CN214215977U - Walking type steerable robot structure - Google Patents
Walking type steerable robot structure Download PDFInfo
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- CN214215977U CN214215977U CN202023199702.7U CN202023199702U CN214215977U CN 214215977 U CN214215977 U CN 214215977U CN 202023199702 U CN202023199702 U CN 202023199702U CN 214215977 U CN214215977 U CN 214215977U
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Abstract
The utility model relates to a walking type steerable robot structure, which comprises an auxiliary frame body and a main frame body which are horizontally arranged at an upper interval and a lower interval, wherein a rotating mechanism is jointly arranged at the center of the main frame body and the center of the auxiliary frame body; the mechanical legs are symmetrically arranged on the main frame body in the left-right direction, the mechanical legs with the same structure are symmetrically arranged on the auxiliary frame body in the left-right direction, the four mechanical legs are sequentially arranged from left to right at intervals, the single mechanical leg is connected with the corresponding main frame body or auxiliary frame body through a four-bar mechanism, and the four-bar mechanism enables the mechanical legs to move under the driving of a power mechanism; the two mechanical legs positioned in the auxiliary frame body at the middle part move synchronously, the two mechanical legs positioned on the main frame body at the two sides move synchronously, the linear forward or backward movement of the robot is realized through the alternate operation of the inner mechanical leg and the outer mechanical leg, the steering of the robot is realized by matching the rotation of the auxiliary frame body relative to the main frame body in the horizontal plane, and the curvilinear motion is completed; the utility model discloses simplify the mechanical structure of sufficient robot, effectively alleviateed weight, the walking flexibility is high, and the practicality is good.
Description
Technical Field
The utility model belongs to the technical field of walking robot technique and specifically relates to a walking can turn to robot structure.
Background
The mobile robot is mainly divided into a wheel type, a crawler type, a foot type and the like, wherein the wheel type robot has higher requirement on the ground flatness in the moving process, and the walking ground needs to be continuously leveled, so that the mobile robot is difficult to adapt to unknown complex pavements; the crawler-type robot has low flexibility due to large turning radius in the moving process; when the foot type robot walks, the legs of the foot type robot are in discontinuous contact with the ground, so that the foot type robot can flexibly cross obstacles with higher rugged degree, has higher obstacle crossing capability and meets the requirement of moving under the environment of complex non-structural terrain.
In the prior art, a legged robot can be divided into the following parts according to the number of legs: biped, quadruped, and multi-legged ("number of legs" is more than four) robots, etc.; the biped robot is mainly designed by imitating the body structure of human, the appearance and the motion form of the biped robot are closer to those of human, but the performances of speed, load and stability are poorer; the multi-legged robot is mainly designed by imitating the body of crawling insects, the structure and the motion characteristics of the multi-legged robot are closer to those of the crawling insects, the motion capability of the multi-legged robot on rugged terrain is improved to a certain extent compared with that of a biped robot, but the multi-legged robot is complex in structure, slow in speed, large in size and low in obstacle crossing flexibility in a narrow space; the quadruped robot is usually designed according to the body structure of quadruped mammals (such as cheetah, dog, horse, and the like) in nature, and has excellent performance in moving speed and environmental adaptability, but the existing quadruped robot not only has a complicated mechanical structure, but also is complicated to control, large in volume and weight, and heavy.
SUMMERY OF THE UTILITY MODEL
The applicant aims at the defects in the prior art and provides a walking type steerable robot structure with a reasonable structure, so that the mechanical mechanism and the weight of the quadruped robot are greatly simplified while walking and steering are realized, the walking flexibility is high, and the practicability is good.
The utility model discloses the technical scheme who adopts as follows:
a walking type steerable robot structure comprises an auxiliary frame body and a main frame body which are horizontally arranged at an upper interval and a lower interval, wherein a rotating mechanism is jointly installed at the center of the main frame body and the center of the auxiliary frame body, and the rotating mechanism drives the auxiliary frame body to rotate in a horizontal plane relative to the main frame body; the main frame body is symmetrically provided with mechanical legs in the left and right directions, the auxiliary frame body is symmetrically provided with mechanical legs with the same structure in the left and right directions, the four mechanical legs are sequentially arranged at intervals from left to right, the single mechanical leg is connected with the corresponding main frame body or auxiliary frame body through a four-bar mechanism, and the four-bar mechanism enables the mechanical legs to move under the driving of a power mechanism; the two mechanical legs on the auxiliary frame body move synchronously at the middle part, and the two mechanical legs on the main frame body move synchronously at the two sides.
As a further improvement of the above technical solution:
the top ends of the mechanical legs are driven by a power mechanism to rotate, and the middle parts of the mechanical legs are provided with four-bar mechanisms; the operation of the two outer mechanical legs is alternated with the movement of the two inner mechanical legs, so that the robot walks forwards or backwards.
A single mechanical leg is a front-back symmetrical structure, and the specific structure is as follows: the middle beam is vertical in the middle, a small U-shaped frame with a downward opening is fixedly arranged at the bottom end of the middle beam, a large U-shaped frame with a downward opening is fixedly arranged on the bottom surfaces of two vertical arms arranged in front of and behind the small U-shaped frame, dampers are respectively arranged on the bottom surfaces of the two vertical arms arranged in front of and behind the large U-shaped frame through connecting plates, and the dampers form feet of mechanical legs contacted with the ground.
Inclined side supporting beams are respectively arranged between the front side and the rear side of the upper part of the middle beam and the top surface of the small U-shaped frame; and inclined reinforcing beams are respectively arranged between the inner top surface of the large U-shaped frame and the bottom ends of the two vertical arms.
The front end and the rear end of two sides of the horizontal arm of the small U-shaped frame are respectively and rotatably provided with the same connecting rod, one end of a single connecting rod is rotatably connected with the small U-shaped frame, the other end of the single connecting rod is rotatably connected with the corresponding main frame body or the auxiliary frame body, and the four connecting rods are respectively arranged on two sides of the mechanical leg to form a four-connecting-rod mechanism.
The structure of the power mechanism is as follows: the walking mechanism comprises a motor base fixedly mounted on the upper surface of a main frame body or an auxiliary frame body, a walking motor is mounted on the side surface of the motor base, the end part of the walking motor is mounted at one end of a rotating arm after the output end of the walking motor penetrates through the motor base, and the other end of the rotating arm is rotatably mounted at the top end of a mechanical leg.
The structure of the rotating mechanism is as follows: the auxiliary frame comprises a rotating motor fixedly arranged in the middle of a main frame body, wherein the output end of the rotating motor faces upwards, and the end part of the output end of the rotating motor is fixedly arranged in the middle of the bottom surface of the auxiliary frame body.
The main frame body is structurally characterized in that: the device comprises a main frame which is circumferentially closed, wherein the main frame is symmetrically arranged in the front, the back and the left and the right, and the size of the main frame in the left and right direction is longer than that in the front and back direction; the inner sides of the left end and the right end of the main frame are respectively provided with a first longitudinal beam arranged in the front-back direction at intervals, mechanical legs are arranged between the outer side of the first longitudinal beam and the main frame at intervals through a four-bar linkage mechanism, a second longitudinal beam arranged in the front-back direction is arranged in the middle of the main frame at intervals, and a supporting beam at intervals is arranged in the middle of the two longitudinal beams.
The structure of the auxiliary frame body is as follows: the auxiliary frame comprises a rectangular frame structure, longitudinal beams III arranged in the front-back direction are respectively installed on the inner sides of the left and right side beams of the auxiliary frame at intervals, and mechanical legs are installed in the intervals between the three outer sides of the longitudinal beams and the side beams of the auxiliary frame through a four-bar linkage; longitudinal beams four arranged in the front-back direction are installed in the middle of the auxiliary frame at intervals, connecting beams at intervals are installed in the middle between the two longitudinal beams four, and back plates are installed on the two connecting beams and the four bottom surfaces of the longitudinal beams.
The utility model has the advantages as follows:
the utility model has the advantages of compact and reasonable structure, convenient operation realizes the straight line of robot through the alternate operation of inside and outside two sets of mechanical legs and moves ahead or retreat, and the cooperation auxiliary frame body realizes turning to of robot for the rotation of the body frame body in the horizontal plane, accomplishes curvilinear motion, has simplified the mechanical structure of sufficient robot, has effectively alleviateed weight, and the walking flexibility is high, and the practicality is good.
The utility model discloses still include following advantage:
the robot is contacted with the walking ground through the damper, so that the impact of the robot in the walking process is effectively buffered, the loss of the robot structure is greatly reduced, and the service life of the robot is prolonged;
the walking motors driving the two outer mechanical legs to move and the walking motors driving the two inner mechanical legs to move are 180 degrees out of phase difference during working so as to help the robot walk smoothly, naturally and stably;
the bottom surface of a single mechanical leg is provided with two feet which are contacted with the ground, when the robot walks, the two mechanical legs at the inner side or the two mechanical legs at the outer side respectively have four feet which can be contacted with the ground, so that the stability of contact with the ground is improved while the robot walks on the unstable ground, the stability and the reliability of walking are effectively ensured, and the practicability is good;
the main frame body and the auxiliary frame body are formed by seamless welding of aluminum alloy square tubes, and the whole weight is effectively reduced while the structural strength is ensured.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of the installation of the main frame body and the mechanical legs of the present invention.
Fig. 3 is an installation diagram of the mechanical leg and the power mechanism of the present invention.
Fig. 4 is an installation schematic diagram of the auxiliary frame body and the mechanical legs of the present invention.
Fig. 5 is a schematic view of the installation between the main frame body and the auxiliary frame body of the present invention.
Wherein: 1. a main frame body; 2. a rotating mechanism; 3. an auxiliary frame body; 4. a connecting rod; 5. a mechanical leg; 6. a power mechanism; 7. a back plate; 11. a first longitudinal beam; 12. a main frame; 13. a support beam; 14. a second longitudinal beam; 31. a longitudinal beam III; 32. a sub-frame; 33. fourthly, longitudinal beams; 34. a connecting beam; 51. a middle beam; 52. a side corbel; 53. a small U-shaped frame; 54. a large U-shaped frame; 55. a reinforcing beam; 56. a connecting plate; 57. a damper; 61. a motor base; 62. a traveling motor; 63. and rotating the arm.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the walking type steerable robot structure of the present embodiment includes an auxiliary frame body 3 and a main frame body 1, which are horizontally arranged at an interval from top to bottom, wherein a rotation mechanism 2 is installed at the center of the main frame body 1 and the center of the auxiliary frame body 3, and the rotation mechanism 2 drives the auxiliary frame body 3 to rotate in a horizontal plane relative to the main frame body 1; the main frame body 1 is provided with mechanical legs 5 in bilateral symmetry, the auxiliary frame body 3 is provided with mechanical legs 5 in bilateral symmetry, the mechanical legs 5 are identical in structure, the four mechanical legs 5 are sequentially arranged from left to right at intervals, the single mechanical leg 5 is connected with the corresponding main frame body 1 or auxiliary frame body 3 through a four-bar mechanism, and the four-bar mechanism enables the mechanical legs 5 to move under the driving of the power mechanism 6; the two mechanical legs 5 positioned on the auxiliary frame body 3 at the middle part move synchronously, and the two mechanical legs 5 positioned on the main frame body 1 at the two sides move synchronously; the robot moves forwards or backwards linearly through the alternate operation of the inner mechanical leg 5 and the outer mechanical leg 5, and the auxiliary frame body 3 is matched with the rotation of the main frame body 1 in the horizontal plane to realize the steering of the robot and finish the curvilinear motion.
The top end of the mechanical leg 5 is driven by the power mechanism 6 to rotate, and the middle part of the mechanical leg 5 is provided with a four-bar linkage; the operation of the two outer mechanical legs 5 alternates with the movement of the two inner mechanical legs 5 so that the robot walks forwards or backwards.
As shown in fig. 3, the single mechanical leg 5 has a front-back symmetrical structure, and the specific structure thereof is as follows: the middle beam 51 is vertical in the middle, a small U-shaped frame 53 with a downward opening is fixedly arranged at the bottom end of the middle beam 51, a large U-shaped frame 54 with a downward opening is fixedly arranged on the bottom surfaces of two vertical arms arranged in front of and behind the small U-shaped frame 53, dampers 57 are respectively arranged on the bottom surfaces of the two vertical arms arranged in front of and behind the large U-shaped frame 54 through connecting plates 56, and the dampers 57 form feet of the mechanical legs 5 contacting with the ground; the robot passes through the ground contact of attenuator 57 with the walking to its impact of walking in-process has effectively been cushioned, greatly reduced to the loss of robot structure, helping hand in promoting its life-span.
Inclined side beams 52 are respectively arranged between the front side and the rear side of the upper part of the middle beam 51 and the top surface of the small U-shaped frame 53; an inclined reinforcing beam 55 is respectively arranged between the inner top surface of the large U-shaped frame 54 and the bottom ends of the two vertical arms.
The front end and the rear end of the two sides of the horizontal arm of the small U-shaped frame 53 are respectively and rotatably provided with the same connecting rod 4, one end of a single connecting rod 4 is rotatably connected with the small U-shaped frame 53, the other end of the single connecting rod 4 is rotatably connected with the corresponding main frame body 1 or the auxiliary frame body 3, and the four connecting rods 4 are respectively arranged on the two sides of the mechanical leg 5 to form a four-connecting-rod mechanism.
The structure of the power mechanism 6 is as follows: the walking mechanism comprises a motor base 61 fixedly mounted on the upper surface of the main frame body 1 or the auxiliary frame body 3, a walking motor 62 is mounted on the side surface of the motor base 61, the end part of the output end of the walking motor 62 penetrates through the motor base 61 and is mounted at one end of a rotating arm 63, and the other end of the rotating arm 63 is rotatably mounted at the top end of a mechanical leg 5.
The structure of the rotating mechanism 2 is as follows: the auxiliary frame comprises a rotating motor fixedly arranged in the middle of a main frame body 1, wherein the output end of the rotating motor faces upwards, and the end part of the output end of the rotating motor is fixedly arranged with a back plate 7 in the middle of the bottom surface of an auxiliary frame body 3, as shown in figure 5.
The main frame body 1 and the auxiliary frame body 3 are formed by seamless welding of aluminum alloy square tubes, and the whole weight is effectively reduced while the structural strength is ensured.
As shown in fig. 2, the main frame 1 has the following structure: the device comprises a main frame 12 with a closed circumferential direction, wherein the main frame 12 is symmetrically arranged in the front, back and left and right directions, and the size of the main frame 12 in the left and right directions is longer than that in the front and back directions; longitudinal beams 11 arranged in the front-back direction are respectively installed on the inner sides of the left end and the right end of the main frame 12 at intervals, mechanical legs 5 are installed between the outer sides of the longitudinal beams 11 and the main frame 12 through a four-bar linkage, and four connecting rods 4 of the four-bar linkage are respectively installed on the inner side face of the end wall of the main frame 12 and the outer side face of the longitudinal beams 11; the middle part of the main frame 12 is provided with longitudinal beams 14 arranged along the front-back direction at intervals, the middle part between the two longitudinal beams 14 is provided with a support beam 13 at intervals, and the bottom surfaces of the support beam 13 and the longitudinal beams 14 are provided with rotating motors together.
As shown in fig. 4, the auxiliary frame body 3 has the following structure: the mechanical leg comprises an auxiliary frame 32 with a rectangular frame structure, longitudinal beams three 31 arranged in the front-rear direction are respectively installed on the inner sides of the left and right side beams of the auxiliary frame 32 at intervals, mechanical legs 5 are installed in the intervals between the outer sides of the longitudinal beams three 31 and the side beams of the auxiliary frame 32 through a four-bar linkage, and four connecting rods 4 of the four-bar linkage are respectively installed on the inner side surface of the end wall of the auxiliary frame 32 and the outer side surface of the longitudinal beams three 31; longitudinal beams four 33 arranged in the front-back direction are installed in the middle of the auxiliary frame 32 at intervals, connecting beams 34 at intervals are installed in the middle between the two longitudinal beams four 33, a back plate 7 is installed on the bottom surfaces of the two connecting beams 34 and the longitudinal beams four 33 together, and the back plate 7 and the output end of the rotating motor are fixedly installed.
In the utility model, the walking motor 62 driving the two outer mechanical legs 5 to move and the walking motor 62 driving the two inner mechanical legs 5 to move are 180 degrees different in phase difference during working, so as to help the robot walk smoothly, naturally and stably;
the utility model discloses in, 5 bottom surfaces of single mechanical leg be provided with two feet of ground contact, during the walking, two inboard mechanical legs 5 or two mechanical legs 5 in the outside have four feet respectively can with the ground contact, when realizing the walking of nonstationary subaerial, promoted with the steadiness of ground contact, stability and reliability when having effectively guaranteed the walking, the practicality is good.
The utility model discloses a theory of operation does:
adjusting the connecting rods 4 on the four mechanical legs 5 to horizontal positions to zero, so that the connecting rods 4 on the two mechanical legs 5 positioned on the outer side face forwards, the connecting rods 4 on the two mechanical legs 5 positioned on the inner side face backwards, namely the two mechanical legs 5 positioned on the outer side are positioned at the front positions, and the two mechanical legs 5 positioned on the inner side are positioned at the rear positions;
the walking motor 62 works to drive the rotating arm 63 to rotate, and the rotating arm 63 pulls the mechanical leg 5, so that the mechanical leg 5 rotates relative to the main frame body 1 or the auxiliary frame body 3 through the connecting rod 4 by taking the output end of the walking motor 62 as a circle center;
the walking motor 62 driving the two inner mechanical legs 5 to move and the walking motor 62 driving the two outer mechanical legs 5 to move are 180 degrees out of phase difference during working, so that the two outer mechanical legs 5 move in unison, the two inner mechanical legs 5 move in unison, and the two groups of mechanical legs 5 move alternately to realize the forward movement or the backward movement of the walking robot;
the steering motor in the rotating mechanism 2 works to drive the auxiliary frame body 3 to rotate in the horizontal plane relative to the main frame body 1, so that the moving directions of the two mechanical legs 5 at the inner side deviate from the right front of the robot, and the robot is steered by walking forwards alternately along with the continuation of the two groups of mechanical legs 5.
The utility model has the advantages of simple and reasonable structure, effectively simplified the mechanical structure of sufficient robot, alleviateed weight to the walking flexibility is high, and the practicality is good.
The above description is for the purpose of explanation and not limitation of the invention, which is defined in the claims, and any modifications may be made within the scope of the invention.
Claims (9)
1. A walking steerable robot structure, characterized in that: the auxiliary frame comprises an auxiliary frame body (3) and a main frame body (1) which are horizontally arranged at an upper interval and a lower interval, wherein a rotating mechanism (2) is jointly installed at the center of the main frame body (1) and the center of the auxiliary frame body (3), and the rotating mechanism (2) drives the auxiliary frame body (3) to rotate in a horizontal plane relative to the main frame body (1); the main frame body (1) is provided with mechanical legs (5) in bilateral symmetry, the auxiliary frame body (3) is provided with the mechanical legs (5) in the same structure in bilateral symmetry, the four mechanical legs (5) are sequentially arranged from left to right at intervals, the single mechanical leg (5) is connected with the corresponding main frame body (1) or auxiliary frame body (3) through a four-bar mechanism, and the four-bar mechanism enables the mechanical legs (5) to move under the driving of a power mechanism (6); the two mechanical legs (5) positioned on the auxiliary frame body (3) at the middle part move synchronously, and the two mechanical legs (5) positioned on the main frame body (1) at the two sides move synchronously.
2. A walking steerable robot structure according to claim 1, characterized in that: the top ends of the mechanical legs (5) are driven to rotate by a power mechanism (6), and the middle parts of the mechanical legs (5) are provided with four-bar mechanisms; the operation of the two outer mechanical legs (5) is alternated with the movement of the two inner mechanical legs (5), so that the robot walks forwards or backwards.
3. A walking steerable robot structure according to claim 1, characterized in that: a single mechanical leg (5) is of a front-back symmetrical structure, and the specific structure is as follows: the mechanical leg comprises a middle beam (51) with a vertical middle part, wherein a small U-shaped frame (53) with a downward opening is fixedly arranged at the bottom end of the middle beam (51), a large U-shaped frame (54) with a downward opening is fixedly arranged on the bottom surfaces of two vertical arms arranged in front of and behind the small U-shaped frame (53), dampers (57) are respectively arranged on the bottom surfaces of the two vertical arms arranged in front of and behind the large U-shaped frame (54) through connecting plates (56), and the dampers (57) form feet of the mechanical leg (5) contacted with the ground.
4. A walking steerable robot structure according to claim 3, characterized in that: an inclined side supporting beam (52) is respectively arranged between the front side and the rear side of the upper part of the middle beam (51) and the top surface of the small U-shaped frame (53); and inclined reinforcing beams (55) are respectively arranged between the inner top surface of the large U-shaped frame (54) and the bottom ends of the two vertical arms.
5. A walking steerable robot structure according to claim 3, characterized in that: the front end and the rear end of the two sides of the horizontal arm of the small U-shaped frame (53) are respectively rotatably provided with the same connecting rod (4), one end of a single connecting rod (4) is rotatably connected with the small U-shaped frame (53), the other end of the single connecting rod (4) is rotatably connected with the corresponding main frame body (1) or the auxiliary frame body (3), and the four connecting rods (4) are respectively arranged on the two sides of the mechanical legs (5) to form a four-connecting-rod mechanism.
6. A walking steerable robot structure according to claim 1, characterized in that: the power mechanism (6) has the structure that: the walking mechanism comprises a motor base (61) fixedly mounted on the upper surface of a main frame body (1) or an auxiliary frame body (3), a walking motor (62) is mounted on the side surface of the motor base (61), the end part of the walking motor (62) is mounted at one end of a rotating arm (63) after penetrating through the motor base (61), and the other end of the rotating arm (63) is rotatably mounted at the top end of a mechanical leg (5).
7. A walking steerable robot structure according to claim 1, characterized in that: the structure of the rotating mechanism (2) is as follows: the auxiliary frame comprises a rotating motor fixedly arranged in the middle of a main frame body (1), wherein the output end of the rotating motor faces upwards, and the end part of the output end of the rotating motor is fixedly arranged in the middle of the bottom surface of an auxiliary frame body (3).
8. A walking steerable robot structure according to claim 1, characterized in that: the main frame body (1) is structurally characterized in that: the device comprises a main frame (12) with a closed circumferential direction, wherein the main frame (12) is symmetrically arranged in the front, the back and the left and the right directions respectively, and the size of the main frame (12) in the left and right directions is longer than that in the front and back directions; longitudinal beams (11) arranged in the front-back direction are respectively installed on the inner sides of the left end and the right end of the main frame (12) at intervals, mechanical legs (5) are installed between the outer sides of the longitudinal beams (11) and the main frame (12) through a four-bar linkage mechanism, longitudinal beams (14) arranged in the front-back direction are installed in the middle of the main frame (12) at intervals, and supporting beams (13) arranged at intervals are installed in the middle between the two longitudinal beams (14).
9. A walking steerable robot structure according to claim 1, characterized in that: the auxiliary frame body (3) is structured as follows: the inner sides of the left and right side beams of the sub-frame (32) are respectively provided with a third longitudinal beam (31) arranged in the front-rear direction at intervals, and the mechanical legs (5) are arranged in the intervals between the outer sides of the third longitudinal beams (31) and the side beams of the sub-frame (32) through a four-bar linkage; longitudinal beams four (33) arranged in the front-back direction are installed in the middle of the auxiliary frame (32) at intervals, the middle between the two longitudinal beams four (33) is provided with connecting beams (34) at intervals, and back plates (7) are installed on the bottom surfaces of the two connecting beams (34) and the longitudinal beams four (33) together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023199702.7U CN214215977U (en) | 2020-12-25 | 2020-12-25 | Walking type steerable robot structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023199702.7U CN214215977U (en) | 2020-12-25 | 2020-12-25 | Walking type steerable robot structure |
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| Publication Number | Publication Date |
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| CN214215977U true CN214215977U (en) | 2021-09-17 |
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| CN202023199702.7U Active CN214215977U (en) | 2020-12-25 | 2020-12-25 | Walking type steerable robot structure |
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| CN (1) | CN214215977U (en) |
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2020
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Effective date of registration: 20230208 Address after: 200200 Room 107, Floor 1, Building 1, No. 2588, Hongmei South Road, Minhang District, Shanghai Patentee after: Shanghai Ruishen Technology Co.,Ltd. Address before: 108-4-1501-4, Huishan Avenue, Wuxi City, Jiangsu Province Patentee before: Jiangsu Jicui composite material equipment Research Institute Co.,Ltd. |
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