CN213320147U - Linear high-speed carrying manipulator - Google Patents
Linear high-speed carrying manipulator Download PDFInfo
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- CN213320147U CN213320147U CN202021667053.6U CN202021667053U CN213320147U CN 213320147 U CN213320147 U CN 213320147U CN 202021667053 U CN202021667053 U CN 202021667053U CN 213320147 U CN213320147 U CN 213320147U
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Abstract
The utility model discloses a linear high-speed transport manipulator, including the crossbeam with erect the roof beam, crossbeam horizontal installation is between two adjacent presses, be equipped with the drive on the crossbeam and erect the roof beam along the X axle drive arrangement that X axle direction removed, erect and be equipped with Z axle drive arrangement on the roof beam, still include swing arm and work piece grabbing device, it is equipped with drive swing arm pivoted B rotary driving mechanism and drive swing arm linear movement's flexible actuating mechanism to erect the roof beam lower extreme, be equipped with drive work piece grabbing device pivoted rotary device in the swing arm. The vertical beam moves linearly in the horizontal and vertical directions, the swing arm rotates along B1 and moves linearly along the U direction, the workpiece grabbing device rotates along the C axis and the B3 axis, the workpiece conveying stroke is increased through the linkage of all the parts, the unit installation space is saved, the workpiece grabbing device can adapt to workpieces of different types, and the workpieces can be conveyed stably at high speed between adjacent presses.
Description
Technical Field
The utility model belongs to the technical field of the work piece technique of carrying and specifically relates to a linear high-speed transport manipulator.
Background
The press machine is a universal machine with a delicate structure, and can be widely applied to the processes of cutting, punching, blanking, bending, riveting, forming and the like. The press machine is common processing equipment in a stamping workshop, and most of devices used for carrying workpieces between the press machines in the current automobile stamping workshop are universal six-degree-of-freedom articulated robots.
However, the six-degree-of-freedom joint robot has the following problems that 1, the punching production line has low requirements on the carrying track and the posture of the workpiece, and the high flexibility of the six-axis robot cannot exert the advantages. The production line has higher requirements on the comprehensive speed and the acceleration in the conveying direction, and the six-axis joint robot also has the characteristics of high rigidity and high speed, so that the requirement on more efficient production cannot be met. 2. Because of the limitation of the mechanical structure of the six-joint robot, the six-joint robot is easy to interfere with a die and a press during carrying, so that the stamping beat of the press is influenced, the 3 and six-degree-of-freedom joint robot is limited by the stroke of the robot, the working efficiency is seriously influenced by the distance between the presses, and the efficiency is low or the six-degree-of-freedom joint robot cannot be used in the conveying of workpieces with large distances.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to solve the above-mentioned problem, provide a high-speed transport manipulator of linearity, can guarantee transport speed and transport beat when adapting to the big distance transport.
The utility model provides a technical scheme that its technical problem adopted is:
the utility model provides a linear high-speed transport manipulator, includes the crossbeam and erects the roof beam, crossbeam horizontal installation is between two adjacent presses, is equipped with the drive on the crossbeam and erects the X axle drive arrangement that the roof beam removed along X axle direction, erects to be equipped with Z axle drive arrangement on the roof beam, still includes swing arm and work piece grabbing device, it is equipped with drive swing arm pivoted B rotary driving mechanism and drive swing arm linear movement's flexible actuating mechanism to erect the roof beam lower extreme, be equipped with drive work piece grabbing device pivoted rotary device in the swing arm.
Further, X axle drive arrangement includes slide, first belt and the first servo motor of the first belt moving of drive, sliding connection between slide rear end and the crossbeam, the crossbeam both ends are equipped with first belt pulley, first belt and the cooperation of first belt pulley, first servo motor installs in the crossbeam upper end, and first servo motor output shaft and first belt pulley are connected.
Furthermore, the Z-axis driving device comprises a second servo motor, the second servo motor is installed on the sliding plate, the vertical beam is connected with the front end of the sliding plate in a sliding mode, and the output end of the second servo motor is matched with the vertical beam through a gear and a rack.
Further, B1 rotary driving mechanism includes commentaries on classics board and third servo motor, and the third servo motor is installed and is being erect the roof beam lower extreme, changes the board and install at the third servo motor output, and the swing arm is installed and is changeing the board front end and with change between the board through the vice sliding connection of guide rail slider.
Further, flexible actuating mechanism includes second belt and drive second belt moving fourth servo motor, be equipped with the second belt pulley in the swing arm, rotate between second belt pulley and the swing arm and be connected, second belt and second belt pulley cooperation, fourth servo motor installs on the swing arm, and fourth servo motor output shaft is connected with the second belt pulley, swing arm and commentaries on classics sliding connection between the board.
Further, rotary device includes C axle rotary driving mechanism and B2 axle rotary driving mechanism, the swing arm anterior segment is equipped with the forearm, rotates between forearm and the swing arm to be connected, and C axle rotary driving mechanism installs in the swing arm, and C axle rotary driving mechanism output is connected with the forearm, and B2 axle rotary driving mechanism installs in the forearm, and B2 axle rotary driving mechanism output shaft is connected with work piece grabbing device.
Further, C axle rotary driving mechanism includes fifth servo motor, fifth servo motor installs in the swing arm, and fifth servo motor output shaft is connected with the forearm.
Further, B2 axle rotary driving mechanism includes the two side output speed reducer of sixth servo motor and T shape, be equipped with the cavity in the forearm, the two side output speed reducer of sixth servo motor and T shape are all installed in the cavity, and the sixth servo motor output is connected with the two side output speed reducer input of T shape, and the two side output speed reducer output of T shape is connected with work piece grabbing device.
The utility model has the advantages that:
1. the utility model discloses in be equipped with the crossbeam and erect the roof beam, crossbeam horizontal installation is between two adjacent presses, is equipped with the drive on the crossbeam and erects the roof beam along the X axle drive arrangement that X axle direction removed, erects to be equipped with Z axle drive arrangement on the roof beam, still includes swing arm and work piece grabbing device, it is equipped with drive swing arm pivoted B1 rotary driving mechanism and drive swing arm linear movement's flexible actuating mechanism to erect the roof beam lower extreme, be equipped with drive work piece grabbing device pivoted rotary device in the swing arm. The vertical beam moves linearly in the horizontal and vertical directions, the swing arm rotates along B1 and moves linearly along the U direction, the workpiece grabbing device rotates along the C axis and the B3 axis, the workpiece conveying stroke is increased through the linkage of all the parts, the unit installation space is saved, the workpiece grabbing device can adapt to workpieces of different types, and the workpieces can be conveyed stably at high speed between adjacent presses.
2. The utility model has the advantages that the carrying speed is higher compared with the traditional six-degree-of-freedom joint robot by combining the linear motion of the vertical beam, the linear motion and the rotary motion of the swing arm and the rotary motion of the workpiece grabbing device; meanwhile, interference between the stamping die and a press is avoided, and the stamping rhythm is compact.
3. The utility model discloses well rotary device includes C axle rotary driving mechanism and B2 axle rotary driving mechanism, the swing arm anterior segment is equipped with the forearm, rotates between forearm and the swing arm to be connected, and C axle rotary driving mechanism installs in the swing arm, and C axle rotary driving mechanism output is connected with the forearm, and B2 axle rotary driving mechanism installs in the forearm, and B2 axle rotary driving mechanism output shaft is connected with work piece grabbing device. The C-axis rotary driving mechanism drives the front arm to rotate, the B2-axis rotary driving mechanism drives the workpiece grabbing device to rotate, the degree of freedom of the workpiece grabbing device is increased, workpieces in the press machine can be better positioned, and the flexibility of the high-speed carrying manipulator during use is improved.
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 for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a first schematic structural diagram of the present invention;
FIG. 3 is a second schematic structural view of the present invention;
FIG. 4 is a third schematic structural view of the present invention;
fig. 5 is a fourth schematic structural view of the present invention;
FIG. 6 is a schematic view of the cross beam structure of the present invention;
FIG. 7 is a schematic view of the vertical beam structure of the present invention;
FIG. 8 is a right side view of the vertical beam of the present invention;
fig. 9 is a top view of the swing arm of the present invention;
fig. 10 is a cross-sectional view taken at a-a in fig. 9.
In the figure: crossbeam 1, erect roof beam 2, press 3, swing arm 4, work piece grabbing device 5, slide 6, first belt 7, first servo motor 8, first belt pulley 9, second servo motor 10, commentaries on classics board 11, third servo motor 12, second belt 13, fourth servo motor 14, second belt pulley 15, forearm 16, fifth servo motor 17, sixth servo motor 18, two side output speed reducer 19 of T shape, cavity 20.
Detailed Description
In order to make the technical solutions in the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.
As shown in fig. 1 to 5, a linear high-speed carrying manipulator comprises a cross beam 1 and a vertical beam 2, wherein the cross beam 1 is horizontally installed between two adjacent presses 3, the cross beam 1 at least comprises a group of horizontal linear guide rails or guide grooves, a linear guide rail pair is preferably selected to be used, the length of the cross beam 1 can be adjusted according to the distance between the adjacent presses 3 to meet the carrying requirements of different press distances, the cross beam 1 is in sliding connection with the vertical beam 2, the cross beam 1 is provided with an X-axis driving device for driving the vertical beam 2 to move along the X-axis direction, the horizontal direction is defined as the X-axis direction, the vertical beam 2 is provided with a Z-axis driving device, the vertical beam is provided with at least a group of vertical linear guide rails, the gravity direction is defined as the Z-axis direction, the manipulator further comprises a swing arm 4 and a workpiece gripping device 5, the lower end of the vertical beam 2 is provided with a B1 rotary driving mechanism, the telescopic linear movement of the swing arm 4 is defined as the direction of the U axis, and as shown in fig. 1, a rotating device for driving the workpiece gripping device 5 to rotate is arranged on the swing arm 4. The workpiece gripping device is preferably composed of a transverse support with a suction mechanism, and can also be realized by selecting a clamp and an end effector.
The vertical beam 2 moves linearly in the horizontal and vertical directions, the swing arm 4 rotates along the B1 and moves linearly along the U direction, the workpiece grabbing device 5 rotates along the C axis and the B3 axis, the workpiece conveying stroke is increased through linkage of all parts, the unit installation space is saved, the workpiece conveying device is suitable for workpieces of different types, and the workpieces can be conveyed stably at high speed between adjacent presses.
Compared with the traditional six-degree-of-freedom articulated robot, the conveying speed is higher by combining the linear motion of the vertical beam, the linear movement and the rotary motion of the swing arm 4 and the rotary motion of the workpiece grabbing device 5; meanwhile, interference between the stamping die and a press is avoided, and the stamping rhythm is compact.
As shown in fig. 2 and 6, the X-axis driving device includes a sliding plate 6, a first belt 7 and a first servo motor 8 for driving the first belt 7 to rotate, the rear end of the sliding plate 6 is slidably connected with the cross beam 1 through a guide rail and slider pair, the two ends of the cross beam 1 are provided with first belt pulleys 9, the first belt 7 is matched with the first belt pulleys 9, the first servo motor 8 is installed at the upper end of the cross beam 1, an output shaft of the first servo motor 8 is connected with the first belt pulleys 9, the first belt 7 is connected with the sliding plate 6, the first servo motor 8 drives the sliding plate 6 to move left and right through the first belt pulleys 9 and the first belt 7, in this embodiment, the X-axis driving device preferably includes a servo motor, a speed reducer, a synchronous belt pulley and a synchronous belt, or includes a servo motor, a speed reducer, a gear and a rack, or includes a servo motor, a speed reducer, the ball screw is realized in a composition mode. Such forms of composition are known to those skilled in the art.
As shown in fig. 2, 7 and 8, the Z-axis driving device includes a second servo motor 10, the second servo motor 10 is installed on the sliding plate 6, the vertical beam 2 is connected with the front end of the sliding plate 6 through a guide rail and slider pair in a sliding manner, the sliding direction is the Z-axis direction, the vertical beam 2 at least includes a set of horizontal linear guide rails or guide grooves, preferably a linear guide rail pair is used, the vertical beam can linearly move along the horizontal direction and also linearly move along the vertical direction, an output end of the second servo motor 10 is matched with the vertical beam 2 through a gear and rack, which is not shown in the figure, which is the prior art and will not be described herein The ball screw is constructed in a manner known to those skilled in the art. The vertical beam 4 is movable up and down in the Z-axis direction relative to the slide 6 by a Z-axis drive.
As shown in fig. 2 to 5, the B1 rotation driving mechanism includes a rotating plate 11 and a third servo motor 12, the third servo motor 12 is installed at the lower end of the vertical beam 2, the rotating plate 11 is installed at the output end of the third servo motor 12, a swing arm 4 is installed at the front end of the rotating plate 11 and is slidably connected with the rotating plate 11 through a guide rail and slider pair, the swing arm 4 at least includes a set of horizontal linear guide rails or guide grooves, and preferably uses a linear guide rail pair. The rotating plate 11 is arranged on the vertical beam and is driven by a Z-axis driving swing arm device arranged on the sliding plate so as to realize the linear motion of the vertical beam, the rotating plate 11 and the swing arm along the Z-axis direction, namely the gravity direction; and the rotating plate is driven to rotate by a third servo motor 12, so that the swing arm 4 is driven to rotate.
As shown in fig. 2 to 5 and 9, the telescopic driving mechanism includes a second belt 13 and a fourth servo motor 14 for driving the second belt 13 to operate, a second belt pulley 15 is disposed in the swing arm 4, the second belt pulley 15 is rotatably connected with the swing arm 4, the second belt pulley 15 is provided with two swing arms 4, each swing arm 4 is of a U-shaped groove rigid structure, the second belt 13 is matched with the second belt pulley 15, the fourth servo motor 14 is mounted on the swing arm 4, an output shaft of the fourth servo motor 14 is connected with the second belt pulley 15, the swing arm 4 is slidably connected with the rotating plate 11 through a guide rail and slider pair, the swing arm 4 at least includes a set of horizontal linear guide rails or guide grooves, preferably, a linear guide rail pair is used, the fourth servo motor 14 drives the second belt 13 to operate, the second belt 13 is connected with the rotating plate 11 to further drive the telescopic operation of the swing arm 4, and the telescopic driving device is preferably composed of a servo motor reducer, a drive mechanism, The synchronous belt pulley and the synchronous belt can be realized in a form of a servo motor, a speed reducer, a gear and a rack, and can also be realized in a form of a servo motor, a speed reducer and a ball screw. Such forms of composition are known to those skilled in the art.
As shown in fig. 2 to 5, 9 and 10, the rotating device includes a C-axis rotation driving mechanism and a B2-axis rotation driving mechanism, a front arm 16 is disposed at a front section of the swing arm 4, the front arm 16 is rotatably connected with the swing arm 4 through a bearing, which is the prior art and will not be described herein, the C-axis rotation driving mechanism is installed in the swing arm 4, an output end of the C-axis rotation driving mechanism is connected with the front arm 16, the B2-axis rotation driving mechanism is installed in the front arm 16, and an output shaft of the B2-axis rotation driving mechanism is connected with the workpiece grasping device 5. The C-axis rotary driving mechanism rotating shaft is overlapped with the swing arm 4 axis, the workpiece grabbing device 5 rotating shaft is perpendicular to the swing arm 4 axis, the front arm is driven to rotate through the C-axis rotary driving mechanism, the workpiece grabbing device 5 is driven to rotate through the B2-axis rotary driving mechanism, the degree of freedom of the workpiece grabbing device is increased, a workpiece in a press machine can be better positioned, and the flexibility of the high-speed carrying manipulator during use is improved.
As shown in fig. 2 to 5, 9 and 10, the C-axis rotation driving mechanism includes a fifth servo motor 17, the fifth servo motor 17 is installed in the swing arm 4, an output shaft of the fifth servo motor 17 is connected to the forearm 16, and the forearm 16 is driven to rotate by the fifth servo motor 17.
As shown in fig. 2 to 5, 9 and 10, the B2 shaft rotation driving mechanism includes a sixth servo motor 18 and a T-shaped double-side output reducer 19, a cavity 20 is provided in the front arm 16, the sixth servo motor 18 and the T-shaped double-side output reducer 19 are both installed in the cavity 20, an output end of the sixth servo motor 18 is connected to an input end of the T-shaped double-side output reducer 19, an output end of the T-shaped double-side output reducer 19 is connected to the workpiece gripping device 5, and the workpiece gripping device 5 is driven to rotate by the sixth servo motor 18 and the T-shaped double-side output reducer 19.
The requirement of high-speed conveying of workpieces between two adjacent presses can be met through horizontal movement of the sliding plate 6 on the cross beam, vertical movement of the vertical beam on the sliding plate 6, rotary movement of the rotary plate on the vertical beam and linear movement of the swing arm on the rotary plate. Meanwhile, the positions and postures of the workpieces can be adjusted through the rotary motion of the front arm relative to the swing arm and the rotary motion of the workpiece grabbing device relative to the swing arm, so that the carrying manipulator can complete a carrying task at a higher speed.
In the description of the present invention, it should be noted that the terms "left", "right", "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be mechanically or electrically connected, directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (8)
1. The utility model provides a linear high-speed transport manipulator, includes crossbeam (1) and erects roof beam (2), and crossbeam (1) horizontal installation is between two adjacent presses (3), is equipped with the drive on crossbeam (1) and erects roof beam (2) along the X axle drive arrangement that X axle direction removed, erects to be equipped with Z axle drive arrangement on roof beam (2), and its characterized in that still includes swing arm (4) and work piece grabbing device (5), it is equipped with drive swing arm (4) pivoted B1 rotary driving mechanism and drive swing arm (4) linear movement's flexible actuating mechanism to erect roof beam (2) lower extreme, be equipped with drive work piece grabbing device (5) pivoted rotary device on swing arm (4).
2. A linear high-speed carrying manipulator as claimed in claim 1, wherein the X-axis driving device comprises a sliding plate (6), a first belt (7) and a first servo motor (8) for driving the first belt (7) to run, the sliding plate (6) is slidably connected with the cross beam (1) at the rear end, first belt pulleys (9) are arranged at two ends of the cross beam (1), the first belt (7) is matched with the first belt pulleys (9), the first servo motor (8) is arranged at the upper end of the cross beam (1), and an output shaft of the first servo motor (8) is connected with the first belt pulleys (9).
3. A linear high-speed handling robot as claimed in claim 1, wherein the Z-axis driving means comprises a second servo motor (10), the second servo motor (10) is mounted on the slide (6), the vertical beam (2) is slidably connected to the front end of the slide (6), and the output end of the second servo motor (10) is engaged with the vertical beam (2) through a rack and pinion.
4. A linear high-speed carrying manipulator according to claim 1, wherein the B1 rotary driving mechanism comprises a rotary plate (11) and a third servomotor (12), the third servomotor (12) is installed at the lower end of the vertical beam (2), the rotary plate (11) is installed at the output end of the third servomotor (12), and the swing arm (4) is installed at the front end of the rotary plate (11) and is slidably connected with the rotary plate (11) through a guide rail slider pair.
5. The linear high-speed conveying mechanical arm is characterized in that the telescopic driving mechanism comprises a second belt (13) and a fourth servo motor (14) for driving the second belt (13) to run, a second belt wheel (15) is arranged in the swing arm (4), the second belt wheel (15) is rotatably connected with the swing arm (4), the second belt (13) is matched with the second belt wheel (15), the fourth servo motor (14) is installed on the swing arm (4), an output shaft of the fourth servo motor (14) is connected with the second belt wheel (15), and the swing arm (4) is slidably connected with the rotating plate (11).
6. A linear high-speed handling robot as claimed in claim 1, wherein the rotation device comprises a C-axis rotation driving mechanism and a B2-axis rotation driving mechanism, a front arm (16) is provided at the front section of the swing arm (4), the front arm (16) is rotatably connected with the swing arm (4), the C-axis rotation driving mechanism is installed in the swing arm (4), the output end of the C-axis rotation driving mechanism is connected with the front arm (16), the B2-axis rotation driving mechanism is installed in the front arm (16), and the output shaft of the B2-axis rotation driving mechanism is connected with the workpiece grabbing device (5).
7. A linear high-speed handling robot according to claim 6, characterized in that said C-axis rotation driving mechanism comprises a fifth servomotor (17), said fifth servomotor (17) being mounted in the swing arm (4), the output shaft of the fifth servomotor (17) being connected to the forearm (16).
8. The linear high-speed handling manipulator according to claim 7, wherein the B2-axis rotation driving mechanism comprises a sixth servo motor (18) and a T-shaped double-sided output reducer (19), a cavity (20) is formed in the front arm (16), the sixth servo motor (18) and the T-shaped double-sided output reducer (19) are both installed in the cavity (20), an output end of the sixth servo motor (18) is connected with an input end of the T-shaped double-sided output reducer (19), and an output end of the T-shaped double-sided output reducer (19) is connected with the workpiece gripping device (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021667053.6U CN213320147U (en) | 2020-08-12 | 2020-08-12 | Linear high-speed carrying manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021667053.6U CN213320147U (en) | 2020-08-12 | 2020-08-12 | Linear high-speed carrying manipulator |
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| CN213320147U true CN213320147U (en) | 2021-06-01 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114620469A (en) * | 2022-04-12 | 2022-06-14 | 苏州天准科技股份有限公司 | A loading attachment for panel exposure |
| CN118024263A (en) * | 2024-04-12 | 2024-05-14 | 苏州大学 | High-speed conveying robot for stamping line and robot joint parameter optimization method |
-
2020
- 2020-08-12 CN CN202021667053.6U patent/CN213320147U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114620469A (en) * | 2022-04-12 | 2022-06-14 | 苏州天准科技股份有限公司 | A loading attachment for panel exposure |
| CN118024263A (en) * | 2024-04-12 | 2024-05-14 | 苏州大学 | High-speed conveying robot for stamping line and robot joint parameter optimization method |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A linear high-speed handling manipulator Effective date of registration: 20220516 Granted publication date: 20210601 Pledgee: Jinan Rural Commercial Bank Co.,Ltd. Changqing sub branch Pledgor: JINAN AOTTO AUTOMATION Co.,Ltd. Registration number: Y2022980005593 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230606 Granted publication date: 20210601 Pledgee: Jinan Rural Commercial Bank Co.,Ltd. Changqing sub branch Pledgor: JINAN AOTTO AUTOMATION Co.,Ltd. Registration number: Y2022980005593 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A Linear High Speed Handling Robot Effective date of registration: 20230719 Granted publication date: 20210601 Pledgee: Jinan Rural Commercial Bank Co.,Ltd. Changqing sub branch Pledgor: JINAN AOTTO AUTOMATION Co.,Ltd. Registration number: Y2023980048996 |