CN115113586A - Special control system based on slewing bearing numerical control machine tool - Google Patents
Special control system based on slewing bearing numerical control machine tool Download PDFInfo
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- CN115113586A CN115113586A CN202210837162.5A CN202210837162A CN115113586A CN 115113586 A CN115113586 A CN 115113586A CN 202210837162 A CN202210837162 A CN 202210837162A CN 115113586 A CN115113586 A CN 115113586A
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- 238000012545 processing Methods 0.000 claims abstract description 82
- 238000005461 lubrication Methods 0.000 claims abstract description 68
- 238000000034 method Methods 0.000 claims abstract description 51
- 239000010687 lubricating oil Substances 0.000 claims abstract description 45
- 239000002994 raw material Substances 0.000 claims abstract description 31
- 238000004458 analytical method Methods 0.000 claims abstract description 18
- 230000001050 lubricating effect Effects 0.000 claims abstract description 15
- 230000000875 corresponding effect Effects 0.000 claims description 73
- 238000003754 machining Methods 0.000 claims description 20
- 238000009826 distribution Methods 0.000 claims description 12
- 239000013598 vector Substances 0.000 claims description 11
- 238000010586 diagram Methods 0.000 claims description 8
- 238000004088 simulation Methods 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 6
- 238000012163 sequencing technique Methods 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 4
- 239000002699 waste material Substances 0.000 abstract 1
- 238000012549 training Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000003062 neural network model Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000000153 supplemental effect Effects 0.000 description 1
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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
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
Abstract
The invention discloses a special control system for a numerical control machine tool based on a slewing bearing, which belongs to the technical field of lubrication of the numerical control machine tool and comprises an analysis module, a processing module, a control module and a server; the system comprises an analysis module, a processing module, a control module, a lubricating control model and a lubricating oil control module, wherein the analysis module is used for analyzing the lubricating oil amount when the numerical control machine tool works, the processing module is used for processing drawing information to be processed, the control module is used for controlling the conveying of the lubricating oil when the numerical control machine tool works, acquiring the processing action of the current numerical control machine tool in real time, inputting the processing action into the lubricating control model according to the acquired processing action, acquiring the corresponding process lubricating oil conveying amount, and controlling the conveying of the lubricating oil according to the acquired process lubricating oil conveying amount; through the mutual cooperation among the analysis module, the processing module and the control module, the purpose of dynamically conveying appropriate lubricating oil according to actual raw materials and processing actions is achieved, the problem of certain resource waste is solved on the premise of guaranteeing the normal operation of each structure, and the normal operation of each structure is guaranteed.
Description
Technical Field
The invention belongs to the technical field of lubrication of numerical control machines, and particularly relates to a special control system for a numerical control machine based on a slewing bearing.
Background
The numerical control machine tool is an automatic machine tool provided with a program control system; the control system can logically process and decode a program specified by a control code or other symbolic instructions, represent the program by coded numbers, input the coded numbers into a numerical control device through an information carrier, send various control signals by the numerical control device through arithmetic processing, control the action of a machine tool, and automatically machine parts according to the shape and the size required by a drawing. The numerical control machine tool well solves the problem of machining of complex, precise, small-batch and various parts, is a flexible and high-efficiency automatic machine tool, represents the development direction of the control technology of modern machine tools, and is a typical mechanical and electrical integration product.
However, at present, the lubrication of the numerical control machine tool is still fixed-dose oil injection conveyed to the main shaft and the feed shaft, so that the phenomenon of insufficient lubrication or excessive lubrication occurs, the working efficiency of the numerical control machine tool is influenced, and the saving of the lubricating oil is not facilitated; therefore, the invention provides a special control system based on a slewing bearing numerical control machine tool.
Disclosure of Invention
In order to solve the problems existing in the scheme, the invention provides a special control system based on a slewing bearing numerical control machine tool.
The purpose of the invention can be realized by the following technical scheme:
the special control system based on the slewing bearing numerical control machine tool comprises an analysis module, a processing module, a control module and a server;
the analysis module is used for analyzing the lubricating quantity of the numerical control machine tool during working, selecting a corresponding rotary bearing numerical control machine tool and marking the rotary bearing numerical control machine tool as a simulation machine tool; obtaining historical processing data of the simulation machine tool with the same model, splitting the historical processing data to obtain a plurality of unit data, and classifying all the unit data to obtain a plurality of classification sets; counting lubrication values corresponding to each unit data in the classification set, and setting a representative lubrication value of the classification set;
the processing module is used for processing drawing information to be processed, establishing a lubrication control model and sending the established lubrication control model to the control module;
the control module is used for controlling the conveying of lubricating oil when the numerical control machine tool works, acquiring the machining action of the current numerical control machine tool in real time, inputting the machining action into the lubricating control model according to the acquired machining action, acquiring the corresponding process lubricating oil conveying capacity, and controlling the conveying of the lubricating oil according to the acquired process lubricating oil conveying capacity.
Further, the method for classifying all the unit data comprises the following steps:
establishing an analysis model, and analyzing the unit data through the analysis model to obtain an action connection value, a lubrication value and a raw material value corresponding to the unit data; and integrating the obtained action connection value, the lubrication value and the raw material value into a classification vector to obtain a sample set, taking all sample points in the sample set as an independent class cluster, merging the sample points to obtain a plurality of merged sets, and taking each merged set as a classification to obtain a classification set.
Further, the method for sample point merging comprises the following steps:
step SA 1: calculating the Euclidean distance between every two clusters;
step SA 2: finding two cluster classes C with the closest distance p And C q ，
Judgment cluster C p And C q Whether the cluster size is smaller than the maximum allowable radius or not, and when the cluster size is smaller than the maximum allowable radius, combining the two clusters to obtain a new cluster;
step SA 3: recalculating the distances between the new class cluster and all other class clusters;
step SA 4: step SA 2-step SA3 are repeated until the merging of all the class clusters is completed.
Further, the method of setting representative lubrication values of the sorted sets includes:
marking the lubrication value corresponding to the unit data as Pi, wherein i is 1, 2, … … and n, n is a positive integer, and i represents the unit data; obtaining the corresponding quantity ratio of each unit data in the process of splitting historical processing data, marking as ZBi, and obtaining the quantity ratio according to a formula
A representative lubrication value is calculated, where BX is a make-up correction value.
Further, the working method of the processing module comprises the following steps:
identifying a processing drawing, acquiring a processing step corresponding to the processing drawing, splitting the acquired processing step into corresponding processing actions, numbering and sequencing according to the sequence of the processing steps, identifying a raw material to be processed, setting a corresponding action connection value and a raw material value according to the processing actions and the raw material, and integrating the action connection value and the raw material value into matching coordinates;
and establishing a matching model, inputting the matching coordinates into the matching model to obtain corresponding representative lubrication values, sequencing the obtained representative lubrication values according to the corresponding processing action sequence, and establishing a lubrication control model.
Further, the method for establishing the matching model comprises the following steps:
identifying classification vectors in each classification set, extracting action connection values and raw material values in the classification vectors, integrating the action connection values and the raw material values into positioning coordinates, marking corresponding classification set labels, establishing a positioning distribution diagram according to the positioning coordinates, marking the corresponding classification set areas according to the labels of the positioning coordinates in the positioning distribution diagram, and setting corresponding representative lubrication values on the classification set areas; and establishing a matching model based on the positioning distribution map.
Further, the working method of the matching model comprises the following steps:
identifying input matching coordinates, marking the matching coordinates in a positioning distribution map, identifying a classification set area to which the matching coordinates belong, matching corresponding representative lubrication values according to the identified classification set area, and outputting the obtained representative lubrication values.
Further, the method for establishing the lubrication control model comprises the following steps: acquiring a linking sequence, a representative lubrication value and processing time of each processing action, setting corresponding process lubricating oil conveying capacity according to the acquired linking sequence, the representative lubrication value and the processing time, drawing a corresponding processing control chart according to the process lubricating oil conveying capacity, the linking sequence and the processing time of each processing action, establishing a lubrication control model based on the processing control chart, and outputting the corresponding process lubricating oil conveying capacity in real time through the lubrication control model.
Compared with the prior art, the invention has the beneficial effects that: through the analysis module, mutually support between processing module and the control module, realize carrying suitable lubricating oil according to actual raw materials and processing action developments, under the prerequisite of the normal operating of guarantee each structure, certain wasting of resources's problem has been solved, guarantee the normal operating of each structure, avoid appearing because the lubricating oil of carrying is not enough, and the phenomenon that leads to appearing structural wear appears, increase the life of each structure, avoid simultaneously because structural wear and tear and lead to the condition appearance that the machining precision descends.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic block diagram of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood 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.
As shown in fig. 1, the control system for a numerical control machine tool based on a slewing bearing comprises an analysis module, a processing module, a control module and a server;
the analysis module is used for analyzing the lubricating quantity of the numerical control machine tool during working, and the specific method comprises the following steps:
selecting a corresponding rotary bearing numerical control machine tool and marking the rotary bearing numerical control machine tool as a simulation machine tool; obtaining historical processing data of the simulation machine tool with the same model, splitting the historical processing data to obtain a plurality of unit data, and classifying all the unit data to obtain a plurality of classification sets; and counting the lubrication values corresponding to the unit data in the classification set, and setting a representative lubrication value of the classification set.
Historical machining data can be obtained based on current big data analysis, namely the historical machining data of the slewing bearing numerical control machine tool with the same model, and the historical machining data is used for analyzing the proper amount of lubricating oil under different machining actions.
The unit data is historical data corresponding to one machining action of the slewing bearing numerical control machine tool, the historical machining data is split by establishing a corresponding splitting model based on a neural network model, complete actions are defined by an expert group, a corresponding training set is further established for training, and corresponding duplication removal is performed.
The method for classifying all the unit data comprises the following steps:
establishing an analysis model, and analyzing the unit data through the analysis model to obtain an action connection value, a lubrication value and a raw material value corresponding to the unit data; integrating the obtained action connection value, the lubrication value and the raw material value into a classification vector to obtain a sample set, wherein the sample set comprises the classification vector, all sample points in the sample set are taken as an independent class cluster, and the sample points are the classification vector; and merging the sample points to obtain a plurality of merged sets, and taking each merged set as a classification to obtain a classification set.
The analysis model is established based on a CNN network or a DNN network, and is trained by establishing a corresponding training set; the action connection value is set according to the connection between different actions, and corresponding setting is carried out according to which actions can be connected; the raw material value is set according to the processed raw material, and because the lubricating amounts required for processing different raw materials in the same action are different, the lubricating amounts can be set according to the types of the raw materials possibly existing; the lubrication value is set based on the corresponding raw material value and the action value, and can be set in a mode of actual simulation, or set by discussion of an expert group, and a training set is established in a manual mode for training.
The method for combining the sample points comprises the following steps:
step SA 1: calculating the Euclidean distance between every two clusters;
step SA 2: finding two cluster classes C with the closest distance p And C q ，
Judgment cluster C p And C q Whether the cluster size is smaller than the maximum allowable radius or not, and when the cluster size is smaller than the maximum allowable radius, combining the two clusters to obtain a new cluster;
step SA 3: recalculating the distances between the new class cluster and all other class clusters;
step SA 4: step SA 2-step SA3 are repeated until the merging of all the class clusters is completed.
The method for setting the representative lubrication value of the classification set comprises the following steps:
marking the lubrication value corresponding to the unit data as Pi, wherein i is 1, 2, … …, n is a positive integer, and i represents the unit data; obtaining the corresponding quantity ratio of each unit data in the process of splitting historical processing data, marking as ZBi, and obtaining the quantity ratio according to a formula
And calculating a representative lubricating value, wherein BX is a supplement correction value, setting is carried out based on the difference value between the lubricating value with the highest quantity ratio and the lubricating value with the highest classification set and the corresponding quantity ratio, and intelligent setting can be carried out by training and establishing a corresponding neural network model. Avoiding the cause of the error by setting a corresponding supplemental correction valueThe lack of the corresponding lubricating quantity causes the abrasion of the machine tool and influences the service life and the machining precision of the machine tool.
And acquiring the quantity ratio corresponding to each unit data in the process of splitting the historical processing data, namely the ratio of the quantity of each unit data counted when the duplication removal is not carried out after the splitting to the total quantity.
The processing module is used for processing drawing information needing to be processed, and the specific method comprises the following steps:
identifying a processing drawing, acquiring a processing step corresponding to the processing drawing, splitting the acquired processing step into corresponding processing actions, numbering and sequencing according to the sequence of the processing steps, identifying a raw material to be processed, setting corresponding action connection values and raw material values according to the processing actions and the raw material, and integrating the action connection values and the raw material values into matching coordinates;
establishing a matching model, inputting the matching coordinates into the matching model to obtain corresponding representative lubrication values, sequencing the obtained representative lubrication values according to the corresponding processing action sequence, establishing a lubrication control model, and sending the established lubrication control model to a control module.
The method for establishing the matching model comprises the following steps:
identifying classification vectors in each classification set, extracting action connection values and raw material values in the classification vectors, integrating the action connection values and the raw material values into positioning coordinates, marking corresponding classification set labels, establishing a positioning distribution diagram according to the positioning coordinates, marking the corresponding classification set areas according to the labels of the positioning coordinates in the positioning distribution diagram, and setting corresponding representative lubrication values on the classification set areas; and establishing a matching model based on the positioning distribution map. The matching model is used for automatically identifying the input matching coordinates and outputting corresponding representative lubrication values.
The working method of the matching model comprises the following steps:
identifying input matching coordinates, marking the matching coordinates in a positioning distribution map, identifying a classification set area to which the matching coordinates belong, matching corresponding representative lubrication values according to the identified classification set area, and outputting the obtained representative lubrication values.
The method for establishing the lubrication control model comprises the following steps: acquiring a linking sequence, a representative lubrication value and processing time of each processing action, setting corresponding process lubricating oil conveying capacity according to the acquired linking sequence, the representative lubrication value and the processing time, drawing a corresponding processing control chart according to the process lubricating oil conveying capacity, the linking sequence and the processing time of each processing action, setting the form of the processing control chart into various forms according to needs, such as a form similar to a cross-road diagram, establishing a lubrication control model based on the processing control chart, and outputting the corresponding process lubricating oil conveying capacity in real time through the lubrication control model.
Since the corresponding lubrication control model is established based on the process lubrication oil delivery amount, the engagement sequence of each machining operation, and the machining time period, which can be realized by the prior art, detailed description is not given.
The corresponding process lubricating oil conveying amount is set according to the acquired linking sequence, the representative lubricating value and the processing time length, and the corresponding lubricating oil conveying amount can be calculated according to the existing calculation method, namely the process lubricating oil conveying amount, so that detailed description is omitted.
The control module is used for controlling the delivery of lubricating oil when the numerical control machine tool works, and the specific method comprises the following steps:
the method comprises the steps of acquiring the machining action of the current numerical control machine tool in real time, inputting the machining action into a lubrication control model according to the acquired machining action, acquiring corresponding process lubricating oil conveying capacity, and controlling the conveying of lubricating oil according to the acquired process lubricating oil conveying capacity.
In some embodiments, in order to ensure that the storage amount of the lubricating oil in the numerical control machine tool meets the use requirement, the remaining lubricating oil can be monitored, and the method specifically comprises the following steps:
acquiring the residual processing procedure, acquiring the total amount of the corresponding required lubricating oil through a lubricating control model, and acquiring the residual lubricating oil amount in real time; set up corresponding lubricating oil warning line according to digit control machine tool operation requirement, when the difference between surplus lubricating oil volume and the demand lubricating oil total amount is not more than the lubricating oil warning line, generate corresponding alarm signal, inform relevant personnel to carry out the interpolation of lubricating oil, avoid because the not enough of lubricating oil, and lead to the wearing and tearing of digit control machine tool, produce bigger economic loss.
The above formulas are all calculated by removing dimensions and taking numerical values thereof, the formula is a formula which is obtained by acquiring a large amount of data and performing software simulation to obtain the closest real situation, and the preset parameters and the preset threshold value in the formula are set by the technical personnel in the field according to the actual situation or obtained by simulating a large amount of data.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present invention.
Claims (8)
1. The special control system based on the slewing bearing numerical control machine tool is characterized by comprising an analysis module, a processing module, a control module and a server;
the analysis module is used for analyzing the lubricating quantity of the numerical control machine tool during working, selecting a corresponding rotary bearing numerical control machine tool and marking the rotary bearing numerical control machine tool as a simulation machine tool; obtaining historical processing data of the simulation machine tool with the same model, splitting the historical processing data to obtain a plurality of unit data, and classifying all the unit data to obtain a plurality of classification sets; counting the lubrication values corresponding to the unit data in the classification set, and setting a representative lubrication value of the classification set;
the processing module is used for processing drawing information to be processed, establishing a lubrication control model and sending the established lubrication control model to the control module;
the control module is used for controlling the conveying of lubricating oil when the numerical control machine tool works, acquiring the machining action of the current numerical control machine tool in real time, inputting the machining action into the lubricating control model according to the acquired machining action, acquiring the corresponding process lubricating oil conveying capacity, and controlling the conveying of the lubricating oil according to the acquired process lubricating oil conveying capacity.
2. The slew bearing based nc dedicated control system of claim 1, wherein the method of classifying all cell data comprises:
establishing an analysis model, and analyzing the unit data through the analysis model to obtain an action connection value, a lubrication value and a raw material value corresponding to the unit data; and integrating the obtained action connection value, the lubrication value and the raw material value into a classification vector to obtain a sample set, taking all sample points in the sample set as an independent class cluster, merging the sample points to obtain a plurality of merged sets, and taking each merged set as a classification to obtain a classification set.
3. The special control system for numerical control machine based on the slewing bearing according to claim 2, wherein the method for combining the sample points comprises the following steps:
step SA 1: calculating the Euclidean distance between every two clusters;
step SA 2: finding two cluster classes C with the closest distance p And C q ，
Judgment cluster C p And C q Whether the cluster size is smaller than the maximum allowable radius or not, and when the cluster size is smaller than the maximum allowable radius, combining the two clusters to obtain a new cluster;
step SA 3: recalculating the distances between the new class cluster and all other class clusters;
step SA 4: step SA 2-step SA3 are repeated until the merging of all the class clusters is completed.
4. The slew bearing based nc dedicated control system of claim 2, wherein the method of setting the representative lubrication values of the sorted sets comprises:
marking the lubrication value corresponding to the unit data as Pi, wherein i is 1, 2, … … and n, n is a positive integer, and i represents the unit data; obtaining the corresponding quantity ratio of each unit data in the process of splitting historical processing data, marking as ZBi, and obtaining the quantity ratio according to a formula
A representative lubrication value is calculated, where BX is a make-up correction value.
5. The special control system for numerical control machine tool based on the slewing bearing according to claim 2, wherein the working method of the processing module comprises the following steps:
identifying a processing drawing, acquiring a processing step corresponding to the processing drawing, splitting the acquired processing step into corresponding processing actions, numbering and sequencing according to the sequence of the processing steps, identifying a raw material to be processed, setting corresponding action connection values and raw material values according to the processing actions and the raw material, and integrating the action connection values and the raw material values into matching coordinates;
and establishing a matching model, inputting the matching coordinates into the matching model to obtain corresponding representative lubrication values, sequencing the obtained representative lubrication values according to the corresponding processing action sequence, and establishing a lubrication control model.
6. The special control system for numerical control machine tool based on the slewing bearing as claimed in claim 5, wherein the method for establishing the matching model comprises:
identifying classification vectors in each classification set, extracting action connection values and raw material values in the classification vectors, integrating the action connection values and the raw material values into positioning coordinates, marking corresponding classification set labels, establishing a positioning distribution diagram according to the positioning coordinates, marking the corresponding classification set areas according to the labels of the positioning coordinates in the positioning distribution diagram, and setting corresponding representative lubrication values on the classification set areas; and establishing a matching model based on the positioning distribution map.
7. The special control system for the numerical control machine tool based on the slewing bearing as claimed in claim 6, wherein the working method of the matching model is as follows:
identifying input matching coordinates, marking the matching coordinates in a positioning distribution map, identifying a classification set area to which the matching coordinates belong, matching corresponding representative lubrication values according to the identified classification set area, and outputting the obtained representative lubrication values.
8. The slew bearing based nc dedicated control system of claim 7, wherein the method of establishing the lubrication control model comprises: acquiring a linking sequence, a representative lubrication value and processing time of each processing action, setting corresponding process lubricating oil conveying capacity according to the acquired linking sequence, the representative lubrication value and the processing time, drawing a corresponding processing control chart according to the process lubricating oil conveying capacity, the linking sequence and the processing time of each processing action, establishing a lubrication control model based on the processing control chart, and outputting the corresponding process lubricating oil conveying capacity in real time through the lubrication control model.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116400644A (en) * | 2023-04-28 | 2023-07-07 | 重庆人文科技学院 | Intelligent joint control system based on liquid material |
| CN116700094A (en) * | 2023-06-21 | 2023-09-05 | 哈尔滨博尼智能技术有限公司 | Data driving control system |
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2022
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116400644A (en) * | 2023-04-28 | 2023-07-07 | 重庆人文科技学院 | Intelligent joint control system based on liquid material |
| CN116400644B (en) * | 2023-04-28 | 2023-10-17 | 重庆人文科技学院 | Intelligent joint control system based on liquid material |
| CN116700094A (en) * | 2023-06-21 | 2023-09-05 | 哈尔滨博尼智能技术有限公司 | Data driving control system |
| CN116700094B (en) * | 2023-06-21 | 2024-03-01 | 哈尔滨博尼智能技术有限公司 | Data driving control system |
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Address after: 243100 Economic Development Zone in Ma'anshan, Anhui Province Applicant after: Maanshan Jingwei Slewing Bearing Co.,Ltd. Address before: 243100 Economic Development Zone in Ma'anshan, Anhui Province Applicant before: ALL TERRAIN MATCHING LINKAGE TRACKING PHOTOVOLTAIC SUPPORT FLEXIBLE DRIVING DEVICE |
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