CN212287672U - Grabbing device of truss robot - Google Patents
Grabbing device of truss robot Download PDFInfo
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- CN212287672U CN212287672U CN202020686931.2U CN202020686931U CN212287672U CN 212287672 U CN212287672 U CN 212287672U CN 202020686931 U CN202020686931 U CN 202020686931U CN 212287672 U CN212287672 U CN 212287672U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The utility model belongs to the technical field of truss robots, in particular to a grabbing device of a truss robot, which comprises a common gripper and a quick-change gripper; the quick-change gripper comprises a C-shaped quick-change gripper, a sling-type quick-change gripper and an opening-closing quick-change gripper; the common gripper is used for gripping a common sand core; the quick-change gripper is used for gripping special sand cores which cannot be gripped by the common gripper. In order to overcome the defects of the prior art, the utility model provides a grabbing device of truss robot. The utility model relates to a three kinds of quick change tongs structures can effectual solution snatch of various different structure psammitolites, according to the structure of psammitolite, adopt suitable quick change tongs in a flexible way. Therefore the utility model discloses grabbing device can realize that the automation of any structure psammitolite snatchs, has solved current truss robot and can't snatch thinner psammitolite and the psammitolite and place the nearer problem of distance, has improved the automation rate that snatchs for the commonality of truss strengthens.
Description
Technical Field
The invention relates to the technical field of truss robots, in particular to a grabbing device of a truss robot.
Background
At present, a truss robot generally adopts a gantry frame type structure, which comprises an X axis, a Y axis, a Z axis, a gripper structure, a rotating structure, a turning structure and the like. Fig. 1 is a schematic diagram of a truss gripper without an X-axis, a turning structure, a rotating structure and various part moving devices, and illustrates a manner in which the gripper grips a sand core. As shown in the figure, the casting sand core is usually provided with lifting handles corresponding to the truss robot grippers on two opposite surfaces, the truss robot grippers move to sand core placing positions, and the sand core is gripped through lifting and opening and closing functions. The structure has the defect that the sand core with smaller thickness or the sand core with smaller placing gap between the left sand core and the right sand core cannot be grabbed. One situation is that when two sand cores are stacked up and down, if the thickness of the upper sand core is close to that of the lifting handle, the lower wall surface of a truss gripper can touch the lower sand core when the truss grips, so that interference is caused, and the truss cannot grip the sand core; the other situation is that when sand cores are placed left and right (sand core lifting handles are firstly aligned), if the distance between the two sand core lifting handles is smaller than the wall thickness of the truss hand (the wall thickness of the truss hand is generally 200-350 mm), when the truss hand descends to grab one of the sand cores, the outer wall of the truss hand can touch the sand core beside the sand core, namely the truss arm interferes with the other sand core, and the truss hand cannot descend continuously to grab the sand core. Therefore, the conventional truss can only solve the problems of low grabbing capacity, low grabbing efficiency and poor universality caused by grabbing of part of sand cores.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a truss robot gripping device. The truss robot gripping device comprises a common gripper, a plurality of quick-change grippers, a quick-change gripper placing frame and a sand core middle transposition. Through using multiple quick change tongs and the cooperation of tongs commonly used, can realize snatching the less psammitolite of thickness and stack from top to bottom, place the psammitolite when the psammitolite interval is less about snatching.
In order to solve the defects, the invention adopts the technical scheme that:
a robot gripping device for a truss comprises a common gripper and a quick-change gripper; the quick-change gripper comprises a C-shaped quick-change gripper, a sling-type quick-change gripper and an opening-closing quick-change gripper; the common gripper is used for gripping a common sand core; the quick-change gripper is used for gripping special sand cores which cannot be gripped by the common gripper.
In one embodiment, the front end of the common gripper is provided with a rectangular groove matched with the sand core lifting handle; a concave pit is arranged in the rectangular groove; the concave pit is used for fixing the quick-change hand grip.
In one embodiment, the C-shaped quick-change gripper comprises a spring fixing device, a gripper mounting boss and a gripper groove; the spring fixing device is arranged at one end of the C-shaped quick-change gripper; the hook groove is arranged at the other end of the C-shaped quick-change gripper; first spring fixing devices are symmetrically arranged on two sides of the first gripper installation boss. The C-shaped quick-change gripper is simple in form, can meet the grabbing requirements of heavy sand cores and wide sand cores, is simple to manufacture, low in precision requirement and high in universality, and can meet the requirements for large and small sand cores.
In one embodiment, the sling type quick-change gripper comprises a base plate, a second spring fixing device, a second gripper mounting boss, a sling fixing groove and a sling; a second gripper mounting boss is arranged on the inner side of the base plate; second spring fixing devices are symmetrically arranged on two sides of the second hand grip mounting boss; a hanging strip fixing groove is dug in the outer circle of the base plate; the sling fixing groove is used for fixing the sling. The sling type quick-change gripper is only in contact with the sand core, and is made of flexible materials, so that the requirements on the sand core and the sling type quick-change gripper are not high, the universality of the sling type quick-change gripper is high, and the large sand core and the small sand core are suitable.
In one embodiment, the base plate is made of light-weight materials; the sling type quick-change gripper can be manually switched and mounted on a common gripper or automatically mounted on the common gripper.
In one embodiment, the quick-change grip in an open-close shape comprises a third spring fixing device, a third grip mounting boss, a power piece, a back plate, a hinge structure and a grip; third spring fixing devices are symmetrically arranged on two sides of the third gripper mounting boss; third spring fixing devices are symmetrically arranged on two sides of the third gripper mounting boss; the back plate and the third hand grip mounting boss are connected into a whole; holes for mounting a third spring fixing device are formed in two sides of the third gripper mounting boss, and the third spring fixing device is mounted in the holes in two sides of the third gripper mounting boss; the power part is fixedly arranged on the back plate, the hand grip is connected with the power part through a hinge structure, and the expansion of the internal structure of the power part is converted into the opening and closing movement of the hand grip through the hinge structure. After the opening-closing quick-change gripper grabs the sand core, the sand core is transported to the sand core placing frame, the opening-closing quick-change gripper can directly open the gripper after the sand core is placed, and the truss gripper moves upwards, so that the movement action is simple, and the sand core can be efficiently and quickly grabbed.
The invention provides a robot grabbing device for a truss. Firstly, judging whether a sand core required to be grabbed can be grabbed by a common gripper through a truss robot, and if the sand core can be grabbed by the common gripper, grabbing the sand core by the common gripper; and if the truss robot judges that the sand core to be grabbed by the truss robot cannot meet the grabbing requirement of the common grabber, the truss robot automatically grabs the quick-change grabber and grabs the sand core by the quick-change grabber. The three quick-change gripper structures listed in the invention can effectively grip sand cores with different structures, and appropriate quick-change grippers are flexibly adopted according to the structure of the sand core. Therefore, the grabbing device can realize automatic grabbing of sand cores of any structures, solves the problems that the existing truss robot cannot grab thinner sand cores and the sand cores are arranged at a short distance, improves the grabbing automation rate and enhances the universality of the truss. Especially when supporting casting 3D printer (3DP) class equipment uses, can improve 3D printer work box's utilization ratio greatly, improve 3D printer's availability factor, and then festival cost, saving energy consumption etc..
Drawings
Fig. 1 is a schematic diagram of the truss gripper structure without the X-axis, the turning structure, the rotating structure and the moving devices of each part.
Fig. 2 is a schematic view of the grabbing process of the grabbing device of the present invention.
Fig. 3 is a schematic structural diagram of a conventional gripper according to the present invention.
Fig. 4 is a schematic view of a connection structure of a common gripper and a C-shaped quick-change gripper according to the present invention.
Fig. 5 is a schematic structural view of the C-shaped quick-change grip of the present invention.
Fig. 6 is a schematic view of the connection structure between the common gripper and the sling type quick-change gripper according to the present invention.
Fig. 7 is a schematic view of the structure of the sling-type quick-change gripper of the present invention.
Fig. 8 is a schematic view of the structure of the sling-type quick-change gripper of the present invention.
Fig. 9 is a schematic view of a connection structure of a common gripper and an opening-closing quick-change gripper according to the present invention.
Fig. 10 is a schematic structural view of the quick-change gripper in the form of a snap fit.
Fig. 11 is a schematic structural view of the quick-change gripper in the form of a snap fit.
Fig. 12 is a schematic view of a placement position of the quick-change gripper according to the present invention.
Fig. 13 is a schematic view of an indexing feature in the sand core of the present invention.
In the figure, 100-common hand grab, 110-rectangular groove, 120-pit, 200-quick-change hand grab, 210-C-shaped quick-change hand grab, 211-first spring fixing device, 212-first hand grab mounting boss, 213-hand grab groove, 220-sling type quick-change hand grab, 221-base plate, 222-second spring fixing device, 223-second hand grab mounting boss, 224-sling fixing groove, 225-sling, 230-opening-closing type quick-change hand grab, 231-third spring fixing device, 232-third hand grab mounting boss, 233-power part, 234-back plate, 235-hinge structure, 236-hand grab, 300-quick-change hand grab placing position, 310-quick-change hand grab placing frame, 320-placing groove, 330-frame, 400-sand core indexing, 410-sand core placing frame, 420-fixed upright post, 430-movable upright post, 440-wheel, 450-track, 460-frame and 500-sand core.
Detailed Description
To facilitate an understanding of the invention, reference will now be made to the accompanying drawings, which are included to describe the invention more fully. The preferred embodiments of the present invention are set forth in the accompanying drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In order to solve the defects, the invention adopts the technical scheme that:
in one embodiment, a truss robotic gripper comprises a common gripper and a quick-change gripper; the quick-change gripper comprises a C-shaped quick-change gripper, a sling-type quick-change gripper and an opening-closing quick-change gripper; the common gripper is used for gripping a common sand core; the quick-change gripper is used for gripping special sand cores which cannot be gripped by the common gripper.
According to the grabbing device of the truss robot, the sand core structure needing grabbing is judged through the truss robot, if the sand core structure is a common sand core, a common gripper is adopted, and if the sand core structure is a special sand core which cannot be grabbed by the common gripper, a quick-change gripper is adopted. The three quick-change gripper structures listed in the invention can effectively grip sand cores with different structures, and the appropriate quick-change gripper is flexibly adopted according to the structure of the sand core. Therefore, the grabbing device can realize automatic grabbing of sand cores of any structures, solves the problems that the existing truss robot cannot grab thinner sand cores and the sand cores are arranged at a short distance, improves the grabbing automation rate and enhances the universality of the truss. Especially when to supporting casting 3D printer class equipment use, can improve the utilization ratio of 3D printer work box greatly, improve the availability factor of 3D printer, and then festival cost, saving energy consumption etc..
The following describes the truss robot gripping device with reference to specific embodiments to further understand the inventive concept of the truss robot gripping device.
Referring to fig. 4 to 10, the gripping device of the truss robot comprises a common gripper 100 and a quick-change gripper 200; the quick-change hand grip 200 comprises a C-shaped quick-change hand grip 210, a sling-type quick-change hand grip 220 and an opening-closing quick-change hand grip 230; the common gripper 100 is used for gripping a common sand core; the quick-change gripper 200 is used for gripping special sand cores which cannot be gripped by the common gripper 100.
In one embodiment, referring to fig. 3, the conventional grip 100 includes a rectangular groove 110 and a recess 120. The rectangular groove 110 mainly has two functions, one is used for matching with a hanging handle on the sand core 500 to grab the sand core 500, and the other is used for matching with a clamping part of the quick-change gripper 200 to grab the quick-change gripper 200; the front end of the common gripper 100 is provided with a rectangular groove 110 matched with the sand core lifting handle; a concave pit 120 is arranged in the rectangular groove 110; the recess 120 is used for fixing the quick-change grip 200.
In one embodiment, referring to fig. 4 and 5, the C-shaped quick-change gripper 210 includes a first spring fixing device 211, a first gripper mounting boss 212 and a gripper groove 213; the first spring fixing device 211 is arranged at one end of the C-shaped quick-change gripper 210; the hooking groove 213 is formed at the other end of the C-shaped quick-change gripper 210; first spring fixing devices 211 are symmetrically installed on both sides of the first grip installation boss 212. During operation, the hooking groove 213 is inserted into the sand core 500 from the side of the lifting handle of the sand core 500, and the sand core 500 is lifted. The quick-change gripper with the structure has a simple form, can meet the grabbing requirements of heavy sand cores and wider sand cores 500, has the advantages of simplicity in manufacturing, low precision requirement and strong universality, and can meet the requirements of large and small sand cores.
In one embodiment, referring to fig. 5, two first spring fixing devices 211 are installed on two opposite sides of a first hand mounting boss 212 on the C-shaped quick-change hand grip 210, when the C-shaped quick-change hand grip 210 is matched with the common hand grip 100, the first spring fixing devices 211 are firstly compressed by the walls of the rectangular groove 110 of the common hand grip 100, and when the first spring fixing devices 211 of the C-shaped quick-change hand grip 210 are aligned with the concave pits 120 inside the rectangular groove 110 of the common hand grip 100, the spherical devices on the first spring fixing devices 211 are sprung into the concave pits 120 inside the rectangular groove 110 of the common hand grip 100 by spring force to be locked, so that the C-shaped quick-change hand grip 210 can be effectively prevented from being disengaged in the using process. The first spring fixing means 211 is advantageous in that it is reversible and can be disengaged when a certain force is applied when the C-shaped quick-change grip 210 and the conventional grip 100 need to be disengaged.
In one embodiment, referring to fig. 6 and 8, the sling type quick-change gripper 220 comprises a base plate 221, a second spring fixing device 222, a second gripper mounting boss 223, a sling fixing groove 224 and a sling 225; a second gripper mounting boss 223 is arranged on the inner side of the base disc 221; second spring fixing devices 222 are symmetrically arranged on two sides of the second gripper mounting boss 223; a hanging strip fixing groove 224 is dug in the excircle of the base disc 221; the strap fixing groove 224 is used for fixing the strap 225. After the lower end of the hanging strip 225 is hung on the hanging handle of the sand core 500, the Z-axis of the truss robot rises to lift the sand core 500, and the sand core on the hanging strip 225 can be turned over by means of the turning mechanism of the common gripper 100 of the truss robot. The base plate 221 is made of a lightweight material; the sling type quick-change gripper 220 can be manually switched and mounted on the common gripper 100 or automatically mounted on the common gripper 100, in addition, only the sling 225 of the sling type quick-change gripper 220 is in contact with the sand core 500, and the sling 225 is made of flexible materials, so that the requirements on the sand core 500 and the sling type quick-change gripper 220 are not high, the universality of the sling type quick-change gripper 220 is high, and the sizes of the sand cores are suitable.
In one embodiment, two second spring fixing devices 222 are installed on two opposite sides of the second hand mounting boss 223 on the sling type quick-change hand grip 220, when the sling type quick-change hand grip 220 is matched with the common hand grip 100, firstly, the wall of the rectangular groove 110 of the common hand grip 100 compresses the second spring fixing devices 222, when the second spring fixing devices 222 of the sling type quick-change hand grip 220 are aligned with the concave pits 120 inside the rectangular groove 110 of the common hand grip 100, the spherical devices on the second spring fixing devices 222 are sprung into the concave pits 120 inside the rectangular groove 110 on the common hand grip 100 by spring force for locking, and the sling type quick-change hand grip 220 can be effectively ensured not to be disengaged in the using process. The spring retainer 222 is advantageous in that it is reversible and can be disengaged when a certain force is applied when the sling-type quick-change grip 220 needs to be disengaged from the conventional grip 100.
In one embodiment, referring to fig. 9 to 11, the quick-change grip 230 includes a third spring fixing device 231, a third grip mounting boss 232, a power member 233, a back plate 234, a hinge structure 235 and a grip 236; third spring fixing devices 231 are symmetrically arranged on two sides of the third handle mounting boss 232; the back plate 234 is connected with the third gripper mounting boss 232 into a whole; holes for mounting a third spring fixing device 231 are formed in the two sides of the third gripper mounting boss 232, and the third spring fixing device 231 is mounted in the holes in the two sides of the third gripper mounting boss 232; the power member 233 is fixedly arranged on the back plate 234, the hand grip 236 is connected with the power member 233 through the hinge structure 235, and the expansion and contraction of the internal structure of the power member 233 is converted into the opening and closing movement of the hand grip 236 through the hinge structure 235. When the hand grip 236 is opened to grip the sand core 500, the contact area between the hand grip 236 of the open-close quick-change hand grip 230 and the sand core lifting handle is smaller, so that the open-close quick-change hand grip 230 is more suitable for the sand core with lighter weight. The quick-change clamp 230 has the advantages that after the sand core 500 is clamped by the quick-change clamp 230, the quick-change clamp 230 can be directly opened after the sand core 500 is placed in the sand core placing frame 410, the truss clamp can move upwards, the movement is simple, and the sand core can be clamped efficiently and quickly.
In one embodiment, referring to fig. 12, the quick-change gripper placing station 300 includes a quick-change gripper placing frame 310, a placing groove 320 and a frame 330. The quick-change gripper placing frame 310 is mainly used for supporting the fixing placing groove 320, and the frame 330 is mainly used for fixing the quick-change gripper placing frame 310. The quick-change hand grip 200 is placed in the placing groove 320, and the arm of the placing groove 320 limits the position of the quick-change hand grip 200, so that the quick-change hand grip 200 can be placed in the placing groove 320 stably, integrally and efficiently. The quick-change hand grip placing position 300 is various in structure and can meet the requirements of quick-change hand grips 200 of different structures.
In one embodiment, referring to fig. 13, core indexing 400 includes a core holder 410, a stationary post 420, a moving post 430, a wheel 440, a rail 450, and a frame 460. The sand core placement frame 410 is used for hanging and placing the sand core 500, and the sand core placement frame 410 is respectively arranged at the upper ends of the fixed upright post 420 and the movable upright post 430. The fixed column 420 is fixedly installed at one end of the frame 460, and 4 wheels 440 are installed at the lower end of the moving column 430. The wheels 440 are mounted on the rails 450, and the moving upright posts 430 are driven to slide along the rails by the movement of the wheels 440 on the rails 450, so that the sand cores with different sizes can be placed. The core indexing 400 functions only when the quick-change gripper 200 is used, and functions to place the sand core 500 transported from the core placement location so that the truss gripper can be freed to place the quick-change gripper 200 onto the quick-change gripper placement location 300, and to allow any sand core 500 placed on the core indexing 400 to be gripped by the conventional gripper 100 through the rational design of the core indexing 400. The indexing 400 in the sand core can effectively meet the placement requirements of sand cores 500 of different sizes.
In one embodiment, the specific operation process of the truss robot gripping device comprises the following steps:
when the truss robot detects that the sand core 500 to be grabbed is a common sand core and the thickness and the surrounding space of the sand core 500 are enough to be grabbed by the common gripper 100 without interference, the common gripper 100 is adopted to directly grab the sand core 500 and perform subsequent processes (the subsequent processes are omitted). When the truss robot detects that the sand core 500 needing to be grabbed is a special sand core (if the thickness is small or the placing clearance of the left sand core and the right sand core is small), the common gripper 100 cannot grab the sand core, the common gripper 100 grabs the quick-change gripper 200 placed at the quick-change gripper placing position 300 under the driving of a truss robot motion system, the quick-change gripper 200 grabs the sand core 500 placed at the sand core placing position, the sand core 500 moved into the sand core through the motion system of the truss robot is shifted to the sand core by 400, the common gripper 100 drives the quick-change gripper 200 to disengage from the sand core 500, and the quick-change gripper 200 is placed back to the quick-change gripper placing position 300. Finally, the common gripper 100 is used for grabbing the sand core 500 placed in the sand core for indexing 400 and executing subsequent procedures.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. The robot gripping device for the truss is characterized by comprising a common gripper and a quick-change gripper;
the quick-change gripper comprises a C-shaped quick-change gripper, a sling-type quick-change gripper and an opening-closing quick-change gripper;
the common gripper is used for gripping a common sand core; the quick-change gripper is used for gripping special sand cores which cannot be gripped by the common gripper.
2. The truss robot gripping device as claimed in claim 1, wherein the front end of the common gripper is provided with a rectangular groove matched with the sand core lifting handle; a concave pit is arranged in the rectangular groove; the concave pit is used for fixing the quick-change hand grip.
3. The truss robotic gripper of claim 1, wherein the C-shaped quick-change gripper comprises a first spring retainer, a first gripper mounting boss, and a gripper groove; the first spring fixing device is arranged at one end of the C-shaped quick-change gripper; the hook groove is arranged at the other end of the C-shaped quick-change gripper; first spring fixing devices are symmetrically arranged on two sides of the first gripper installation boss.
4. The truss robot gripping device of claim 1, wherein the sling type quick-change gripper comprises a base plate, a second spring fixing device, a second gripper mounting boss, a sling fixing groove and a sling; a second gripper mounting boss is arranged on the inner side of the base plate; second spring fixing devices are symmetrically arranged on two sides of the second hand grip mounting boss; a hanging strip fixing groove is dug in the outer circle of the base plate; the sling fixing groove is used for fixing the sling.
5. The truss robotic gripper of claim 4 wherein the sling type quick-change gripper is manually switchable mounted on a conventional gripper or automatically mounted on a conventional gripper.
6. The truss robot gripping device as defined in claim 1, wherein the open-close quick-change gripper comprises a third spring fixing device, a third gripper mounting boss, a power member, a back plate, a hinge structure and a gripper; third spring fixing devices are symmetrically arranged on two sides of the third gripper mounting boss; the back plate and the third hand grip mounting boss are connected into a whole; holes for mounting a third spring fixing device are formed in the two sides of the third handle mounting boss, and the third spring fixing device is mounted in the holes in the two sides of the third handle mounting boss; the power part is fixedly arranged on the back plate, the hand grip is connected with the power part through a hinge structure, and the expansion of the internal structure of the power part is converted into the opening and closing movement of the hand grip through the hinge structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020686931.2U CN212287672U (en) | 2020-04-29 | 2020-04-29 | Grabbing device of truss robot |
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| CN202020686931.2U CN212287672U (en) | 2020-04-29 | 2020-04-29 | Grabbing device of truss robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390951A (en) * | 2020-04-29 | 2020-07-10 | 共享智能铸造产业创新中心有限公司 | Grabbing device of truss robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390951A (en) * | 2020-04-29 | 2020-07-10 | 共享智能铸造产业创新中心有限公司 | Grabbing device of truss robot |
| CN111390951B (en) * | 2020-04-29 | 2023-09-08 | 共享智能装备有限公司 | Truss robot grabbing device |
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Effective date of registration: 20211129 Address after: 298, ningshuo South Street, Yinchuan economic and Technological Development Zone, Ningxia Hui Autonomous Region Patentee after: KOCEL INTELLIGENT EQUIPMENT Co.,Ltd. Address before: 750021 building 4, Yinchuan science and technology building, Liupanshan Road, Jinfeng District, Yinchuan City, Yinchuan City, Ningxia Hui Autonomous Region, national intelligent casting industry innovation center Patentee before: NATIONAL INTELLIGENT FOUNDRY INDUSTRY INNOVATION CENTER |