CN111982491A - Dynamic analog force loading device - Google Patents
Dynamic analog force loading device Download PDFInfo
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- CN111982491A CN111982491A CN202010910482.XA CN202010910482A CN111982491A CN 111982491 A CN111982491 A CN 111982491A CN 202010910482 A CN202010910482 A CN 202010910482A CN 111982491 A CN111982491 A CN 111982491A
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- G01M13/00—Testing of machine parts
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Abstract
The invention relates to the technical field of actuator output force simulation tests, in particular to a dynamic simulation force loading device. The dynamic simulation force loading device comprises a frame, a loading force driving mechanism and a detection mechanism, wherein the frame comprises a first fixed plate, a connecting plate and a second fixed plate which are sequentially connected along a first direction, the loading force driving mechanism comprises a loading force driving part, a mounting assembly and a floating assembly, the loading force driving part is arranged on the second fixed plate, the loading force driving part can drive the mounting assembly to move along the first direction, the floating assembly is movably and elastically connected to the mounting assembly along the first direction and can abut against an output shaft of an actuator, the detection mechanism comprises a displacement sensor for detecting the displacement of the floating assembly in the first direction and a force sensor for detecting the acting force between the floating assembly and the output shaft of the actuator, the curve change of the real load is simulated, and the requirement of the full working stroke of the simulation actuator on the loading force based on the curve is met.
Description
Technical Field
The invention relates to the technical field of actuator output force simulation tests, in particular to a dynamic simulation force loading device.
Background
In the performance test of the actuator, it is necessary to simulate the dynamic change of the load under the operating condition of the actuator, and under the dynamic load, measure the parameters of the actuator such as input and transmission, and further check the operating performance of the actuator or adjust and set the operating parameters of the actuator. At present, common analog loading modes are generally constant force loading or linear change loading, and the two analog force loading modes cannot simulate the loading force change based on a curve.
Therefore, a dynamic analog force loading device is needed to solve the above problems.
Disclosure of Invention
The invention aims to provide a dynamic simulation force loading device which can simulate the curve change of a real load and meet the requirement of simulating the loading force of an actuator on the basis of a curve in the full working stroke.
In order to realize the purpose, the following technical scheme is provided:
a dynamic analog force loading device comprising:
the frame comprises a first fixing plate, a connecting plate and a second fixing plate which are sequentially connected along a first direction;
the loading force driving mechanism comprises a loading force driving part, a mounting assembly and a floating assembly, the loading force driving part is arranged on the second fixing plate, the loading force driving part can drive the mounting assembly to move along a first direction, the floating assembly is movably and elastically connected to the mounting assembly along the first direction, and the floating assembly can be abutted to an output shaft of the actuator;
the detection mechanism comprises a displacement sensor and a force sensor, the displacement sensor is arranged on the second fixing plate and used for detecting the displacement of the floating assembly along the first direction, the force sensor is installed on the floating assembly, and the force sensor is used for detecting the acting force between the floating assembly and the output shaft of the actuator.
As an alternative of the dynamic analog force loading device, the mounting assembly includes a first mounting plate, a second mounting plate and a guide pillar, the first mounting plate is fixedly connected with the output shaft of the loading force driving member, two ends of the guide pillar are respectively fixedly connected with the first mounting plate and the second mounting plate, and the floating assembly is movably sleeved on the guide pillar.
As an alternative of the dynamic analog force loading device, the mounting assembly further comprises a guide piece, the guide piece is fixed on the first mounting plate, a guide cylinder is arranged on the second fixing plate, and the guide piece is slidably arranged in the guide cylinder in a penetrating manner.
As an alternative of the dynamic analog force loading device, the floating assembly comprises a floating plate, an elastic member and a centering column, the floating plate is movably sleeved on the guide column, the centering column is vertically fixed on the floating plate, the end part of the centering column is spaced from the first mounting plate, the elastic member is sleeved on the centering column, one end of the elastic member abuts against a boss on the centering column, and the other end of the elastic member abuts against the first mounting plate.
As an alternative of the dynamic simulation force loading device, a limiting groove is formed in the surface, matched with the elastic piece, of the first mounting plate, and the elastic piece is abutted to the bottom surface of the limiting groove.
As an alternative to the dynamic analog force loading means, the floating assembly further comprises a sensing strip fixed to the floating plate and extending into a detection range of the displacement sensor for detecting displacement of the sensing strip in the first direction.
As an alternative of the dynamic analog force loading device, the floating assembly further comprises a sensing seat, the sensing seat is U-shaped, the open end of the sensing seat is fixed on the sensing strip, and the force sensor is arranged on the outer surface of the sensing seat.
As an alternative to the dynamic analog force loading means, the float assembly further comprises a sensing head disposed on the force sensor, the sensing head being adapted to directly abut against an output shaft of the actuator.
As an alternative to the dynamic analog force loading device, the detection mechanism further includes a displacement sensor mounting base, the displacement sensor mounting base includes a first plane and a second plane which are perpendicular to each other, the first plane is fixed on the second fixing plate, and the displacement sensor is disposed on the second plane.
As an alternative of the dynamic analog force loading device, the dynamic analog force loading device further comprises a positioning fixture, the positioning fixture is fixed on the first fixing plate, and the positioning fixture is used for clamping the positioning actuator.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a dynamic analog force loading device, which comprises a frame, a loading force driving mechanism and a detection mechanism, wherein the frame comprises a first fixed plate, a connecting plate and a second fixed plate which are sequentially connected along a first direction; the detection mechanism comprises a displacement sensor and a force sensor, the displacement sensor is arranged on the second fixing plate and used for detecting displacement of the floating assembly along the first direction, the force sensor is installed on the floating assembly and used for detecting acting force between the floating assembly and an output shaft of the actuator. The dynamic simulation force loading device can realize the simulation of the curve change of the real load and meet the requirement of the simulation actuator on the loading force of the full working stroke based on the curve.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a dynamic analog force loading device according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a loading force driving mechanism and a detecting mechanism provided in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a loading force driving mechanism according to an embodiment of the present invention.
Reference numerals:
100-an actuator;
1-a frame; 11-a first fixing plate; 12-a connecting plate; 13-a second fixing plate;
2-a loading force drive mechanism; 21-a loading force driver; 22-a mounting assembly; 221-a first mounting plate; 222-a guide; 223-a second mounting plate; 224-guide posts; 23-a floating assembly; 231-a floating plate; 232-an elastic member; 233-centering column; 2331-boss; 234-a sensing strip; 235-a sensing seat; 236-a sensing head;
3-a detection mechanism; 31-displacement sensor mount; 32-a displacement sensor; 33-a force sensor;
4-positioning the clamp.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
As shown in fig. 1, the present embodiment provides a dynamic analog force loading device, which includes a frame 1, a loading force driving mechanism 2, a detecting mechanism 3, and a positioning fixture 4, where the frame 1 is used as an installation base of the entire device, the loading force driving mechanism 2 is fixed on the frame 1, the loading force driving mechanism 2 is used for simulating a loading force, the positioning fixture 4 is fixed on the frame 1, the positioning fixture 4 is used for clamping a positioning actuator 100, and the detecting mechanism 3 is used for detecting performance parameters of the actuator 100 at different test points.
Optionally, the frame 1 comprises a first fixing plate 11, a connecting plate 12 and a second fixing plate 13 connected in sequence; the loading force driving mechanism 2 is fixed on the second fixing plate 13, the positioning fixture 4 is fixed on the first fixing plate 11, and the connecting plate 12 is used for connecting the first fixing plate 11 and the second fixing plate 13.
Preferably, the first fixing plate 11 and the second fixing plate 13 are both quadrilateral, the number of the connecting plates 12 is four, and the four connecting plates 12 are uniformly distributed on four corners of the first fixing plate 11 to ensure the structural stability of the frame 1.
In this embodiment, the frame 1 is vertically disposed, the first fixing plate 11 corresponds to a bottom plate, the connecting plate 12 corresponds to a pillar, and the second fixing plate 13 corresponds to a top plate. In other embodiments, the frame 1 may be horizontally disposed.
In order to accurately describe the scheme of the present embodiment, the frame 1 is vertically disposed, for example, to further describe, wherein moving along the first direction is lifting along the vertical direction, and the scheme of the present embodiment specifically is:
in order to simulate the loading force according to a set curve, in this embodiment, the loading force driving mechanism 2 includes a loading force driving member 21, a mounting assembly 22 and a floating assembly 23, the loading force driving member 21 is disposed on the second fixing plate 13, the loading force driving member 21 can drive the mounting assembly 22 to move up and down along a vertical direction (i.e., move along a first direction), the floating assembly 23 is movably and elastically connected to the mounting assembly 22 along the vertical direction, and the floating assembly 23 can abut against an output shaft of the actuator 100 to simulate the curve change of the real load, so as to meet the loading force requirement of simulating the full working stroke of the actuator based on the curve.
The loading force driver 21 is illustratively a servomotor. The embodiment adopts the servo motor to adjust the loading force compared with the current of the voice coil motor adopted in the prior art, and has the advantages of wider loading force range, long covered stroke and the like.
As shown in fig. 2, the mounting assembly 22 includes a first mounting plate 221, a guide member 222, a second mounting plate 223 and a guide post 224, the mounting assembly 22 can serve as a mounting base for the floating assembly 23, and can ensure that the floating assembly 23 can be lifted and lowered in the vertical direction to realize a loading force simulating a curve change.
Specifically, the first mounting plate 221 is fixedly connected to the output shaft of the loading force driving member 21, the guide 222 is fixed to the first mounting plate 221, the second fixing plate 13 is provided with a guide cylinder, and the guide 222 slidably penetrates through the guide cylinder to ensure that the first mounting plate 221 can stably lift along the guide 222 when the loading force driving member 21 drives the first mounting plate 221 to lift.
Optionally, the number of the guide elements 222 is two, the two guide elements 222 are respectively located on two sides of the first mounting plate 221, and two guide cylinders are symmetrically arranged on two sides of the loading force driving element 21 on the second fixing plate 13, so that the second fixing plate 13 is stressed evenly, and the first mounting plate 221 is ensured to be lifted stably.
Further, two ends of the guide post 224 are fixedly connected to the first mounting plate 221 and the second mounting plate 223, respectively, and the floating assembly 23 is movably sleeved on the guide post 224 to ensure that the floating assembly 23 stably ascends and descends along the guide post 224.
Alternatively, the number of the guide posts 224 is two, and the two guide posts 224 are respectively located at both sides of the second mounting plate 223.
As further shown in fig. 2, the detecting mechanism 3 includes a displacement sensor 32 and a force sensor 33, the displacement sensor 32 is disposed on the second fixing plate 13, the displacement sensor 32 is used for detecting the displacement of the floating assembly 23 in the first direction, the force sensor 33 is mounted on the end portion of the floating assembly 23, and the force sensor 33 is used for detecting the acting force between the floating assembly 23 and the output shaft of the actuator 100.
Further, the detecting mechanism 3 further includes a displacement sensor mounting seat 31, the displacement sensor mounting seat 31 is fixed on the second fixing plate 13, and the displacement sensor 32 is fixed on the displacement sensor mounting seat 31. Specifically, the displacement sensor mount 31 includes a first plane and a second plane perpendicular to each other, the first plane being fixed to the second fixing plate 13, and the displacement sensor 32 being disposed on the second plane.
In the present embodiment, the displacement sensor mount 31 is an inverted L-shape, and the displacement sensor 32 is fixed on the outer surface of the second plane.
As shown in fig. 3, the floating assembly 23 includes a floating plate 231, an elastic member 232, a centering column 233, a sensing strip 234, a sensing seat 235, and a sensing head 236. The float assembly 23 is adapted to abut the output shaft of the actuator 100 and float adaptively up and down as the output shaft of the actuator 100 expands or contracts and the output shaft of the loading force driver 21 expands or contracts to simulate a curvilinear loading force.
Preferably, the floating plate 231 is movably sleeved on the guide post 224, the centering post 233 is vertically fixed on the floating plate 231, the top of the centering post 233 is spaced from the first mounting plate 221, the elastic member 232 is sleeved on the centering post 233, the lower end of the elastic member 232 abuts against the boss 2331 on the centering post 233, and the upper end of the elastic member 232 abuts against the first mounting plate 221, so that the floating plate 231 is elastically lifted in the vertical direction.
It should be noted that the elastic member 232 is in a compressed state, and the initial position of the floating plate 231 under the action of the elastic member 232 is located at the farthest position from the first mounting plate 221.
Illustratively, the elastic member 232 is a coil spring.
Preferably, the floating plate 231 is slidably engaged with the guide post 224 by a linear bearing.
Optionally, a limiting groove is disposed on the lower surface of the first mounting plate 221, and the upper end of the elastic member 232 abuts against the groove bottom surface of the limiting groove to limit one end of the elastic member 232, and meanwhile, the elastic member 232 is prevented from being separated from the first mounting plate 221 during the compression or reset process of the elastic member 232.
To facilitate displacement sensor 32 detecting vertical displacement of floating assembly 23, sensor strip 234 is secured to floating plate 231 and sensor strip 234 extends below displacement sensor 32, and displacement sensor 32 is configured to detect vertical displacement of sensor strip 234.
Further, the sensing base 235 is U-shaped, the sensing base 235 is fixed on the sensing bar 234 with the opening facing upward, and the force sensor 33 is disposed on the lower surface of the sensing base 235.
Preferably, the depth of the U-shape of the sensing seat 235 is greater than the distance between the top of the centering column 233 and the first mounting plate 221, so as to ensure that the second mounting plate 223 always keeps a gap with the sensing bar 234 and the sensing seat 235, and the second mounting plate 223 keeps a floating state.
To protect force sensor 33, sensing head 236 is positioned below force sensor 33, sensing head 236 being adapted to directly abut the output shaft of actuator 100.
For convenience of understanding, the working process of the dynamic analog force loading device provided by the embodiment is as follows:
starting a test, wherein the loading force driving part 21 descends, and the first mounting plate 221 descends to drive the sensing head 236 to approach and further cling to the spherical head of the output shaft of the actuator 100; the actuator 100 is started, the output shaft ball of the actuator 100 ascends (to a test point), the floating plate 231 ascends, the elastic member 232 is compressed, the sensing plate 234 ascends, the linear bearing is separated from the second mounting plate 223, the displacement sensor 32 detects the ascending displacement (calculates the movement distance of the output shaft ball of the actuator 100), the force sensor 33 detects the force applied to the output shaft ball of the actuator 100, the displacement-force relation is analyzed and calculated, the force driving member 21 moves up and down according to the analysis result, the sensing plate 234 and the floating plate 231 cannot move down due to the limitation of the output shaft ball of the actuator 100, the up-and-down movement of the force driving member 21 changes the compression amount of the elastic member 232 through the first mounting plate 221, and further changes the force applied to the actuator 100, so that the force applied to the test point by a.
By means of the up-and-down servo motion of the loading force driving member 21, the following of the sensing head 236 to the telescopic motion of the output shaft ball head of the actuator 100 in the whole testing process is realized, the lower surface of the sensing head is ensured to be tightly attached to the upper end surface of the ball head, each testing point is rapidly moved up and down in a small range through the loading force driving member 21, the loading force of the testing point is adjusted by means of changing the compression amount of the elastic member 232, and therefore dynamic loading according to a curve is realized.
In the whole loading force setting process, it is necessary to ensure that a proper gap exists between the lower surface of the second mounting plate 223 and the bottom surface of the U-shaped groove of the sensing seat 235, so that the elastic member 232 is always in a linear working region, the compression force of the elastic member 232 can be measured in real time through software calculation, and the force applied to the output shaft of the actuator 100 can be calculated by subtracting the calibrated system error (gravity of the moving member, friction force of the linear bearing, etc.).
In order to reduce the influence of inertia force of moving parts during testing, all the moving parts (the sensing plate 234, the sensing seat 235, the sensing head 236, the floating plate 231 and the linear bearing) need to consider ways of reducing the self-mass, such as using light materials, removing materials and reducing weight.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A dynamic analog force loading device, comprising:
the frame (1) comprises a first fixing plate (11), a connecting plate (12) and a second fixing plate (13) which are sequentially connected along a first direction;
the loading force driving mechanism (2) comprises a loading force driving part (21), a mounting assembly (22) and a floating assembly (23), the loading force driving part (21) is arranged on the second fixing plate (13), the loading force driving part (21) can drive the mounting assembly (22) to move along a first direction, the floating assembly (23) is movably and elastically connected to the mounting assembly (22) along the first direction, and the floating assembly (23) can abut against an output shaft of the actuator (100);
the detection mechanism (3) comprises a displacement sensor (32) and a force sensor (33), the displacement sensor (32) is arranged on the second fixing plate (13), the displacement sensor (32) is used for detecting the displacement of the floating assembly (23) along the first direction, the force sensor (33) is installed on the floating assembly (23), and the force sensor (33) is used for detecting the acting force between the floating assembly (23) and the output shaft of the actuator (100).
2. The dynamic analog force loading device of claim 1, wherein the mounting assembly (22) comprises a first mounting plate (221), a second mounting plate (223), and a guide post (224), the first mounting plate (221) is fixedly connected to the output shaft of the loading force driving member (21), two ends of the guide post (224) are fixedly connected to the first mounting plate (221) and the second mounting plate (223), respectively, and the floating assembly (23) is movably sleeved on the guide post (224).
3. The dynamic analog force loading device of claim 2, wherein the mounting assembly (22) further comprises a guide member (222), the guide member (222) is fixed on the first mounting plate (221), the second fixing plate (13) is provided with a guide cylinder, and the guide member (222) is slidably arranged in the guide cylinder.
4. The dynamic analog force loading device of claim 2, wherein the floating assembly (23) comprises a floating plate (231), an elastic member (232) and a centering column (233), the floating plate (231) is movably sleeved on the guide post (224), the centering column (233) is vertically fixed on the floating plate (231) and has an end spaced from the first mounting plate (221), the elastic member (232) is sleeved on the centering column (233), and one end of the elastic member (232) abuts against a boss (2331) on the centering column (233) and the other end abuts against the first mounting plate (221).
5. The dynamic analog force loading device of claim 4, wherein a surface of the first mounting plate (221) that is engaged with the elastic member (232) is provided with a limiting groove, and the elastic member (232) abuts against a groove bottom surface of the limiting groove.
6. The dynamic analog force loading apparatus of claim 4, wherein the floating assembly (23) further comprises a sensing strip (234), the sensing strip (234) is fixed on the floating plate (231), and the sensing strip (234) extends into a detection range of the displacement sensor (32), the displacement sensor (32) is configured to detect a displacement of the sensing strip (234) along a first direction.
7. The dynamic analog force loading device of claim 6, wherein the float assembly (23) further comprises a sensing seat (235), the sensing seat (235) is U-shaped, the sensing seat (235) is fixed to the sensing bar (234) at an open end, and the force sensor (33) is disposed on an outer surface of the sensing seat (235).
8. The dynamic analog force loading apparatus of claim 7, wherein the float assembly (23) further comprises a sensing head (236), the sensing head (236) disposed on the force sensor (33), the sensing head (236) for directly abutting an output shaft of an actuator (100).
9. The dynamic analog force loading apparatus according to claim 1, wherein the detecting mechanism (3) further comprises a displacement sensor mounting seat (31), the displacement sensor mounting seat (31) comprises a first plane and a second plane which are perpendicular, the first plane is fixed on the second fixing plate (13), and the displacement sensor (32) is arranged on the second plane.
10. A dynamic simulated force loading apparatus as claimed in any of claims 1 to 9 further comprising a positioning clamp (4), said positioning clamp (4) being fixed on said first fixing plate (11), said positioning clamp (4) being used to clamp a positioning actuator (100).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010910482.XA CN111982491A (en) | 2020-09-02 | 2020-09-02 | Dynamic analog force loading device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010910482.XA CN111982491A (en) | 2020-09-02 | 2020-09-02 | Dynamic analog force loading device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113932746A (en) * | 2021-10-29 | 2022-01-14 | 富鼎电子科技(嘉善)有限公司 | Detection device |
| CN114427928A (en) * | 2022-02-07 | 2022-05-03 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Multi-direction disturbance force testing device and testing method for cable |
| CN115741733A (en) * | 2022-11-16 | 2023-03-07 | 上海快点机器人科技有限公司 | Tail end flexible force control actuating device |
| CN113932746B (en) * | 2021-10-29 | 2024-07-30 | 富鼎电子科技(嘉善)有限公司 | Detection device |
-
2020
- 2020-09-02 CN CN202010910482.XA patent/CN111982491A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113932746A (en) * | 2021-10-29 | 2022-01-14 | 富鼎电子科技(嘉善)有限公司 | Detection device |
| CN113932746B (en) * | 2021-10-29 | 2024-07-30 | 富鼎电子科技(嘉善)有限公司 | Detection device |
| CN114427928A (en) * | 2022-02-07 | 2022-05-03 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Multi-direction disturbance force testing device and testing method for cable |
| CN114427928B (en) * | 2022-02-07 | 2024-03-22 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Multi-directional disturbance force testing device and testing method for cable |
| CN115741733A (en) * | 2022-11-16 | 2023-03-07 | 上海快点机器人科技有限公司 | Tail end flexible force control actuating device |
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Address after: 1555 Luodong Road, Baoshan District, Shanghai, 200949 Applicant after: SHANGHAI KELAI ELECTROMECHANICAL AUTOMATION ENGINEERING Co.,Ltd. Applicant after: Shanghai aokewei Intelligent Equipment Co.,Ltd. Applicant after: SHANGHAI KELAI SHENGLUO AUTOMATION EQUIPMENT Co.,Ltd. Address before: 1555 Luodong Road, Baoshan District, Shanghai, 200949 Applicant before: SHANGHAI KELAI ELECTROMECHANICAL AUTOMATION ENGINEERING Co.,Ltd. Applicant before: SHANGHAI KELAI LUOJIN ELECTRICAL AND MECHANICAL AUTOMATION ENGINEERING Co.,Ltd. Applicant before: SHANGHAI KELAI SHENGLUO AUTOMATION EQUIPMENT Co.,Ltd. |