CN208567793U - A kind of intelligent detection equipment detecting workpiece three-dimensional information - Google Patents
A kind of intelligent detection equipment detecting workpiece three-dimensional information Download PDFInfo
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- CN208567793U CN208567793U CN201821459015.4U CN201821459015U CN208567793U CN 208567793 U CN208567793 U CN 208567793U CN 201821459015 U CN201821459015 U CN 201821459015U CN 208567793 U CN208567793 U CN 208567793U
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- blue light
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- light scanner
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Abstract
The utility model discloses a kind of intelligent detection equipments for detecting workpiece three-dimensional information, including 3D blue light scanner, and the driving mechanism of driving 3D blue light scanner Multidirectional sweeping, driving mechanism include horizontal mobile mechanism, horizontal mobile mechanism is for driving 3D blue light scanner horizontal direction mobile；Lifting moving mechanism, lifting moving mechanism is for driving 3D blue light scanner vertical direction mobile；Turntable is driven, drives turntable between horizontal mobile mechanism and lifting moving mechanism, lifting moving mechanism is located on driving turntable, and for driving 3D blue light scanner rotary motion, 3D blue light scanner is arranged in lifting moving mechanism driving turntable.The robot of the utility model cooperates to drive 3D blue light scanner to workpiece multi-angle and multi-faceted be scanned using horizontal mobile mechanism, driving turntable and lifting moving mechanism, the calibration process of 3D blue light scanner is simple, it is time saving and energy saving, work efficiency is high, while make demarcate position precision greatly improve.
Description
Technical field
The utility model relates to workpiece intelligent testing technology fields, and in particular to a kind of intelligence for detecting workpiece three-dimensional information
Detection device.
Background technique
Blue light 3D scanner is the scientific detector of a kind of shape for investigating and analyzing certain stereochemical structure, construction etc.
Device.It, which detects resulting data, can be used for the three-dimensional reconstruction of the object, mainly using in conjunction with light technology, phase measurement
And computer vision technique.Have many advantages, such as that precision is high, the service life is long, speed is fast, performance is good.
The supporting and positioning mechanism of blue light 3D scanner in the prior art generallys use manual mode and carries out as follows
Scanning grease head highness calibration: 1. unscrew clamping device and movable scan head is screwed to after estimating height, and 2. measurement scanning grease head highness are simultaneously
Judge its whether in tolerance band, 3. unscrew again clamping device adjustment height after screw, 4. again measurement scanning grease head highness simultaneously
It is judged whether in tolerance band, repeatedly for several times until height meets the requirements.The calibration of this manual mode there are the problem of
It is that operation is time-consuming and laborious, and stated accuracy is low, the point cloud data precision for causing scanning to obtain is poor, obtains after post-processing
The scale error of workpiece 3D model is larger.
Utility model content
To be solved in the utility model is that the supporting and positioning mechanism of blue light 3D scanner in the prior art needs people
For manual mode calibration, there is that operation is time-consuming and laborious, and stated accuracy is low, cause the obtained point cloud data precision of scanning poor,
The technical problem for causing the scale error of workpiece 3D model larger is, and it is an object of the present invention to provide a kind of intelligence for detecting workpiece three-dimensional information
Detection device.
The utility model is achieved through the following technical solutions:
A kind of intelligent detection equipment detecting workpiece three-dimensional information, including 3D blue light scanner, and driving 3D blue light are swept
The driving mechanism of instrument Multidirectional sweeping is retouched, the driving mechanism includes horizontal mobile mechanism, and the horizontal mobile mechanism is for driving
Dynamic 3D blue light scanner horizontal direction is mobile；Lifting moving mechanism, the lifting moving mechanism is for driving 3D blue light scanner
Vertical direction is mobile；Turntable is driven, the driving turntable is between horizontal mobile mechanism and lifting moving mechanism, lifting moving
Mechanism is located on driving turntable, and the driving turntable is for driving 3D blue light scanner rotary motion, the 3D blue light scanner
It is arranged in lifting moving mechanism.
Preferred embodiment, the horizontal mobile mechanism include pedestal, and the left and right sides is fixedly mounted guide rail respectively on the base, and two
A guide rail is located at sustained height on pedestal, is parallel to each other between guide rail, and guide rail upper end is matched with sliding block respectively, is equipped between guide rail
First screw rod, the first screw rod are arranged in parallel with guide rail, and one end of the first screw rod is fixedly connected by screw mandrel shaft block with pedestal, the
The other end of one screw rod is connect by shaft coupling with the first stepper motor, and the first stepper motor is fixed on the base, the first screw rod
On be matched with feed screw nut, slider-actuated plate is fixedly connected on feed screw nut, the both ends of slider-actuated plate are respectively and on guide rail
Sliding block be fixedly connected.
Preferred embodiment, the driving turntable includes support plate, is equipped with driven fluted disc and the second stepping in the bottom of support plate
Motor, the driven fluted disc and support plate are pivotally connected, and the second stepper motor drives driven fluted disc to rotate by synchronous belt,
It is equipped with the turntable for following driven fluted disc rotation at the top of support plate, is connected between the driven fluted disc and turntable by shaft.
Preferred embodiment, the lifting moving mechanism includes column, and the column is channel steel, is fixedly installed at the top of column
Cover board, the bottom of column are equipped with thrust ball bearing, and third stepper motor is equipped at the top of cover board, is set in the slot of the column
Have the second screw rod, one end of second screw rod is fixedly connected with the rotor of output shaft axle of third stepper motor, the second screw rod it is another
The connection of the thrust ball bearing of one end and column bottom, is threaded with T shape slide unit on the second screw rod, and the one of the T shape slide unit
End is equipped with the threaded hole connecting with the second wire rod thread, and the other end of T shape slide unit is equipped with the limit connecting with the side walls of column
Position block, limited block are bonded with the side wall of column, and the 3D blue light scanner is fixedly connected with T shape slide unit.
Preferred embodiment, the both ends of the guide rail are provided with travel switch respectively, and travel switch is for controlling the first stepping electricity
The operating of machine.
The support plate of preferred embodiment, the driving turntable is fixed on the sliding block of horizontal mobile mechanism, the lifting moving
The column of mechanism is fixed in the support plate of driving turntable, and the column is vertical with support plate to be connect.
Preferred embodiment, the 3D blue light scanner and T shape slide unit junction are equipped with mounting plate, and the mounting plate is " Contraband " shape
Structure offers mounting hole in the two sides of mounting plate, the installation with mounting plate is respectively arranged at left and right sides of the T shape slide unit
The pivot pin of hole cooperation, the pivot pin and mounting plate are pivotally connected, and are fixedly connected with the 4th stepper motor in the side of T shape slide unit,
The rotor of output shaft axle of 4th stepper motor is equipped with one-stage gear, has in the pivot pin pivot connection adjacent with the 4th stepper motor
Secondary gear, the secondary gear are fixedly connected with mounting plate, and secondary gear engages connection, the 4th stepping with one-stage gear
Motor driven 3D blue light scanner is rotated up and down movement on T shape slide unit.
The bottom of preferred embodiment, the pedestal is equipped with multi-axis foot hoof, and the multi-axis foot hoof is fixed on the bottom four corners of pedestal.
Preferred embodiment, the pedestal are that four rectangular steel pipe head and the tail are welded to form, the surface anticorrosion with painting paint layer of pedestal, institute
It states guide rail and shoe surface is coated with layers of chrome.
Preferred embodiment, the 3D blue light scanner be equipped with it is multiple, multiple 3D blue light scanner horizontal arrays on a mounting board,
Multiple 3D blue light scanners are detachably connected with mounting plate.
The utility model compared with prior art, has the following advantages and benefits: a kind of inspection of the utility model
The intelligent detection equipment of workpiece three-dimensional information is surveyed, the robot is using horizontal mobile mechanism, driving turntable and lifting moving mechanism
It cooperates to drive 3D blue light scanner is multi-faceted to workpiece multi-angle to be scanned.Horizontal mobile mechanism uses the first stepping
The first screw rod of motor driven is by driving driving turntable and lifting moving mechanism come mobile 3 D blue light scanner along the length of guide rail
Direction horizontal rectilinear motion；Driving turntable realizes 3D blue light scanner rotary motion by the rotation of driving lifting moving mechanism；
Lifting moving mechanism drives the elevating movement of T shape slide unit to realize 3D blue light scanner by third stepping the second screw rod of motor driven
Elevating movement.The calibration process of entire driving process 3D blue light scanner is simple, time saving and energy saving, work efficiency is high, while making to mark
The precision set is positioned to greatly improve.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the utility model embodiment, constitutes the one of the application
Part does not constitute the restriction to the utility model embodiment.In the accompanying drawings:
FIG. 1 is a schematic structural view of the utility model.
Label and corresponding parts title in attached drawing:
11- pedestal, 12- guide rail, 13- sliding block, the first screw rod of 14-, 15- screw mandrel shaft block, the first stepper motor of 16-, 17-
Feed screw nut, 18- slider-actuated plate, 21- support plate, 22- turntable, 31- column, the second screw rod of 32-, 33- cover board, 34- third
Stepper motor, 35-T shape slide unit, 36- thrust ball bearing, 41-3D blue light scanner.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below with reference to embodiment and attached drawing,
The utility model is described in further detail, and the exemplary embodiment and its explanation of the utility model are only used for explaining this
Utility model is not intended to limit the scope of the present invention.
Embodiment
As shown in Figure 1, a kind of intelligent detection equipment for detecting workpiece three-dimensional information of the utility model, including the scanning of 3D blue light
Instrument 41, and the driving mechanism of driving 41 Multidirectional sweeping of 3D blue light scanner, which includes horizontal mobile mechanism, water
Flat mobile mechanism is for driving 41 horizontal direction of 3D blue light scanner mobile.Horizontal mobile mechanism includes pedestal 11, in pedestal 11
The upper left and right sides is fixedly mounted guide rail 12 respectively, and two guide rails 12 are located at 11 top of pedestal and are located at sustained height, guide rail 12 it
Between be parallel to each other.It is matched with sliding block 13 respectively in 12 upper end of guide rail, sliding block 13 moves freely on guide rail 12.Two guide rails 12 it
Between be equipped with the first screw rod 14, the first screw rod 14 is arranged in parallel with guide rail 12, and one end of the first screw rod 14 passes through screw mandrel shaft block 15
It is fixedly connected with pedestal 11, the other end of the first screw rod 14 is connect by shaft coupling with the first stepper motor 16, the first stepping electricity
Machine 16 is fixed on the base.It is matched with feed screw nut 17 on first screw rod 14, is fixedly connected with slider-actuated on feed screw nut 17
Plate 18, the both ends of slider-actuated plate 18 are fixedly connected with the sliding block 13 on guide rail 12 respectively.The both ends of guide rail 12 are provided with respectively
Travel switch, travel switch are used to control the operating of the first stepper motor 16, and when sliding block 13 touches travel switch, stroke is opened
The driving circuit of disconnected first stepper motor 16 of concern.
Driving turntable is provided on horizontal mobile mechanism, driving turntable includes support plate 21, and support plate 21 is fixed on water
On the sliding block 13 of flat mobile mechanism.Driven fluted disc and second stepper motor, driven fluted disc and branch are equipped in the bottom of support plate 21
Fagging 21 is pivotally connected by shaft, and second stepper motor drives driven fluted disc to rotate by synchronous belt, on the top of support plate 21
Portion is equipped with the turntable 22 for following driven fluted disc rotation, is connected between driven fluted disc and turntable 22 by shaft.
It is provided with lifting moving mechanism at the top of driving turntable, lifting moving mechanism is for driving 3D blue light scanner 41
Vertical direction lifting moving；Lifting moving mechanism includes column 31, and column 31 is preferably channel steel, is fixedly mounted at the top of column 31
There is cover board 33, the bottom of column 31 is equipped with thrust ball bearing 36, and the top of cover board 33 is equipped with third stepper motor 34.Vertical
The second screw rod 32, one end of the second screw rod 32 and the fixed company of the rotor of output shaft axle of third stepper motor 34 are equipped in the slot of column 31
It connects, the other end of the second screw rod 32 is connect with the thrust ball bearing 36 of 31 bottom of column, is threaded with T on the second screw rod 32
Shape slide unit 35, one end of the T shape slide unit 35 are equipped with the threaded hole being threadedly coupled with the second screw rod 32, the other end of T shape slide unit 35
Equipped with the limited block connecting with the side walls of column 31, limited block is bonded with the side wall of column 31,3D blue light scanner 41 and T
Shape slide unit 35 is fixedly connected.
Working principle:
A kind of intelligent detection equipment of detection workpiece three-dimensional information of the utility model, it is blue which is provided with driving 3D
Photoscanner 41 carries out the driving mechanism of position automatic Calibration, and the driving mechanism is using horizontal mobile mechanism, driving turntable and liter
Mobile mechanism is dropped to cooperate to drive 3D blue light scanner is multi-faceted to workpiece multi-angle to be scanned.Horizontal mobile mechanism is adopted
The forward and reverse rotation of the first screw rod 14 is driven with the first stepper motor 16, the feed screw nut 17 on the first screw rod 14 is along guide rail 12
Length direction level moves left and right, and the slider-actuated plate 18 connecting with feed screw nut 17 drives driving turntable and lifting moving mechanism
Carry out length direction horizontal rectilinear motion of the mobile 3 D blue light scanner along guide rail 12.Driving turntable is located at the top of horizontal mobile mechanism
Portion drives the second stepper motor of turntable to be driven by synchronous belt and driven fluted disc, and second stepper motor passes through forward and reverse
Rotation drives 22 forward and reverse rotation of turntable connecting with driven fluted disc.Drive turntable by the rotation of driving lifting moving mechanism come real
Existing 41 rotary motion of 3D blue light scanner.Lifting moving mechanism is located at the top of driving turntable, and lifting moving mechanism passes through third
Stepper motor 34 drives the second screw rod 32 that 35 elevating movement of T shape slide unit is driven to realize 41 elevating movement of 3D blue light scanner.
Preferred embodiment scheme, 3D blue light scanner 41 and 35 junction of T shape slide unit are equipped with mounting plate, which is
" Contraband " shape structure offers mounting hole in the two sides of mounting plate, is respectively arranged with and mounting plate in the left and right sides of T shape slide unit 35
Mounting hole cooperation pivot pin, pivot pin and mounting plate be pivotally connected, and mounting plate is freely rotated up and down movement on pivot pin.In T shape
The side of slide unit 35 is fixedly connected with the 4th stepper motor, and the rotor of output shaft axle of the 4th stepper motor is equipped with one-stage gear, with
Being pivotally connected on the adjacent pivot pin of 4th stepper motor has secondary gear, and one end of secondary gear is fixedly connected with mounting plate, and two
Grade gear engages connection with one-stage gear, and the 4th stepper motor drives one-stage gear and secondary gear transmission, second level by rotation
Gear drives 3D blue light scanner to be rotated up and down movement in T shape slide unit, improves the scanning range of 3D blue light scanner 41.
Scheme is preferably implemented, is equipped with multi-axis foot hoof in the bottom of pedestal 11, multi-axis foot hoof is fixed on the bottom of pedestal 11
Quadrangle, multi-axis foot hoof prevent shaking for adjusting the height of pedestal 11 and the stability of installation site.
Preferred embodiment scheme, pedestal 11 are that four rectangular steel pipe head and the tail are welded to form, and on the surface of pedestal 11, spraying is anti-
Rotten paint layer improves the service life of pedestal 11.Guide rail 122 and 13 surface of sliding block are coated with layers of chrome, and layers of chrome corrosion resistant, hardness are high, wear-resisting
Damage guarantees guide rail 122 and 13 reliability service of sliding block.
Preferred embodiment scheme, 3D blue light scanner 41 be equipped with it is multiple, multiple 41 horizontal arrays of 3D blue light scanner are being pacified
In loading board, multiple 3D blue light scanners 41 are detachably connected with mounting plate, are being pacified using multiple 3D blue light scanners 41 in array
In loading board, the scanning and measurement of large area can be once carried out, improves detection efficiency.
Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model
Determine the protection scope of the utility model, within the spirit and principle of the utility model, any modification for being made equally is replaced
It changes, improve, should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of intelligent detection equipment for detecting workpiece three-dimensional information, which is characterized in that including 3D blue light scanner, and driving
The driving mechanism of 3D blue light scanner Multidirectional sweeping, the driving mechanism includes horizontal mobile mechanism, described to move horizontally machine
Structure is for driving 3D blue light scanner horizontal direction mobile；Lifting moving mechanism, the lifting moving mechanism is for driving 3D blue
Photoscanner vertical direction is mobile；Drive turntable, the driving turntable between horizontal mobile mechanism and lifting moving mechanism,
Lifting moving mechanism is located on driving turntable, and for the driving turntable for driving 3D blue light scanner rotary motion, the 3D is blue
Photoscanner is arranged in lifting moving mechanism.
2. a kind of intelligent detection equipment for detecting workpiece three-dimensional information according to claim 1, which is characterized in that the water
Flat mobile mechanism includes pedestal, and guide rail is fixedly mounted in the left and right sides respectively on the base, and two guide rails are located at same height on pedestal
Degree is parallel to each other between guide rail, and guide rail upper end is matched with sliding block respectively, is equipped with the first screw rod between guide rail, the first screw rod with lead
Rail is arranged in parallel, and one end of the first screw rod is fixedly connected by screw mandrel shaft block with pedestal, and the other end of the first screw rod passes through connection
Axis device is connect with the first stepper motor, and the first stepper motor is fixed on the base, and feed screw nut, screw rod are matched on the first screw rod
Slider-actuated plate is fixedly connected on nut, the both ends of slider-actuated plate are fixedly connected with the sliding block on guide rail respectively.
3. a kind of intelligent detection equipment for detecting workpiece three-dimensional information according to claim 1, which is characterized in that the drive
Turn disk includes support plate, is equipped with driven fluted disc and second stepper motor, the driven fluted disc and support in the bottom of support plate
Plate is pivotally connected, and the second stepper motor drives driven fluted disc to rotate by synchronous belt, is equipped with and is followed at the top of support plate
The turntable of driven fluted disc rotation, is connected between the driven fluted disc and turntable by shaft.
4. a kind of intelligent detection equipment for detecting workpiece three-dimensional information according to claim 1, which is characterized in that the liter
Dropping mobile mechanism includes column, and the column is channel steel, cover board is fixedly installed at the top of column, the bottom of column, which is equipped with, to push away
Power ball bearing is equipped with third stepper motor at the top of cover board, is equipped with the second screw rod, second screw rod in the slot of the column
One end be fixedly connected with the rotor of output shaft axle of third stepper motor, the other end of the second screw rod and the thrust ball axis of column bottom
Connection is held, T shape slide unit is threaded on the second screw rod, one end of the T shape slide unit is equipped with to be connect with the second wire rod thread
Threaded hole, the other end of T shape slide unit is equipped with limited block connect with the side walls of column, the side wall patch of limited block and column
It closes, the 3D blue light scanner is connect with T shape slide unit.
5. a kind of intelligent detection equipment for detecting workpiece three-dimensional information according to claim 2, which is characterized in that described to lead
The both ends of rail are provided with travel switch respectively, and travel switch is used to control the operating of the first stepper motor.
6. a kind of intelligent detection equipment for detecting workpiece three-dimensional information according to claim 1-4, feature exist
In the support plate of the driving turntable is fixed on the sliding block of horizontal mobile mechanism, and the column of the lifting moving mechanism is fixed
In the support plate of driving turntable, the column is vertical with support plate to be connect.
7. a kind of intelligent detection equipment for detecting workpiece three-dimensional information according to claim 4, which is characterized in that the 3D
Blue light scanner and T shape slide unit junction are equipped with mounting plate, and the mounting plate is " Contraband " shape structure, open up in the two sides of mounting plate
Have mounting hole, be respectively arranged at left and right sides of the T shape slide unit with the mounting hole of mounting plate cooperation pivot pin, the pivot pin with
Mounting plate is pivotally connected, and is fixedly connected with the 4th stepper motor in the side of T shape slide unit, the rotor of the 4th stepper motor is defeated
Shaft is equipped with one-stage gear, has a secondary gear in adjacent with the 4th stepper motor pivot pin pivot connection, the secondary gear with
Mounting plate is fixedly connected, and secondary gear engages connection with one-stage gear, and the 4th stepper motor driving 3D blue light scanner is in T
Movement is rotated up and down on shape slide unit.
8. a kind of intelligent detection equipment for detecting workpiece three-dimensional information according to claim 2, which is characterized in that the base
The bottom of seat is equipped with multi-axis foot hoof, and the multi-axis foot hoof is fixed on the bottom four corners of pedestal.
9. a kind of intelligent detection equipment for detecting workpiece three-dimensional information according to claim 2, which is characterized in that the base
Seat is welded to form for four rectangular steel pipe head and the tail, and the surface anticorrosion with painting paint layer of pedestal, the guide rail and shoe surface are coated with chromium
Layer.
10. a kind of intelligent detection equipment for detecting workpiece three-dimensional information according to claim 7, which is characterized in that described
3D blue light scanner be equipped with it is multiple, multiple 3D blue light scanner horizontal arrays on a mounting board, multiple 3D blue light scanners and peace
Loading board is detachably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821459015.4U CN208567793U (en) | 2018-09-06 | 2018-09-06 | A kind of intelligent detection equipment detecting workpiece three-dimensional information |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821459015.4U CN208567793U (en) | 2018-09-06 | 2018-09-06 | A kind of intelligent detection equipment detecting workpiece three-dimensional information |
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| Publication Number | Publication Date |
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| CN208567793U true CN208567793U (en) | 2019-03-01 |
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ID=65451600
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| CN201821459015.4U Active CN208567793U (en) | 2018-09-06 | 2018-09-06 | A kind of intelligent detection equipment detecting workpiece three-dimensional information |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110340926A (en) * | 2019-07-18 | 2019-10-18 | 安徽天通精电新科技有限公司 | Multidirectional clamping device for detection machine and use method thereof |
| CN111998795A (en) * | 2020-09-09 | 2020-11-27 | 哈尔滨科能熔敷科技有限公司 | Quick intelligent detection device for water wall abrasion |
| CN112620989A (en) * | 2020-11-11 | 2021-04-09 | 郑智宏 | Automatic welding method based on three-dimensional visual guidance |
| CN113390364A (en) * | 2021-06-23 | 2021-09-14 | 中交机电工程局有限公司 | Assembly structure of large-arm laser scanner of single storage yard |
-
2018
- 2018-09-06 CN CN201821459015.4U patent/CN208567793U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110340926A (en) * | 2019-07-18 | 2019-10-18 | 安徽天通精电新科技有限公司 | Multidirectional clamping device for detection machine and use method thereof |
| CN111998795A (en) * | 2020-09-09 | 2020-11-27 | 哈尔滨科能熔敷科技有限公司 | Quick intelligent detection device for water wall abrasion |
| CN112620989A (en) * | 2020-11-11 | 2021-04-09 | 郑智宏 | Automatic welding method based on three-dimensional visual guidance |
| CN113390364A (en) * | 2021-06-23 | 2021-09-14 | 中交机电工程局有限公司 | Assembly structure of large-arm laser scanner of single storage yard |
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Address after: 610000 Chenghua District, Chengdu City, Sichuan Province, No. 7 Chengji Road, Longtan Industrial Park Patentee after: Chengdu fumos Industrial Technology Co.,Ltd. Address before: 610000 Chenghua District, Chengdu City, Sichuan Province, No. 7 Chengji Road, Longtan Industrial Park Patentee before: CHENGDU FAMOUS INTELLIGENT SYSTEM INTEGRATION SERVICE Co.,Ltd. |
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| CP03 | Change of name, title or address |
Address after: Room 101, Building 11, No. 333 Yijian West Road, Xinglong Town, Zhongjiang County, Deyang City, Sichuan Province, 618100 Patentee after: Sichuan Fumosi Industrial Technology Co.,Ltd. Address before: 610000 Chenghua District, Chengdu City, Sichuan Province, No. 7 Chengji Road, Longtan Industrial Park Patentee before: Chengdu fumos Industrial Technology Co.,Ltd. |
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