CN204264978U - Drum conveying mechanical arm - Google Patents
Drum conveying mechanical arm Download PDFInfo
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- CN204264978U CN204264978U CN201420662017.9U CN201420662017U CN204264978U CN 204264978 U CN204264978 U CN 204264978U CN 201420662017 U CN201420662017 U CN 201420662017U CN 204264978 U CN204264978 U CN 204264978U
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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Abstract
The utility model discloses a kind of drum conveying mechanical arm, comprise pedestal, described pedestal can be supported with fore-set up or down, fore-set top is provided with support supporting plate, on support supporting plate, rotating support has grabbing arm, and the actuating device of grabbing arm is arranged on and supports on supporting plate; Fore-set actuating device is connected with between described fore-set and pedestal; Described grabbing arm external part is provided with drum and captures plate, this drum captures plate and is provided with arc groove, the center of arc of arc groove is on grabbing arm center of turn, capture on plate at drum and be also provided with drum grabbing groove, this drum grabbing groove is circular groove, the center of arc of circular groove is on grabbing arm center of turn, and the width A of drum grabbing groove is greater than the width B of arc groove.This drum conveying mechanical arm can not only realize operating the carrying in the direction, upper and lower, left and right of drum, and can save clamping device, and the structure of manipulator is simple, practical.
Description
Technical field
The utility model relates to a kind of cable production facilities, particularly relates to the drum automatic conveying device in a kind of automation cable flow production line.
Background technology
In cable production facilities, cable has been produced, to be wound up into after on drum be mostly carried out by the finished product drum spooled by artificial, then is encased on bolster by the drum of sky, in this process, not only labor strength is large, and the operating time is longer, affects production efficiency.Improve at cable production technology level, when speed of production is more and more higher, such manual operation pattern cannot adapt to, and has become the obstacle of cable high-speed production; And adopt the carrying load transfer device of automation, except the upper and lower, left and right motion that will realize carrying operation, the conventional clamping of conveying mechanical arm to drum needs to adopt a set of clamping device, in order to capture or to decontrol drum, this set of device needs again a set of kinematic mechanism and transmission device thereof, thus make its complex structure, add control difficulty.
Utility model content
For the above-mentioned deficiency existing for prior art, technical problem to be solved in the utility model is to provide a kind of drum conveying mechanical arm, it can not only realize operating the carrying in the direction, upper and lower, left and right of drum, and can save clamping device, and the structure of manipulator is simple, practical.
In order to solve the problems of the technologies described above, a kind of drum conveying mechanical arm of the present utility model, comprise pedestal, described pedestal can be supported with fore-set up or down, fore-set top is provided with support supporting plate, on support supporting plate, rotating support has grabbing arm, and the actuating device of grabbing arm is arranged on and supports on supporting plate; Fore-set actuating device is connected with between described fore-set and pedestal; Described grabbing arm external part is provided with drum and captures plate, this drum crawl plate comprises outside crawl plate and inner side captures plate, outside crawl plate and inner side capture between plate and form arc groove, the center of arc of arc groove is on grabbing arm center of turn, capture on plate at drum and be provided with drum grabbing groove, this drum grabbing groove is circular groove, the center of arc of circular groove is on grabbing arm center of turn, described drum grabbing groove is arranged at outside and captures in the upper plane of plate and inner side crawl plate, and the width A of drum grabbing groove is greater than the width B of arc groove.
In said structure, owing to can be supported with fore-set up or down on described pedestal, fore-set top is provided with support supporting plate, and on support supporting plate, rotating support has grabbing arm, and the actuating device of grabbing arm is arranged on and supports on supporting plate, fore-set actuating device is connected with between described fore-set and pedestal, then fore-set actuating device can drive rotating support supporting the grabbing arm up-and-down movement on supporting plate, the actuating device of grabbing arm can drive grabbing arm to rotate on support supporting plate, can realize easily like this operating the carrying in the direction, upper and lower, left and right of drum, plate is captured again owing to being provided with drum at described grabbing arm external part, this drum crawl plate comprises outside crawl plate and inner side captures plate, outside crawl plate and inner side capture between plate and form arc groove, the center of arc of arc groove is on grabbing arm center of turn, capture on plate at drum and be provided with drum grabbing groove, this drum grabbing groove is circular groove, the center of arc of circular groove is on grabbing arm center of turn, described drum grabbing groove is arranged at outside and captures in the upper plane of plate and inner side crawl plate, the width A of drum grabbing groove is greater than the width B of arc groove, then capture plate to the grasping manipulation of drum by drum to carry out, drum captures drum grabbing groove set on plate below drum, pitches the lower web sticking in drum, the width A of drum grabbing groove is corresponding with web diameter under drum, position-limiting action is played to drum, drum captures the arc groove that on plate, outside crawl plate and inner side capture between plate then can get out of the way the bolster supporting drum, make drum capture plate and can pitch the lower web being inserted into whole drum, the center of arc of arc groove is on grabbing arm center of turn, such drum conveying mechanical arm just can make drum crawl plate be inserted into the below of drum by the rotation of grabbing arm, grabbing arm is made to drive drum upwards to leave the bolster of supporting drum by the lifting of fore-set again, then carry drum to desired position by the rotation of grabbing arm, allow fore-set decline and drive grabbing arm to decline, drum is put into desired position, and then contrarotation grabbing arm makes drum crawl plate exit below drum, thus achieve when there is no holding device to the crawl of drum and on, under, left, the conveying of right direction, simple and the easy to operate practicality of whole robot manipulator structure.
A kind of preferred implementation of the present utility model, described fore-set actuating device is two cylinders that cylinder body is connected, and the piston rod of below cylinder is connected on pedestal, and the piston rod of top cylinder is connected with fore-set by supporting supporting plate.Adopt this embodiment, by the lifting of two air cylinder driven fore-sets, four travel position can be obtained after two cylinder combinations, the multiple height and position requirement of drum conveying in cable production process can be adapted to.
Another kind of preferred implementation of the present utility model, described fore-set actuating device is double stroke cylinder, and the cylinder body of this double stroke cylinder is connected on pedestal, and the piston rod of this double stroke cylinder is connected with fore-set by supporting supporting plate.Adopt this embodiment, directly can select corresponding general cylinder, simplify the structure of cable conveying mechanical arm further.
Another preferred implementation of the present utility model, is provided with anti-rotation limiting device between described fore-set and pedestal.Adopt this embodiment that fore-set can be avoided to produce to rotate, prevent from having an impact to the transfer position of grabbing arm.
The further preferred implementation of the utility model, described anti-rotation limiting device comprises the spacing rib be arranged on pedestal and the runner be arranged on fore-set, and described runner cylindrical contacts with spacing rib.Adopt this embodiment, anti-rotation limiting device structure is simple, easy for installation, and adopts the structure of runner and spacing rib to make it be down to minimum to the resistance of motion that fore-set is elevated.
Another further preferred implementation of the utility model, described support supporting plate has grabbing arm by turntable bearing rotating support, and the inner ring supporting supporting plate and turntable bearing is connected, and the Connection Block of grabbing arm and the outer ring of turntable bearing are connected; Described turntable bearing outer ring is provided with gear.Adopt this embodiment, support the rotation supporting structure of supporting plate to grabbing arm and adopt general outsourcing piece, easily manufactured, and turntable bearing can bear the combined loads such as larger axial load, Radial load and capsizing moment simultaneously, integrate supporting, rotation, transmission, the several functions such as fixing, well can adapt to the job requirement of grabbing arm.
The another further preferred implementation of the utility model, the actuating device of described grabbing arm is reducing motor, and the miniature gears that reducing motor output shaft is connected is meshed with gear.Adopt this embodiment, the stable drive of grabbing arm, controlled, positioning precision is high.
The utility model is preferred implementation further, and described outside captures plate and inner side crawl plate is circular arc plate.Adopt this embodiment, the use of circular arc plate is convenient to crawl plate and inner side outside formation and is captured the arc groove between plate, and is convenient to reduce the space of drum crawl shared by plate in motion process.
Another further preferred implementation of the utility model, described drum is captured plate and is connected by cantilever with Connection Block.Adopt this embodiment, structure is simple, easy to make.
The another further preferred implementation of the utility model, described drum captures plate and is symmetrical arranged relative to the cantilever left and right sides, the two ends, left and right capturing plate at drum are respectively arranged with drum grabbing groove, the external side end of described drum grabbing groove is opening, medial extremity is arc end, the radius R of arc end equals the half of drum grabbing groove width A, and this drum grabbing groove width A is symmetrical arranged relative to the width B of arc groove.Adopt this embodiment, drum captures the plate left and right sides can capture drum, can realize the drum conveying operations of multistation easily, increase work efficiency, convenient and practical.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model drum conveying mechanical arm is described in further detail.
Fig. 1 is the structural representation of a kind of detailed description of the invention of the utility model drum conveying mechanical arm;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the cutaway view at anti-rotation limiting device position in structure shown in Fig. 1;
Fig. 4 is the partial enlarged drawing supporting supporting plate position in structure shown in Fig. 1;
Fig. 5 is the structural representation of grabbing arm in structure shown in Fig. 1;
Fig. 6 is the birds-eye view of structure shown in Fig. 5;
Fig. 7 is the cutaway view of structure shown in Fig. 5.
In figure: capture outside plate, 743-arc groove, 744-inside 1-pedestal, 2-fore-set actuating device, 3-anti-rotation limiting device, the spacing rib of 31-, 32-runner, 4-fore-set, 5-actuating device, 6-support supporting plate, 7-grabbing arm, 71-Connection Block, 72-cylinder positioning step, 73-cantilever, 74-drum crawl plate, 741-drum grabbing groove, 742-and capture plate, 8-gear, 9-turntable bearing, 10-miniature gears.
Detailed description of the invention
In drum conveying mechanical arm shown in Fig. 1 to Fig. 4, pedestal 1 is the foundation support part of whole drum conveying mechanical arm, columniform sleeve is provided with above the base plate of pedestal 1, columniform sleeve is welded to connect by the uniform three pieces of brace panels of its periphery and base plate, fore-set 4 can be supported with up or down by axle bush in cylindrical sleeve on pedestal 1, fore-set 4 top is connected with by screw fixed installation and supports supporting plate 6, support on supporting plate 6 and turntable bearing 9 is installed, support supporting plate 6 to be connected by screw with the inner ring of turntable bearing 9, the outer ring of turntable bearing 9 and the Connection Block 71 of grabbing arm 7 are connected, like this, described support supporting plate 6 has grabbing arm 7 by turntable bearing 9 rotating support, turntable bearing 9 outer ring is provided with gear 8, the actuating device 5 of grabbing arm 7 is arranged on and supports on supporting plate 6, actuating device 5 is reducing motor, reducing motor output shaft is fixed with miniature gears 10, miniature gears 10 is meshed with gear 8, like this, grabbing arm 7 can be driven to rotate by actuating device 5, realize crawl and the left and right conveying operations of grabbing arm 7 pairs of drums, install at the Connection Block 71 rotation axis place of grabbing arm 7 and be connected with coder, coder is connected in fore-set lower end, in order to detect, the angle position that location grabbing arm 7 rotates, certainly, coder also can be connected on the output shaft as the reducing motor of actuating device 5, fore-set actuating device 2 is connected with between described fore-set 4 and pedestal 1, two cylinders that fore-set actuating device 2 is connected for cylinder body, two cylinder blocks coaxially connect, the piston rod of below cylinder is connected on pedestal 1, the piston rod of top cylinder is connected with fore-set 4 by supporting supporting plate 6, like this, fore-set actuating device 2 can drive the upper and lower multistation of grabbing arm 7 to move, so that grabbing arm 7 pairs of drums realize grasping manipulation, anti-rotation limiting device 3 is provided with between fore-set 4 and pedestal 1, anti-rotation limiting device 3 comprises the spacing rib 31 be arranged on pedestal 1 and the runner 32 be arranged on fore-set 4, runner 32 cylindrical contacts with spacing rib 31, the plane that spacing rib 31 is formed after its axial chamfered edge cutting for the cylindrical sleeve above pedestal 1, runner 32 is for being arranged on the bearing on bearing pin, bearing pin is connected on the sidewall of fore-set 4 lower end, anti-rotation limiting device 3 has two covers, be separately positioned on the position that fore-set 4 sidewall is relative, two covers coordinate the rotation that can prevent on fore-set 4 left and right directions, and friction drag is very little, circular gap is also very little, positioning precision is high.
Fig. 4 to Fig. 7 shows the structural representation of grabbing arm 7, the Connection Block 71 of grabbing arm 7 is tabular component, cylinder positioning step 72 is processed with below Connection Block 71, in order to be connected with the Internal hole positioning of turntable bearing 9 outer ring, on Connection Block 71, welding is fixed with cantilever 73, cantilever 73 is made up of steel pipe, the overhanging end of cantilever 73 is provided with drum and captures plate 74, drum captures plate 74 and is symmetrical arranged relative to cantilever 73 left and right sides, drum crawl plate 74 comprises outside crawl plate 744 and captures plate 742 with inner side, outside captures plate 744 and inner side crawl plate 742 is circular arc plate, outside crawl plate 744 and cantilever 73 are welded by the connection pipe being positioned at cantilever 73 both sides and are connected, inner side crawl plate 742 and Connection Block 71 are welded by the junction steel plate being positioned at cantilever 73 both sides and are connected, outside crawl plate 744 and inner side capture between plate 742 and form arc groove 743, the center of arc of arc groove 743 is on the axis of cylinder positioning step 72, on the rotation axis of namely grabbing arm 7, capture on plate 74 at drum and be provided with drum grabbing groove 741, this drum grabbing groove 741 is circular groove, the center of arc of circular groove is in the center of arc of arc groove 743, drum grabbing groove 741 is arranged at outside and captures in the upper plane of plate 744 and inner side crawl plate 742, the width A of drum grabbing groove 741 is greater than the width B of arc groove 743, and drum grabbing groove 741 width A is symmetrical arranged relative to the width B of arc groove 743, the two ends, left and right that drum grabbing groove 741 captures plate 74 at drum are arranged respectively, the external side end of drum grabbing groove 741 is opening, medial extremity is arc end, the radius R of arc end equals the half of drum grabbing groove 741 width A.
The width A of drum grabbing groove 741 is a bit larger tham the diameter of drum to be crawled, in use procedure, grabbing arm 7 captures the below of one end insertion drum of plate 74 under the driving of actuating device 5 by drum, arc groove 743 on drum crawl plate 74 is in order to get out of the way the bolster of supporting drum, after promoting grabbing arm 7 by fore-set actuating device 2, drum grabbing groove 741 is connected in the lower web of drum to be crawled, thus the crawl realized drum, grabbing arm 7 is made to rotate an angle position by actuating device 5 again, drum is transported to next station, decline after grabbing arm 7 by fore-set actuating device 2, drum is held on the bolster of drum or the conveyor line of drum, such reciprocating operation, the conveying of drum is accomplished.
Above-mentionedly only list detailed description of the invention more of the present utility model, but the utility model is not limited in this, more improvement and conversion can also be made, as: as described in fore-set actuating device 2 may not be cylinder body be coaxially connected two cylinders, but general double stroke cylinder can be adopted, the cylinder body of this double stroke cylinder is connected on pedestal 1, and the piston rod of this double stroke cylinder is connected with fore-set 4 by supporting supporting plate 6, and the multistation that can realize grabbing arm 7 equally moves up and down.And so on, as long as improvement done on groundwork basis of the present utility model and conversion, all should be considered as falling in protection domain of the present utility model.
Claims (10)
1. a drum conveying mechanical arm, comprise pedestal (1), it is characterized in that: fore-set (4) can be supported with up or down on described pedestal (1), fore-set (4) top is provided with and supports supporting plate (6), have grabbing arm (7) at the upper rotating support of support supporting plate (6), the actuating device (5) of grabbing arm (7) is arranged on and supports on supporting plate (6), fore-set actuating device (2) is connected with between described fore-set (4) and pedestal (1), described grabbing arm (7) external part is provided with drum and captures plate (74), this drum crawl plate (74) comprises outside crawl plate (744) and captures plate (742) with inner side, outside crawl plate (744) and inner side capture between plate (742) and form arc groove (743), the center of arc of arc groove (743) is on grabbing arm (7) center of turn, capture on plate (74) at drum and be provided with drum grabbing groove (741), this drum grabbing groove (741) is circular groove, the center of arc of circular groove is on grabbing arm (7) center of turn, described drum grabbing groove (741) is arranged at outside and captures in the upper plane of plate (744) and inner side crawl plate (742), the width A of drum grabbing groove (741) is greater than the width B of arc groove (743).
2. drum conveying mechanical arm according to claim 1, it is characterized in that: two cylinders that described fore-set actuating device (2) is connected for cylinder body, the piston rod of below cylinder is connected on pedestal (1), and the piston rod of top cylinder is connected with fore-set (4) by supporting supporting plate (6).
3. drum conveying mechanical arm according to claim 1, it is characterized in that: described fore-set actuating device (4) is double stroke cylinder, the cylinder body of this double stroke cylinder is connected on pedestal (1), and the piston rod of this double stroke cylinder is connected with fore-set (4) by supporting supporting plate (6).
4. drum conveying mechanical arm according to claim 1, is characterized in that: be provided with anti-rotation limiting device (3) between described fore-set (4) and pedestal (1).
5. drum conveying mechanical arm according to claim 4, it is characterized in that: described anti-rotation limiting device (3) comprises the spacing rib (31) be arranged on pedestal (1) and the runner (32) be arranged on fore-set (4), and described runner (32) cylindrical contacts with spacing rib (31).
6. drum conveying mechanical arm according to claim 1, it is characterized in that: described support supporting plate (6) has grabbing arm (7) by turntable bearing (9) rotating support, support supporting plate (6) to be connected with the inner ring of turntable bearing (9), the Connection Block (71) of grabbing arm (7) and the outer ring of turntable bearing (9) are connected; Described turntable bearing (9) outer ring is provided with gear (8).
7. drum conveying mechanical arm according to claim 1, is characterized in that: the actuating device (5) of described grabbing arm (7) is reducing motor, and the miniature gears that reducing motor output shaft is connected (10) is meshed with gear (8).
8. drum conveying mechanical arm according to claim 1, is characterized in that: described outside captures plate (744) and inner side crawl plate (742) is circular arc plate.
9. drum conveying mechanical arm according to claim 1, is characterized in that: described drum is captured plate (74) and is connected by cantilever (73) with Connection Block (71).
10. drum conveying mechanical arm according to claim 9, it is characterized in that: described drum captures plate (74) and is symmetrical arranged relative to cantilever (73) left and right sides, the two ends, left and right capturing plate (74) at drum are respectively arranged with drum grabbing groove (741), the external side end of described drum grabbing groove (741) is opening, medial extremity is arc end, the radius R of arc end equals the half of drum grabbing groove (741) width A, and this drum grabbing groove (741) width A is symmetrical arranged relative to the width B of arc groove (743).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420662017.9U CN204264978U (en) | 2014-11-08 | 2014-11-08 | Drum conveying mechanical arm |
| PCT/CN2015/083635 WO2016070645A1 (en) | 2014-11-08 | 2015-07-09 | Wire coil conveying mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420662017.9U CN204264978U (en) | 2014-11-08 | 2014-11-08 | Drum conveying mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204264978U true CN204264978U (en) | 2015-04-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420662017.9U Active CN204264978U (en) | 2014-11-08 | 2014-11-08 | Drum conveying mechanical arm |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN204264978U (en) |
| WO (1) | WO2016070645A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105398813A (en) * | 2015-11-19 | 2016-03-16 | 桐乡市龙翔纺织有限责任公司 | Bobbin feeding equipment |
| WO2016070645A1 (en) * | 2014-11-08 | 2016-05-12 | 江苏新技机械有限公司 | Wire coil conveying mechanical arm |
| CN108422440A (en) * | 2018-04-26 | 2018-08-21 | 南通大学 | A kind of I-shaped drum crawl special manipulator |
| CN109335870A (en) * | 2018-11-26 | 2019-02-15 | 无锡巨同创科技有限公司 | Full-automatic vertical turntable admission machine |
| CN109335661A (en) * | 2018-11-26 | 2019-02-15 | 无锡巨同创科技有限公司 | Take-up reel handler |
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| CN107161681A (en) * | 2017-05-13 | 2017-09-15 | 蔡燕 | A kind of annular workpieces conveyer |
| CN109174675A (en) * | 2018-07-17 | 2019-01-11 | 芜湖固高自动化技术有限公司 | A kind of cylinder sleeve processing precision positioning displacement platform and its localization method |
| CN110053971A (en) * | 2019-05-27 | 2019-07-26 | 孙峰 | A kind of glass slide permutation transplant apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CA1173070A (en) * | 1981-07-30 | 1984-08-21 | Lawrence J. Richards | Turret stacker |
| JP2001122581A (en) * | 1999-10-22 | 2001-05-08 | Nippon Koshuha Steel Co Ltd | Suspension apparatus of coil-like wire |
| CN1827500A (en) * | 2006-04-18 | 2006-09-06 | 王树生 | Lifting type holding mechanism |
| CN203392479U (en) * | 2013-07-23 | 2014-01-15 | 青岛科技大学 | High-low level swivel-hook-type cable reel auto-conveying device |
| CN203738794U (en) * | 2014-02-18 | 2014-07-30 | 金华中科志联智能技术有限公司 | Mechanical arm high in stability and accurate in positioning |
| CN103922139B (en) * | 2014-04-28 | 2015-12-30 | 安徽工业大学 | For the device of I-beam wheel automatic transporting |
| CN204264978U (en) * | 2014-11-08 | 2015-04-15 | 江苏新技机械有限公司 | Drum conveying mechanical arm |
-
2014
- 2014-11-08 CN CN201420662017.9U patent/CN204264978U/en active Active
-
2015
- 2015-07-09 WO PCT/CN2015/083635 patent/WO2016070645A1/en active Application Filing
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016070645A1 (en) * | 2014-11-08 | 2016-05-12 | 江苏新技机械有限公司 | Wire coil conveying mechanical arm |
| CN105398813A (en) * | 2015-11-19 | 2016-03-16 | 桐乡市龙翔纺织有限责任公司 | Bobbin feeding equipment |
| CN108422440A (en) * | 2018-04-26 | 2018-08-21 | 南通大学 | A kind of I-shaped drum crawl special manipulator |
| CN108422440B (en) * | 2018-04-26 | 2023-11-10 | 南通大学 | Special manipulator for grabbing I-shaped wire coil |
| CN109335870A (en) * | 2018-11-26 | 2019-02-15 | 无锡巨同创科技有限公司 | Full-automatic vertical turntable admission machine |
| CN109335661A (en) * | 2018-11-26 | 2019-02-15 | 无锡巨同创科技有限公司 | Take-up reel handler |
| CN109335870B (en) * | 2018-11-26 | 2023-08-25 | 无锡巨一同创科技有限公司 | Full-automatic vertical turntable wire winding machine |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016070645A1 (en) | 2016-05-12 |
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Address after: 224200 No. six, No. 9-8, weft Road, Dongtai Economic Development Zone, Jiangsu, Yancheng City Patentee after: Jiangsu Xingji Intelligent Equipment Co., Ltd Address before: 224200 No. six, No. 9-8, weft Road, Dongtai Economic Development Zone, Jiangsu, Yancheng City Patentee before: JIANGSU SINGCHEER MACHINERY Co.,Ltd. |