CN111983976B - Robot milling and grinding control method, device and system for wind tunnel component - Google Patents
Robot milling and grinding control method, device and system for wind tunnel component Download PDFInfo
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- CN111983976B CN111983976B CN202010712735.2A CN202010712735A CN111983976B CN 111983976 B CN111983976 B CN 111983976B CN 202010712735 A CN202010712735 A CN 202010712735A CN 111983976 B CN111983976 B CN 111983976B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4147—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using a programmable interface controller [PIC]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35332—Use solid and wire frame plotting to display tool locus, workpiece
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Abstract
The invention relates to the technical field of robot machining, and particularly discloses a robot milling and grinding control method for a wind tunnel component, wherein the robot milling and grinding control method comprises the following steps: obtaining the molded surface measurement data of the wind tunnel component to be processed; acquiring relative position information of a robot tail end tool and a wind tunnel component to be processed; analyzing and processing according to preset material removal data, the profile measurement data and the relative position information to obtain track planning data of the robot; generating a robot processing control instruction according to the trajectory planning data of the robot; and sending the robot machining control command to a controller of the robot. The invention also discloses an upper computer, a control cabinet, a robot milling and grinding control device for the wind tunnel component and a robot milling and grinding system for the wind tunnel component. The robot milling and grinding control method for the wind tunnel component has the advantage of high processing efficiency.
Description
Technical Field
The invention relates to the technical field of robot machining, in particular to a robot milling and grinding control method for a wind tunnel component, an upper computer, a control cabinet, a robot milling and grinding control device for the wind tunnel component and a robot milling and grinding system for the wind tunnel component.
Background
Because large wind tunnel components have the characteristics of large volume, difficulty in moving, high positioning difficulty and the like, common machine tools cannot meet the processing requirements. For large wind tunnel and other components with complex structures which need to be prepared by field equipment, the special requirements such as poor accessibility of molded surfaces to be processed, high processing requirements and the like are met, the processing cannot be finished at one time under a fixed large-size coordinate system, and a common large machine tool cannot be simply and directly used on the wind tunnel field. At the present stage, only a manual handheld cutting machine and a grinding tool can be used for cutting and grinding, and the operation method has the advantages of high labor intensity, low efficiency and uneven quality.
Disclosure of Invention
The invention provides a robot milling and grinding control method for a wind tunnel component, an upper computer, a control cabinet, a robot milling and grinding control device for the wind tunnel component and a robot milling and grinding system for the wind tunnel component, and solves the problem that high-efficiency and high-quality cutting and grinding of large wind tunnel components cannot be realized in the related technology.
As a first aspect of the present invention, there is provided a robot milling and grinding control method for a wind tunnel component, comprising:
obtaining the molded surface measurement data of the wind tunnel component to be processed;
acquiring relative position information of a robot tail end tool and a wind tunnel component to be processed;
analyzing and processing according to preset material removal data, the profile measurement data and the relative position information to obtain track planning data of the robot;
generating a robot processing control instruction according to the trajectory planning data of the robot;
and sending the robot machining control command to a controller of the robot.
Further, the robot milling and grinding control method for the wind tunnel component further comprises the following steps after the step of sending the robot machining control command to the controller of the robot:
obtaining profile detection data of a robot after milling and grinding wind tunnel components to be processed;
analyzing whether the machining effect of the robot meets the machining requirement or not according to the profile detection data;
if the machining effect of the robot does not meet the machining requirement, the track planning data of the robot are obtained again according to the profile detection data;
generating a new robot processing control instruction by the obtained trajectory planning data of the robot;
and sending the new robot machining control command to a controller of the robot.
As another aspect of the present invention, there is provided a robot milling and grinding control method for a wind tunnel component, comprising:
acquiring a robot processing control instruction in a controller of a robot;
generating a robot motion control instruction according to the robot machining control instruction;
and sending the robot motion control instruction to a motion execution mechanism control unit.
Further, the motion control instructions of the robot comprise: the control system comprises a guide rail motion control instruction, an electric spindle and supporting equipment work control instruction thereof, a grinding tool and supporting equipment work control instruction thereof, a quick-change tool work control instruction and a gas circuit control instruction.
As another aspect of the present invention, there is provided an upper computer, which includes a memory and a processor, where the memory stores at least one program instruction, and the processor loads and executes the at least one program instruction to implement the robot milling and grinding control method for wind tunnel components as described above.
As another aspect of the present invention, a control cabinet is provided, wherein the control cabinet includes a PLC controller, the PLC controller includes a memory and a processor, the memory stores at least one program instruction, and the processor loads and executes the at least one program instruction to implement the robot milling and grinding control method for wind tunnel components as described above.
Further, the switch board still includes motion actuating mechanism control unit, motion actuating mechanism control unit with PLC controller communication connection, motion actuating mechanism control unit includes: the device comprises a guide rail control unit, an electric spindle and a matched device control unit thereof, a grinding tool and a matched device control unit thereof, a quick change tool control unit and an air circuit control unit.
As another aspect of the present invention, there is provided a robot milling and grinding control apparatus for a wind tunnel component, comprising: robot, the preamble the host computer with the preamble the switch board, the host computer with PLC controller in the switch board all with the controller communication connection of robot, the robot sets up on translation guide rail device, the robot can be according to the wind-tunnel component of treating processing is processed to the robot processing control command of host computer to and can be in according to the robot motion control command of PLC controller the translation guide rail device is gone up and is removed.
Further, when the control cabinet includes a motion actuator control unit, the motion actuator control unit includes a guide rail control unit, an electric spindle and a matching device control unit thereof, a grinding tool and a matching device control unit thereof, a quick-change tool control unit and an air path control unit, the robot milling and grinding control device for the wind tunnel component further includes a motion actuator, and the motion actuator includes: the automatic grinding machine comprises a servo motor, a lubricating device and a limit switch which are connected with a guide rail control unit, an electric spindle, a water cooling machine and a hydraulic station which are connected with the electric spindle and a matched device control unit thereof, an active eccentric grinding tool and a dust collector which are connected with a grinding tool and a matched device control unit thereof, and a quick-change device which is connected with the quick-change tool control unit.
As another aspect of the present invention, there is provided a system for robotic milling and grinding of wind tunnel components, comprising: visual detection device, laser tracker and the preceding robot that is arranged in wind-tunnel component mill and grinding controlling means, visual detection device with laser tracker all with a host computer communication connection among the robot that is arranged in wind-tunnel component mills and the grinding controlling means, visual detection device is used for gathering the profile measured data of waiting to process the wind-tunnel component, laser tracker is used for gathering the terminal instrument of robot and the relative position information of waiting to process the wind-tunnel component, the host computer is used for according to waiting to process the profile measured data of wind-tunnel component and the terminal instrument of robot and the relative position information generation robot processing control command of waiting to process the wind-tunnel component.
According to the robot milling and grinding control method for the wind tunnel component, provided by the invention, the molded surface measurement data of the wind tunnel component to be processed is obtained, the relative position information of the robot end tool and the wind tunnel component to be processed is obtained, the track planning data of the robot can be obtained according to the obtained data, and the track planning data is sent to the controller of the robot, so that the robot can be guided to execute milling and grinding operations according to the track planning data.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of a robot milling and grinding control device for wind tunnel components, provided by the invention.
Fig. 2 is a structural block diagram of the robot milling and grinding control device for the wind tunnel component provided by the invention.
FIG. 3 is a flow chart of an embodiment of a robot milling and grinding control method for wind tunnel components provided by the invention.
FIG. 4 is a flow chart of another embodiment of a method for robotic milling and grinding control of wind tunnel components provided by the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In order to improve grinding and cutting efficiency, in an embodiment of the present invention, a robot milling and grinding control device for wind tunnel components is provided, wherein, as shown in fig. 1, the robot milling and grinding control device comprises: robot 1, host computer 7 and switch board 5, host computer 7 with PLC controller in the switch board 5 all with robot 1's controller communication connection, robot 1 sets up on translation guide rail device 3, robot 1 can be according to the wind-tunnel component of treating processing is processed to the robot processing control command of host computer 7 to and can be in according to the robot motion control command of PLC controller move on translation guide rail device 3.
As a specific implementation manner of the control cabinet, as shown in fig. 2, the control cabinet further includes a motion actuator control unit, the motion actuator control unit is in communication connection with the PLC controller, and the motion actuator control unit includes: the device comprises a guide rail control unit, an electric spindle and a matched device control unit thereof, a grinding tool and a matched device control unit thereof, a quick change tool control unit and an air circuit control unit.
As shown in fig. 1 and 2, when the control cabinet includes a motion actuator control unit, the motion actuator control unit includes a guide rail control unit, an electric spindle and a matching device control unit thereof, a grinding tool and a matching device control unit thereof, a quick-change tool control unit and an air path control unit, the robot milling and grinding control device for wind tunnel components further includes a motion actuator, and the motion actuator includes: the automatic grinding machine comprises a servo motor, a lubricating device and a limit switch which are connected with a guide rail control unit, an electric spindle, a water cooling machine 6 and a hydraulic station 4 which are connected with the electric spindle and a corollary equipment control unit thereof, an active eccentric grinding tool (FERROBOTICS AOK) and a dust collector which are connected with a grinding tool and the corollary equipment control unit thereof, and a quick-change device 8 which is connected with the quick-change tool control unit.
It should be noted that the robot milling and grinding control device for the wind tunnel component further comprises a tail end processing tool bracket 2, wherein the translation guide rail device 3 realizes that the robot moves back and forth on the guide rail; the hydraulic station 4 and the water cooler 6 are auxiliary matching devices for milling the electric spindle and are used for replacing a cutter of the electric spindle and cooling the electric spindle; the end tooling is gripped or replaced from the end tooling holder 2 using the quick change device 8. The upper computer 7 is communicated with the robot 1, the robot 1 is communicated with a PLC (programmable logic controller) in the control cabinet 5, and transmission and feedback of control parameters between the upper computer 7 and the PLC are realized.
The robot milling and grinding control device for the wind tunnel component provided by the embodiment of the invention realizes the milling and grinding process as follows:
and integrally measuring the rib plates of the contraction section of the wind tunnel component to be processed to determine the removal amount of the materials of each part.
And clamping a rough milling cutter by using the robot 1 to perform rough milling on the area with large material removal amount in the rib plate of the contraction section.
And measuring and detecting the area after rough milling, if the area with large material removal amount still exists, performing rough milling again on the area, and otherwise, turning to the next procedure.
The robot 1 automatically changes the finish milling cutter using the tool quick change device 8.
And (3) carrying out finish milling on the area with slightly large material removal amount in the rib plate of the contraction section by adopting a robot 1 to clamp a finish milling cutter.
And measuring and detecting the area after finish milling, if the area with larger material removal amount still exists, carrying out finish milling again on the area, and otherwise, turning to the next procedure.
The robot 1 automatically changes the grinding tool using the tool quick-change device 8.
And (4) carrying out robot grinding processing on the whole rib plate of the contraction section.
And (4) measuring the whole rib plate at the contraction section, detecting the surface roughness and the surface smoothness of the rib plate, and returning to grind again if areas with larger surface roughness, obvious step difference/tool marks and the like exist.
As another embodiment of the present invention, a system for robotic milling and grinding of wind tunnel components is provided, comprising: visual detection device, laser tracker and the preceding robot that is arranged in wind-tunnel component mill and grinding controlling means, visual detection device with laser tracker all with a host computer communication connection among the robot that is arranged in wind-tunnel component mills and the grinding controlling means, visual detection device is used for gathering the profile measured data of waiting to process the wind-tunnel component, laser tracker is used for gathering the terminal instrument of robot and the relative position information of waiting to process the wind-tunnel component, the host computer is used for according to waiting to process the profile measured data of wind-tunnel component and the terminal instrument of robot and the relative position information generation robot processing control command of waiting to process the wind-tunnel component.
As a specific implementation manner of the upper computer, the upper computer comprises a memory and a processor, at least one program instruction is stored in the memory, and the processor is used for realizing the robot milling and grinding control method for the wind tunnel component by loading and executing the at least one program instruction.
The robot milling and grinding control method for wind tunnel components performed by the upper computer is described below with reference to fig. 3.
In the present embodiment, a method for controlling robot milling and grinding of a wind tunnel component is provided, and fig. 3 is a flowchart of a method for controlling robot milling and grinding of a wind tunnel component according to an embodiment of the present invention, as shown in fig. 3, including:
s310, obtaining molded surface measurement data of the wind tunnel component to be processed;
s320, acquiring relative position information of a robot tail end tool and a wind tunnel component to be processed;
s330, analyzing and processing according to preset material removal data, the profile measurement data and the relative position information to obtain track planning data of the robot;
s340, generating a robot machining control command according to the trajectory planning data of the robot;
and S350, sending the robot machining control command to a controller of the robot.
According to the robot milling and grinding control method for the wind tunnel component, provided by the embodiment of the invention, by acquiring the profile measurement data of the wind tunnel component to be processed and the relative position information of the tail end tool of the robot and the wind tunnel component to be processed, the trajectory planning data of the robot can be obtained according to the acquired data, and the trajectory planning data is sent to the controller of the robot, so that the robot can be guided to execute milling and grinding operations according to the trajectory planning data.
Specifically, the robot milling and grinding control method for the wind tunnel component further comprises the following steps after the step of sending the robot machining control command to a controller of the robot:
obtaining profile detection data of a robot after milling and grinding wind tunnel components to be processed;
analyzing whether the machining effect of the robot meets the machining requirement or not according to the profile detection data;
if the machining effect of the robot does not meet the machining requirement, the track planning data of the robot are obtained again according to the profile detection data;
generating a new robot processing control instruction by the obtained trajectory planning data of the robot;
and sending the new robot machining control command to a controller of the robot.
The control cabinet comprises a PLC controller, wherein the PLC controller comprises a memory and a processor, at least one program instruction is stored in the memory, and the processor loads and executes the at least one program instruction to realize the robot milling and grinding control method for the wind tunnel component.
The robot milling and grinding control method for wind tunnel components performed by the PLC controller is described below with reference to fig. 4. As another embodiment of the present invention, there is provided a robot milling and grinding control method for a wind tunnel component, wherein as shown in fig. 4, the method includes:
s410, acquiring a robot machining control instruction in a controller of the robot;
s420, generating a robot motion control instruction according to the robot machining control instruction;
and S430, sending the robot motion control instruction to a motion execution mechanism control unit.
According to the robot milling and grinding control method for the wind tunnel component, provided by the embodiment of the invention, the robot motion control instruction is generated by acquiring the processing control instruction in the controller of the robot and is fed back to the motion execution mechanism control unit, so that the motion of the motion execution mechanism is controlled by the motion execution mechanism control unit, the motion of the robot is guided, and the robot can more efficiently perform milling and grinding operations on the wind tunnel component to be processed under the motion control instruction.
Specifically, the motion control instruction of the robot includes: the control system comprises a guide rail motion control instruction, an electric spindle and supporting equipment work control instruction thereof, a grinding tool and supporting equipment work control instruction thereof, a quick-change tool work control instruction and a gas circuit control instruction.
It should be understood that the motion control command of the robot corresponds to the guide rail control unit, the electric spindle and the corollary equipment control unit thereof, the grinding tool and the corollary equipment control unit thereof, the quick-change tool control unit and the gas circuit control unit included in the control cabinet, that is, the guide rail control unit can generate the guide rail control command, the electric spindle and the corollary equipment control unit thereof can generate the work control command of the electric spindle and the corollary equipment thereof, the grinding tool and the corollary equipment control unit thereof can generate the work control command of the grinding tool and the corollary equipment thereof, the quick-change tool control unit can generate the work control command of the quick-change tool, and the gas circuit control unit can generate the gas.
The upper computer provided by the invention is communicated with the robot through a TCP/IP protocol, and the PLC controller is communicated with the robot through a PROFINET protocol, so that data exchange between the upper computer and the PLC controller is realized. Before the robot starts to process, firstly, the molded surface to be processed is measured through a visual detection device and is sent to an upper computer to analyze the distribution condition of the material removal amount on the surface of the molded surface. And then, a laser tracker is adopted to obtain the relative position information of the robot tail end tool and the wind tunnel component to be processed in real time, so that the control of the robot position precision is realized. The robot milling and grinding system for the wind tunnel component provided by the embodiment of the invention can select a proper machining tool according to the distribution condition of the material removal amount, perform robot online track planning on a region to be machined, call proper machining process parameters, generate a machining program of the robot and start the robot to start machining. After the machining is finished, detecting the machined molded surface by using the visual detection device again, and analyzing whether the machining effect meets the requirement or not; if the requirements are not met, planning and optimizing the robot track according to the feedback measurement data of the visual detection device.
The robot milling and grinding system for the wind tunnel component provided by the embodiment of the invention can acquire profile data of each area by means of a professional large-range measuring system, position the processing area by a self-locating technology, and then move the robot by controlling the servo motor of the guide rail to process the component area by area, thereby realizing the integral manufacture of the oversized component. The system establishes a first closed-loop control system between the PLC and the guide rail servo motor, and realizes high-precision response of the motor to the industrial controller. Except for a conventional industrial motion controller, the system accesses the robot unit into a control system loop, and a feedback signal enters the robot and is compared with an original target position value in the robot, so that double closed-loop control is realized, and the consistency of the platform position and the target position is further ensured. According to the system, partial output points of the safety output extension module of the PLC are connected to the safety input of the robot, and the safety output of the robot is connected to partial input points of the safety input extension module of the PLC, so that no matter the fault of the control system or the fault of the robot system exists, the whole system can be enabled to enter an emergency stop state, and the safety of the system is guaranteed. Both the rail servo motor and the constant force sanding head have STO (safe Torque off) capabilities, requiring that part of the output of the PLC safety output module be connected to the STO contacts of the servo and active eccentric sanding tool (ferr-on-ics AOK).
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (9)
1. A robotic milling and grinding control method for wind tunnel components, comprising:
obtaining the molded surface measurement data of the wind tunnel component to be processed;
acquiring relative position information of a robot tail end tool and a wind tunnel component to be processed;
analyzing and processing according to preset material removal data, the profile measurement data and the relative position information to obtain track planning data of the robot;
generating a robot processing control instruction according to the trajectory planning data of the robot;
sending the robot machining control command to a controller of the robot;
wherein the robot milling and grinding control method for wind tunnel components further comprises, after the step of sending the robot machining control command to the controller of the robot:
obtaining profile detection data of a robot after milling and grinding wind tunnel components to be processed;
analyzing whether the machining effect of the robot meets the machining requirement or not according to the profile detection data;
if the machining effect of the robot does not meet the machining requirement, the track planning data of the robot are obtained again according to the profile detection data;
generating a new robot processing control instruction by the obtained trajectory planning data of the robot;
and sending the new robot machining control command to a controller of the robot.
2. A method of robotic milling and grinding control for wind tunnel components according to claim 1, comprising:
acquiring a robot processing control instruction in a controller of a robot;
generating a robot motion control instruction according to the robot machining control instruction;
and sending the robot motion control instruction to a motion execution mechanism control unit.
3. A method for robotic milling and grinding control for wind tunnel components according to claim 2, wherein the robot motion control commands include: the control system comprises a guide rail motion control instruction, an electric spindle and supporting equipment work control instruction thereof, a grinding tool and supporting equipment work control instruction thereof, a quick-change tool work control instruction and a gas circuit control instruction.
4. A host computer comprising a memory having stored therein at least one program instruction and a processor that implements the method of robotic milling and grinding control for a wind tunnel component of claim 1 by loading and executing the at least one program instruction.
5. A control cabinet comprising a PLC controller, wherein the PLC controller comprises a memory and a processor, wherein the memory stores at least one program instruction, and the processor loads and executes the at least one program instruction to implement the method for robot milling and grinding control of wind tunnel components according to any one of claims 1 to 3.
6. The control cabinet of claim 5, further comprising a motion actuator control unit in communicative connection with the PLC controller, the motion actuator control unit comprising: the device comprises a guide rail control unit, an electric spindle and a matched device control unit thereof, a grinding tool and a matched device control unit thereof, a quick change tool control unit and an air circuit control unit.
7. A robotic milling and grinding control device for wind tunnel components, comprising: the robot, the host computer of claim 4 and the switch board of claim 5 or 6, the host computer with PLC controller in the switch board all with the controller communication connection of robot, the robot sets up on translation guide rail device, the robot can be according to the robot processing control command of host computer processes the wind-tunnel component of treating processing to and can be according to the robot motion control command of PLC controller is in move on the translation guide rail device.
8. The robotic milling and grinding control device for wind tunnel components of claim 7, wherein when the control cabinet comprises a motion actuator control unit, the motion actuator control unit comprises a guide rail control unit, an electric spindle and its corollary equipment control unit, a grinding tool and its corollary equipment control unit, a quick-change tool control unit and an air circuit control unit, the robotic milling and grinding control device for wind tunnel components further comprises a motion actuator, the motion actuator comprises: the automatic grinding machine comprises a servo motor, a lubricating device and a limit switch which are connected with a guide rail control unit, an electric spindle, a water cooling machine and a hydraulic station which are connected with the electric spindle and a matched device control unit thereof, an active eccentric grinding tool and a dust collector which are connected with a grinding tool and a matched device control unit thereof, and a quick-change device which is connected with the quick-change tool control unit.
9. A system for robotic milling and grinding of wind tunnel components, comprising: visual detection device, laser tracker and claim 7 or 8 the robot that is used for wind-tunnel component mill and grinding controlling means, visual detection device with laser tracker all with a host computer communication connection among the robot that is used for the wind-tunnel component mills and grinding controlling means, visual detection device is used for gathering the profile measured data of waiting to process the wind-tunnel component, laser tracker is used for gathering the terminal instrument of robot and the relative position information of waiting to process the wind-tunnel component, the host computer is used for producing robot machining control command according to the profile measured data of waiting to process the wind-tunnel component and the terminal instrument of robot and the relative position information of waiting to process the wind-tunnel component.
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Address after: 2 Qingyan Road, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Patentee after: Wuxi CRRC times Intelligent Equipment Research Institute Co.,Ltd. Patentee after: Institute of equipment design and test technology, China Aerodynamics Research and Development Center Address before: 2 Qingyan Road, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Patentee before: WUXI CRRC TIMES INTELLIGENT EQUIPMENT CO.,LTD. Patentee before: Institute of equipment design and test technology, China Aerodynamics Research and Development Center |