a complex overall structure, various auxiliary facilities are needed for matching, and plastering adopts a grouting mode, so that plastering is not uniform enough, and wall-building effect is affected; meanwhile, the robot mode is adopted for operation, the structure is complex, the whole control program is more complicated, and higher requirements are also put on the identification of the building blocks, so that the problems of high price and reliability to be improved exist for site construction.
Disclosure of Invention
The invention aims to overcome the defects and provide an automatic wall building system which is simple in structure, convenient to operate and higher in reliability.
The purpose of the invention is realized in the following way:
an automatic wall building system comprises a cross beam horizontally erected on the ground through a stand column, wherein a transverse moving frame moving along the length direction of the cross beam is arranged on the cross beam, a longitudinal beam is vertically arranged on the transverse moving frame, and a lifting frame is arranged on the longitudinal beam along the length direction of the longitudinal beam; the lifting frame is horizontally movably provided with a translation frame, and the moving direction of the translation frame is vertical to the length direction of the cross beam; the translation frame is provided with a clamping mechanism driven by a rotating mechanism;
the clamping mechanism comprises a clamping support frame, the rotating mechanism drives the clamping support frame to rotate, a clamping plate I is fixedly arranged at one end of the clamping support frame, a clamping driving mechanism is arranged at the other end of the clamping support frame, a clamping screw rod which is driven to rotate by the clamping driving mechanism is arranged along the length direction of the clamping support frame, a clamping plate II is sleeved on the clamping screw rod in a rotating mode, and the clamping plate I and the clamping plate II are arranged in a parallel mode.
The invention relates to an automatic wall building system, wherein a longitudinal beam is arranged on a transverse moving frame in a vertical sliding manner.
The invention relates to an automatic wall building system, wherein one side of a longitudinal beam is vertically and parallelly provided with a through long rack and a guide rail I along the length direction of the longitudinal beam, the other side of the longitudinal beam is vertically and parallelly provided with the through long rack and a guide rail II along the length direction of the longitudinal beam, and a motor-driven gear fixedly arranged on a transverse moving frame is meshed with the rack in the rack and the guide rail I; and a motor-driven gear fixedly arranged on the lifting frame is meshed with the rack and the rack in the second guide rail.
The invention relates to an automatic wall building system, wherein a translation rack and a guide rail are arranged on a cross beam along the length direction of the cross beam in a through way, and a translation motor driving gear fixedly arranged on the translation frame is meshed with racks in the translation rack and the guide rail.
The invention relates to an automatic wall building system, wherein a cross beam is of a sectional structure of at least two sections, and two adjacent sections are hinged with each other.
The invention relates to an automatic wall building system, wherein a translation screw driven by a driving mechanism and a guide piece arranged in parallel with the translation screw are arranged on a lifting frame, the translation frame is rotatably arranged on the translation screw, and the translation frame is arranged on the guide piece in a sliding manner.
The invention relates to an automatic wall building system, wherein a block conveying belt is arranged beside a beam, and the running direction of the block conveying belt is perpendicular to the length direction of the beam.
The invention discloses an automatic wall building system, wherein a plastering machine is arranged beside a block conveying belt, the plastering machine comprises a mortar storage mechanism and a mortar smearing mechanism, the mortar storage mechanism comprises a mortar storage tank arranged on a bracket I, a material conveying pump is arranged at a bottom discharge hole of the mortar storage tank, and a material outlet of the material conveying pump is connected with a material conveying pipe;
The mortar smearing mechanism comprises a strut vertically arranged on a second support, a cross beam is transversely arranged on the upper portion of the strut, a mortar smearing head is arranged on the free end of the cross beam, a conveying pipe is fixedly arranged on the cross beam through a supporting hoop, the mortar smearing head comprises a mortar smearing head body, the conveying pipe is communicated into a cavity of the mortar smearing head body, a strip-shaped outlet of the mortar smearing head body is vertically downward, a scraping plate is attached to the outer wall of the strip-shaped outlet of the mortar smearing head body, and the lower bottom surface of the scraping plate is provided with a saw-tooth structure.
The invention discloses an automatic wall building system, wherein two side baffles are symmetrically arranged on the outer wall of an outlet of a plastering head body, a baffle is connected between the two side baffles, and a socket groove for inserting a scraping plate is formed by the side baffles, the baffle and the outer wall of the plastering head body.
Compared with the prior art, the invention has the beneficial effects that:
The invention adopts the truss structure to operate, so that the whole structure is simpler, the triaxial movement control process is more convenient and reliable, and the full-mechanized automatic operation is realized by matching with a plastering machine, thereby greatly improving the wall building effect.
Drawings
FIG. 1 is a front view of an automated walling system according to the present invention.
Fig. 2 is a side view of an automated walling system according to the present invention.
Fig. 3 is a top view of an automated walling system according to the present invention.
Fig. 4 is an enlarged view of a portion of fig. 3 of an automated walling system in accordance with the present invention.
Fig. 5 is a schematic structural view of the plastering machine in the invention.
Fig. 6 is a schematic structural view of the plastering head in the invention.
Fig. 7 is a side view of the plastering head according to the invention.
Fig. 8 is a top view of a screed according to the present invention.
Fig. 9 is a schematic structural view of another embodiment of the scraper of the present invention.
Wherein:
The device comprises an upright post 1, a cross beam 2, a transverse moving frame 3, a longitudinal beam 4, a lifting frame 5, a translation frame 6, a rotating mechanism 7, a clamping mechanism 8 and an electric cabinet 9;
translating the rack and the guide rail 2.1;
Rack and guide rail one 4.1, rack and guide rail two 4.2;
8.1 of a clamping support frame, 8.2 of a clamping driving mechanism, 8.3 of a clamping plate I, 8.4 of a clamping screw rod and 8.5 of a clamping plate II;
the mortar conveying device comprises a first bracket 101, a mortar storage tank 102, a conveying pump 103 and a conveying pipe 104;
bracket two 201, support 202, cross beam 203, support hoop 204 and plastering head 205
A plastering head body 205.1, a scraping plate 205.2, a side baffle 205.3 and a baffle 205.4.
Detailed Description
Referring to fig. 1-4, the automatic wall building system comprises a cross beam 2 horizontally erected on the ground through a stand column 1, wherein a transverse moving frame 3 moving along the length direction of the cross beam 2 is arranged on the cross beam 2, a longitudinal beam 4 is vertically arranged on the transverse moving frame 3, and a lifting frame 5 is arranged on the longitudinal beam 4 in a vertically sliding manner; a translation frame 6 is horizontally arranged on the lifting frame 5 in a moving way, and the moving direction of the translation frame 6 is vertical to the length direction of the cross beam 2; the translation frame 6 is provided with a clamping mechanism 8 driven by a rotating mechanism 7;
The clamping mechanism 8 comprises a clamping support frame 8.1, the rotating mechanism 7 drives the clamping support frame 8.1 to rotate, a clamping plate I8.3 is fixedly arranged at one end of the clamping support frame 8.1, a clamping driving mechanism 8.2 is arranged at the other end of the clamping support frame, a clamping screw rod 8.4 which is driven to rotate by the clamping driving mechanism 8.2 is arranged along the length direction of the clamping support frame 8.1, a clamping plate II 8.5 is rotatably sleeved on the clamping screw rod 8.4, and the clamping plate I8.3 and the clamping plate II 8.5 are arranged in parallel;
Further, the longitudinal beam 4 is arranged on the transverse moving frame 3 in a vertical sliding manner; preferably, one side of the longitudinal beam 4 is vertically and parallelly provided with a through long rack and a guide rail I4.1 along the length direction, the other side of the longitudinal beam 4 is vertically and parallelly provided with a through long rack and a guide rail II 4.2 along the length direction, and a motor-driven gear fixedly arranged on the transverse moving frame 3 is meshed with the rack in the rack and the guide rail I4.1; the gear driven by the motor fixedly arranged on the lifting frame 5 is meshed with the rack and the rack in the second guide rail 4.2; preferably, the traversing frame 3 is provided with guide wheels which are in rolling contact with the outer surface of the longitudinal beam 4 along the length direction of the longitudinal beam 4, and the lifting frame 5 is provided with guide wheels which walk on the outer surface of the longitudinal beam 4 along the length direction of the longitudinal beam 4;
Further, a block conveying belt and a plastering machine are arranged beside the cross beam 2, and the running direction of the block conveying belt is perpendicular to the length direction of the cross beam 2;
Referring to fig. 5-9, the plastering machine comprises a mortar storage mechanism and a mortar smearing mechanism, wherein the mortar storage mechanism comprises a mortar storage tank 102 arranged on a first bracket 101, a material conveying pump 103 is arranged at a bottom discharge hole of the mortar storage tank 102, and a material outlet of the material conveying pump 103 is connected with a material conveying pipe 104;
The mortar smearing mechanism comprises a support column 202 vertically arranged on a support frame II 201, a cross beam 203 is transversely arranged at the upper part of the support column 202, a mortar smearing head 205 is arranged at the free end of the cross beam 203, a conveying pipe 104 is fixedly arranged on the cross beam 203 through a supporting hoop 204, the mortar smearing head comprises a mortar smearing head body 205.1, the conveying pipe 104 is communicated into a cavity of the mortar smearing head body 205.1, a strip-shaped outlet of the mortar smearing head body 205.1 is vertically downward, a scraping plate 205.2 is attached to the outer wall of the strip-shaped outlet of the mortar smearing head body 205.1, and the lower bottom surface of the scraping plate 205.2 is provided with a sawtooth-shaped structure;
Further, an electric cabinet 9 is attached to the upright post 1, and travelling wheels are arranged at the bottoms of the upright post 1 and the electric cabinet 9;
Further, a translation rack and a guide rail 2.1 are arranged on the cross beam 2 along the length direction of the cross beam, and a translation motor driving gear fixedly arranged on the transverse frame 3 is meshed with the translation rack and the rack in the guide rail 2.1; preferably, the transverse moving frame 3 is provided with guide wheels which walk on the outer surface of the cross beam 2 along the length direction of the cross beam 2;
Furthermore, the cross beam 2 is of a sectional structure with at least two sections, and the two adjacent sections are mutually hinged, so that folding and transferring construction is facilitated;
Further, the lifting frame 5 is provided with a translation screw driven by a driving mechanism and a guide piece arranged in parallel with the translation screw, the translation frame 6 is rotatably arranged on the translation screw, and the translation frame 6 is slidably arranged on the guide piece, so that the translation frame 6 is driven to horizontally move back and forth through the translation screw;
Further, a first guide piece arranged on the clamping support frame 8.1 is arranged in parallel with the clamping screw rod 8.4, and the second clamping plate 8.5 slides along the guide piece, so that the positioning function is realized through the guide piece;
Further, the clamping driving mechanism 8.2 is arranged on the side surface of the clamping support frame 8.1, and the clamping driving mechanism 8.2 drives a clamping screw rod 8.4 which forms an included angle of 90 degrees with the clamping screw rod horizontally through a gear pair;
Furthermore, the opposite surfaces of the first clamping plate 8.3 and the second clamping plate 8.5 are provided with wear-resistant rubber blocks through bolts, so that the wear-resistant rubber blocks are convenient to replace, the friction force is improved, and the wear-resistant rubber blocks are more suitable for large-scale building blocks;
further, two side baffles 205.3 are symmetrically disposed on the outer wall of the outlet of the plastering head body 205.1, a baffle 205.4 is connected between the two side baffles 205.3, and a socket slot for inserting the scraping plate 205.2 is formed by the side baffles 205.3, the baffle 205.4 and the outer wall of the plastering head body 205.1.
In addition: it should be noted that the above embodiment is only one of the optimization schemes of this patent, and any modification or improvement made by those skilled in the art according to the above concepts is within the scope of this patent.
Claims (4)
1. An automated wall building system, characterized by: the system comprises a cross beam (2) horizontally erected on the ground through a stand column (1), wherein a transverse moving frame (3) moving along the length direction of the cross beam is arranged on the cross beam (2), a longitudinal beam (4) is vertically arranged on the transverse moving frame (3), and a lifting frame (5) is arranged on the longitudinal beam (4) in a moving manner along the length direction of the longitudinal beam; a translation frame (6) is horizontally arranged on the lifting frame (5) in a moving way, and the moving direction of the translation frame (6) is perpendicular to the length direction of the cross beam (2); the translation frame (6) is provided with a clamping mechanism (8) driven by a rotating mechanism (7); the clamping mechanism (8) comprises a clamping support frame (8.1), the rotating mechanism (7) drives the clamping support frame (8.1) to rotate, a clamping plate I (8.3) is fixedly arranged at one end of the clamping support frame (8.1), a clamping driving mechanism (8.2) is arranged at the other end of the clamping support frame, a clamping screw (8.4) which is driven to rotate by the clamping driving mechanism (8.2) is arranged along the length direction of the clamping support frame (8.1), a clamping plate II (8.5) is rotatably sleeved on the clamping screw (8.4), and the clamping plate I (8.3) and the clamping plate II (8.5) are arranged in parallel;
The longitudinal beam (4) is arranged on the transverse moving frame (3) in a vertical sliding way; one side of the longitudinal beam (4) is vertically and parallelly provided with a through long rack and a guide rail I (4.1) along the length direction of the longitudinal beam, the other side of the longitudinal beam (4) is vertically and parallelly provided with a through long rack and a guide rail II (4.2) along the length direction of the longitudinal beam, and a motor-driven gear fixedly arranged on the transverse moving frame (3) is meshed with the rack in the rack and the guide rail I (4.1); a motor-driven gear fixedly arranged on the lifting frame (5) is meshed with the rack and the rack in the second guide rail (4.2); a translation rack and a guide rail (2.1) are arranged on the cross beam (2) along the length direction of the cross beam, and a translation motor driving gear fixedly arranged on the transverse frame (3) is meshed with the translation rack and the rack in the guide rail (2.1);
A block conveying belt is arranged beside the cross beam (2), and the running direction of the block conveying belt is perpendicular to the length direction of the cross beam (2); the mortar storage mechanism comprises a mortar storage tank (102) arranged on a first bracket (101), a material conveying pump (103) is arranged at a bottom discharge hole of the mortar storage tank (102), and a material outlet of the material conveying pump (103) is connected with a material conveying pipe (104); the mortar smearing mechanism comprises a support column (202) vertically arranged on a support frame II (201), a cross beam (203) is transversely arranged on the upper portion of the support column (202), a mortar smearing head (205) is arranged on the free end of the cross beam (203), a conveying pipe (104) is fixedly arranged on the cross beam (203) through a supporting hoop (204), the mortar smearing head comprises a mortar smearing head body (205.1), the conveying pipe (104) is communicated into a cavity of the mortar smearing head body (205.1), a strip-shaped outlet of the mortar smearing head body (205.1) is vertically downward, a scraping plate (205.2) is attached to the outer wall of the strip-shaped outlet of the mortar smearing head body (205.1), and the lower bottom surface of the scraping plate (205.2) is provided with a saw-tooth structure.
2. An automated walling system according to claim 1, wherein: the cross beam (2) is of a sectional structure of at least two sections, and two adjacent sections are hinged with each other.
3. An automated walling system according to claim 1, wherein: the lifting frame (5) is provided with a translation screw driven by a driving mechanism and a guide piece parallel to the translation screw, the translation frame (6) is rotatably arranged on the translation screw, and the translation frame (6) is slidably arranged on the guide piece.
4. An automated walling system according to claim 1, wherein: two side baffles (205.3) are symmetrically arranged on the outer wall of the outlet of the plastering head body (205.1), a baffle (205.4) is connected between the two side baffles (205.3), and the side baffles (205.3), the baffle (205.4) and the outer wall of the plastering head body (205.1) form a socket groove for inserting the scraping plate (205.2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910900416.1A CN110593587B (en) | 2019-09-23 | 2019-09-23 | Automatic change system of building a wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910900416.1A CN110593587B (en) | 2019-09-23 | 2019-09-23 | Automatic change system of building a wall |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110593587A CN110593587A (en) | 2019-12-20 |
| CN110593587B true CN110593587B (en) | 2024-08-20 |
Family
ID=68862489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910900416.1A Active CN110593587B (en) | 2019-09-23 | 2019-09-23 | Automatic change system of building a wall |
Country Status (1)
| Country | Link |
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| CN (1) | CN110593587B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113513180B (en) * | 2021-03-29 | 2022-12-27 | 浙江舜虞达环境科技集团有限公司 | Modular automatic wall building system of light composite wallboard |
| CN113175225B (en) * | 2021-05-08 | 2022-08-30 | 三一建筑机器人(西安)研究院有限公司 | Wallboard mounting robot, wallboard clamping and traversing device and using method thereof |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211597792U (en) * | 2019-09-23 | 2020-09-29 | 杭州自砌科技发展有限公司 | Automatic wall building system |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3722244A1 (en) * | 1987-07-06 | 1989-01-19 | Michael Hering | Apparatus for producing walls from masonrywork |
| DE8912853U1 (en) * | 1989-10-31 | 1990-01-18 | Greßbach Winden- und Maschinenbau GmbH, 8753 Obernburg | Device to facilitate the construction of walls |
| DE4028884C2 (en) * | 1990-09-12 | 1994-04-07 | Konrad Dipl Ing Hofmann | Device and method for producing vertical wall elements from masonry |
| KR100733731B1 (en) * | 2006-09-29 | 2007-07-03 | 박상수 | Construction equipment for masonry |
| CN204311765U (en) * | 2014-11-12 | 2015-05-06 | 张玉华 | A kind of collapsible wall-building machine |
| CN105178616B (en) * | 2015-06-05 | 2017-05-10 | 浙江机电职业技术学院 | Automatic wall-building machine |
| CN205894721U (en) * | 2016-05-30 | 2017-01-18 | 洛阳海特智能科技有限公司 | Wall building robot |
| CN107060356A (en) * | 2017-06-20 | 2017-08-18 | 郭霞进 | automatic wall building machine |
| CN206815871U (en) * | 2017-06-20 | 2017-12-29 | 郭霞进 | A kind of automatic wall building machine |
| CN109577665B (en) * | 2019-02-01 | 2024-04-26 | 重庆中渝固立智能科技有限公司 | Bricklaying machine |
| CN110094074B (en) * | 2019-06-04 | 2024-04-26 | 沈洋 | Wall body masonry robot system |
| CN110094073B (en) * | 2019-06-04 | 2024-04-26 | 沈洋 | Wall building mechanical claw |
-
2019
- 2019-09-23 CN CN201910900416.1A patent/CN110593587B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211597792U (en) * | 2019-09-23 | 2020-09-29 | 杭州自砌科技发展有限公司 | Automatic wall building system |
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Address after: 201800 room j3873, 1st floor, building 1, No. 1185, Huyi Road, Jiading District, Shanghai Applicant after: Shanghai Ziqi Technology Development Co.,Ltd. Address before: No.389, Hongxing Road, economic and Technological Development Zone, Xiaoshan District, Hangzhou City, Zhejiang Province Applicant before: Hangzhou self built Technology Development Co.,Ltd. |
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