WO2017122867A1 - Procédé de commande d'outil à entraînement électrique - Google Patents

Procédé de commande d'outil à entraînement électrique Download PDF

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Publication number
WO2017122867A1
WO2017122867A1 PCT/KR2016/002066 KR2016002066W WO2017122867A1 WO 2017122867 A1 WO2017122867 A1 WO 2017122867A1 KR 2016002066 W KR2016002066 W KR 2016002066W WO 2017122867 A1 WO2017122867 A1 WO 2017122867A1
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WO
WIPO (PCT)
Prior art keywords
torque
electric motor
pulse current
nut
current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2016/002066
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English (en)
Korean (ko)
Inventor
오성섭
이종진
김준영
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Keyang Electric Machinery Co Ltd
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Keyang Electric Machinery Co Ltd
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Filing date
Publication date
Application filed by Keyang Electric Machinery Co Ltd filed Critical Keyang Electric Machinery Co Ltd
Publication of WO2017122867A1 publication Critical patent/WO2017122867A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING, OR HOLDING
    • B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING, OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors

Definitions

  • the present invention relates to a control method of a power tool, and more particularly, to a control method of a power tool capable of fastening a nut in an assembling process of an automobile or the like.
  • the fastening process of the nut is as follows. First, the nut is moved toward the workpiece while rotating along the thread of the bolt by the power tool. However, if the nut meets the workpiece, that is, at the time of seating, the rotational speed of the nut is significantly reduced. The nut is then further torqued to tighten it. This is to prevent the nut from loosening in the future. That is, the fastening process is only finished by providing a predetermined target torque to the nut to finally tighten the nut.
  • the power tool has been controlled to quickly seat the nut while rotating at high speed at low torque before seating.
  • the nut is set either to 1) continuous torque without interruption in the middle, or 2) impact torque that occurs intermittently but provides an instant impact.
  • the continuous torque has a problem that a relatively large reaction force is generated compared to the impact torque.
  • impact torque has a problem that 1) can not accurately control the size of the torque compared to the continuous torque, 2) has a relatively higher energy consumption.
  • the embodiment of the present invention is devised to solve the above problems, and when the measured torque applied to the nut reaches a value calculated by a predetermined ratio to the target torque, the pulse current supplied thereafter is more precisely controlled. It aims to apply a target torque to a nut or the like. In addition, it is to provide a method of controlling a power tool that can identify the joint characteristics of the fastening portion, such as nuts, reflecting this and further improve the fastening accuracy. In addition, it aims to be able to fasten at the same time while minimizing the energy required by the power tool.
  • an electric motor is disposed, and in a control method of an electric tool for fastening a nut by controlling a current supplied thereto, at the time when the nut is seated, A first step of determining whether the rotational speed reaches a preset speed Vt; If the speed Vt is not reached, step 2-1 of stopping current supply and tightening the nut with only the rotational inertia force of the electric motor to detect a measured torque over time to calculate a first torque rate; Step 3-1 of sequentially providing impact torque after the rotational speed of the electric motor becomes zero; And a fourth step of compensating for the immediately supplied pulse current when the maximum value of the measured torque with respect to the impact torque is equal to or greater than a value multiplied by a predetermined ratio preset to the target torque.
  • the predetermined ratio is inversely proportional to the magnitude of the first torque rate, and may be any value within 0.8 to 0.98.
  • the compensation control is linear compensation, and the intensity of the initial pulse current to which the linear compensation is applied is determined by 1) the intensity of the immediately preceding pulse current, 2) the maximum value of the measured torque detected by the immediately preceding pulse current, and 3) the target torque.
  • the difference between the maximum value of the measurement torque just before can be calculated proportionally.
  • the pulse current to which the linear compensation is applied is a square wave current, and each duration of the pulse current can be variably controlled.
  • step 3-1 the increase rate of the maximum value of each measured torque with respect to the impact torque may be controlled to match the first torque rate.
  • the impact torque may be generated by supplying a pulse current to the electric motor, and the magnitude of the pulse current generated first among the pulse currents may be variably controlled by reflecting the total number of occurrences of the pulse current and its duration.
  • the pulse current is a square wave current, and an increase with respect to each initial value of the square wave current may be a constant constant.
  • step 3-2 to variably control and correct the increase; may further include a.
  • step 2-2 of supplying a brake current to the electric motor to provide a continuous torque that gradually increases so that a target torque is applied to the nut.
  • the tightening accuracy can be improved because the pulse current immediately supplied can be compensated for. At this time, since the joint characteristics are reflected in the predetermined ratio, the fastening accuracy can be further improved.
  • the first torque rate is calculated by detecting the measured torque with time only by the rotational inertia force of the electric motor, and this is referred to as a reference. Thereafter, the rate of increase of the maximum value of the measured torque for each impact torque provided to the nut can be matched with the first torque rate to improve the fastening accuracy. At this time, if the increase rate is inconsistent with the first torque rate, it may be corrected to further improve the fastening accuracy.
  • the braking current may be supplied to the electric motor to control the target torque to be applied to the nut, thereby minimizing the tightening energy.
  • the torque providing method may be switched to the impact torque, thereby reducing the failure rate of the fastening process.
  • the second torque rate may be calculated using only the rotational inertia force of the electric motor, and the increase rate with respect to the maximum value of the measured torque for each impact torque may be controlled based on the second torque rate. As a result, the fastening accuracy can be improved.
  • the impact torque can be reached quickly to the target torque, thereby improving productivity.
  • FIG. 1 is a flow chart showing a control method of a power tool according to an embodiment of the present invention.
  • 3 is a graph showing measured torque and pulse current over time.
  • FIG. 4 is a graph illustrating compensating control of a pulse current in a fourth step of FIG. 1.
  • a control method of a power tool includes 1) a first step s10 of judging, 2) a second-1 step s20 of calculating a first torque rate ⁇ , and 3) an impact torque.
  • Step 3-1 (s30), 4) Step 3-2 (s35) for correction, 5) Step 4 (s40) for compensating and controlling pulse current, and step 6-2 (2-2) for providing continuous torque (s25).
  • the control method according to an embodiment may be applied to a power tool using an electric motor as a means for providing torque.
  • the power tool may further include a current controller dedicated to the control of the current to improve the fastening accuracy.
  • the power tool may further include a speed sensor for detecting the rotational speed of the electric motor, a torque sensor for detecting the measurement torque actually applied to the nut, an encoder for detecting the rotation angle of the nut after being seated.
  • the term 'seating' refers to the movement of the nut as it moves forward along the thread of the bolt, especially when the nut's rotational speed begins to decrease due to an increase in the coefficient of friction as soon as the head of the nut meets the workpiece. Say the deployment status. On the other hand, the fastening process is completed only after tightening the nut after seating.
  • the power tool sharply increases the rotational speed of the electric motor from zero for seating. That is, by supplying a low current to the electric motor in a stationary state instantaneously, the time required for seating can be shortened.
  • the operator can calculate the fastening energy required for fastening according to the type of nuts and various fastening sites.
  • the fastening energy depends on the fastening method and the path thereof, optimization of the fastening method and the like should be preceded in order to minimize the fastening energy.
  • using the rotational inertia force of the electric motor can reduce the consumption of the fastening energy by that amount. This is a method of controlling the rotational speed of the electric motor by controlling the current supplied to the electric motor.
  • the control method of the power tool according to the embodiment mainly controls the rotational speed of the electric motor. At this time, a relatively low torque is continuously applied to the nut, but the nut can be quickly seated by the high speed rotation of the electric motor.
  • This method can accurately predict the time of seating and can further shorten the time required for seating by the high-speed rotating electric motor. As a result, the productivity of the fastening process can be improved.
  • the first step of determining (s10) determines whether the rotational speed of the electric motor has reached the preset speed Vt at the time of seating.
  • the speed Vt is an optimized speed so that the target torque is finally applied to the nut while tightening the nut after seating.
  • the speed Vt may vary depending on the type of the fastening member, the characteristics of the fastening surface, the size of the target torque, and the like.
  • the rotational speed of the electric motor may reach the speed Vt at the time of seating.
  • the rotation speed does not reach the speed Vt.
  • the second step s20 is performed. This is because, if the rotational speed does not reach the speed Vt at the time of seating, the fastening method using the rotational inertia force of the electric motor cannot provide the target torque to the nut, resulting in a fastening failure.
  • step 2-1 (s20) immediately stops supplying current supplied to the electric motor to zero its rotation speed. However, the rotational speed of the electric motor becomes zero only after a certain time elapses due to the action of the rotational inertia force. At this time, the nut is further tightened only by the rotational inertia force of the electric motor.
  • joint properties are prescribed
  • the joint properties vary depending on the coefficient of friction between the fastening surface and the nut tightened in contact with it. And, such a joint characteristic can be grasped if only the rotational inertia force acts on the nut because the supply of electric current to the electric motor is cut off.
  • the joint characteristics are obtained by detecting the rotation angle d1 and the measurement torque m1 of the nut, respectively, and then the value (m1 / d1) obtained by dividing the measurement torque by the rotation angle.
  • the maximum value of the measured torque is used.
  • the joint properties remain constant until the fastening process for each fastening site is completed. That is, the tightening process after seating belongs to a linear region. Thus, the points shown in FIG. 2 lie on a straight line. However, the actual joint properties may vary with changes in coefficient of friction and the like as the angle of rotation of the nut increases.
  • the first torque rate ⁇ may be calculated by detecting the measured torque over time through the second-first step s20. Referring to FIG. 3, the measured torque due to the rotational inertia force increases linearly. As a result, when the increase m1-ma of the measured torque with respect to the elapsed time t1-ta is calculated
  • the third-first step s30 sequentially provides impact torque thereafter.
  • the impact torque is a single value preset through current control
  • the measurement torque is a set of continuous values in which the impact torque applied to the nut is actually detected through the torque sensor. At this time, it is preferable to match the maximum value of the measurement torque with the impact torque.
  • the power tool controls the increase rate b with respect to the maximum value of the measured torque for each impact torque to be equal to the first torque rate a.
  • the first torque rate can provide a reference to at least one or more measurement torques that are sequentially increased to apply the target torque to the nut.
  • the impact torque is generated by supplying an intermittent pulse current to the electric motor.
  • the power tool variably controls the magnitude of the pulse current generated first among the pulse currents by reflecting the total number of occurrences of the pulse current and its duration.
  • the joint properties can be used to calculate the residual energy required to apply the target torque to the nut. This is because, after seating, the fastening process applies linearity.
  • the remaining energy may be divided by the number of impact torques, that is, the total number of occurrences of the pulse current may be controlled within a preset range.
  • the duration of the pulse current is relatively short due to the nature of the impact torque. At this time, the duration can be constantly controlled for all pulse currents. Therefore, the magnitude of the pulse current for generating the initial impact torque can be variably controlled by reflecting the residual energy, the total number of occurrences of the pulse current, and the duration thereof.
  • the maximum value of the measured torque for the initially supplied pulse current is m 2.
  • the power tool can detect the cumulative angle d2 through the encoder.
  • d3-d2, d4-d3, etc. which are an increase in the rotation angle with respect to the nut, will also be constant.
  • the magnitude of the initially supplied pulse current can be variably controlled as described above.
  • the pulse current is preferably a square wave current. That is, a square wave current having the same initial value and final value is supplied to the electric motor. At this time, it is preferable that the increment with respect to each initial value of the adjacent square wave current is a constant constant. As a result, the increase rate b for the maximum value of the measured torque for each impact torque can be controlled to match the first torque rate a. This is because the impact torque is proportional to the amount of energy supplied, where the magnitude of energy is proportional to the magnitude of the square wave current under the condition that the duration of each square wave current is constant.
  • control unit variably controls and corrects the increase to the initial value of each square wave current.
  • Step s35 may be further included. That is, when the maximum value of each detected measurement torque exceeds the predetermined impact torque according to the first torque rate, the initial value of the square wave current can be corrected.
  • the error is calculated by comparing the maximum value of the preset impact torque and the detected measured torque with each other. The result is determined by one of three things: 1) coincidence, 2) less than and 3) greater than. In the case of 2) and 3), since the impact torque by the square wave current reflecting the actual first torque rate was not applied to the nut, the magnitude of the square wave current immediately supplied is corrected by the error.
  • the correction for the error uses a proportional expression.
  • the fastening process after seating is in theory a linear region in which the friction coefficient and the like are invariant by the first torque rate.
  • the initial value of the next square wave current is 10% in the pre-calculated increment according to the first torque rate.
  • the fastening accuracy can be improved.
  • the impact torque can be reached quickly to the target torque, thereby improving productivity.
  • the power tool continuously determines whether the preset magnitude of the impact torque and the maximum value of the measured torque are coincident with each other, and corrects the deficit if it is insufficient.
  • the fastening process is completed by cutting off the supply of the square wave current through the current controller.
  • step 4 is a graph illustrating compensating control of impact torque in the fourth step of FIG. 1.
  • the method further includes a fourth step of compensating for the immediately supplied pulse current. do. However, if the maximum value of the measured torque has already reached or exceeds the target torque, the fourth step is omitted.
  • compensation control is based on linearity. This is to apply the measurement torque to the nut to match the target torque to improve the tightening accuracy.
  • the compensation control logic is applied while controlling more precisely the maximum value of the measured torque detected thereafter. That is, each maximum value of the measured torque in the compensation control section is not applied to the first torque rate a, and is controlled based on the maximum value of the measured torque for the immediately preceding impact torque.
  • the predetermined ratio is any value within 0.8 to 0.98.
  • the hard joint is significantly smaller than the soft joint, as the angle of rotation of the nut is within 30 degrees after seating. That is, in the case of a hard joint, since the possibility of overshoot is high, it is preferable to set a predetermined ratio to 0.8.
  • the predetermined ratio with respect to the soft joint is preferably set to 0.95, 0.98 or the like. That is, the predetermined ratio is inversely proportional to the magnitude of the first torque rate.
  • the intensity of the initial pulse current to which linear compensation is applied is based on 1) the intensity of the pulse current immediately before (ie, before linear compensation is applied) and 2) the maximum value of the measured torque detected by the pulse current immediately before. do.
  • the intensity of the initial pulse current can be calculated using the proportional expression.
  • the pulse current may be, for example, a square wave current.
  • the compensation control logic is applied when the predetermined ratio is 0.95, that is, the maximum value of the measured torque is 95% or more of the target torque. Specifically, if the target torque is 12 Nm and the maximum value of the measured torque detected by the immediately preceding 60 A pulse current is 11.5 Nm, the intensity of the next pulse current is calculated by the linear compensation logic. Therefore, it does not increase with the slope of the first torque rate.
  • the insufficient torque is 0.5 Nm.
  • the intensity of the next pulse current has a magnitude of 30 A under the condition that the duration of the pulse current is the same.
  • the pulse current can be supplied once more.
  • the maximum value of the measuring torque having 12 Nm can be detected.
  • the intensity of the next pulse current can be calculated again by the compensation control logic of the same method.
  • the duration of the pulse current supplied before the linear compensation interval has a predetermined constant constant constant.
  • the power tool can variably control each duration of pulse current to which linear compensation logic is applied.
  • the duration of the pulse current it is possible to vary the magnitude of the pulse current.
  • the reference pulse current is not only the immediately preceding pulse current but also a plurality of previous pulse currents. At this time, an average value can be used.
  • Step 2-2 is a step of supplying a brake current to the electric motor to provide a continuous torque gradually increasing so that the target torque is applied to the nut.
  • the continuous torque is generated by the rotational inertia force of the electric motor by the speed Vt, and the speed Vt gradually decreases.
  • the deceleration rate may be constant or variable.
  • the brake current is continuously supplied to the electric motor only after the seat is changed until its target torque is applied to the nut.
  • the brake current is preferably controlled so that the magnitude thereof becomes zero at the moment when the target torque is applied to the nut.
  • the speed Vt is slowly decelerated by the brake current, and becomes zero at the moment the target torque is applied to the nut.
  • the electric motor stops.
  • the tightening process is terminated normally when the maximum value of the measured torque matches the target torque.
  • control method of the power tool including the seating of the nut and the second step (s25) of applying a target torque to the nut thereafter is to control only the rotational speed of the electric motor, thereby reducing the fastening energy required for the fastening process. can do. This is a result of precisely controlling the rotational speed while using the rotational inertia force of the electric motor.
  • step 2-3 is performed. This reflects when the instantaneous rate of change of the rotational speed of the electric motor changes due to a defect in the thread of the bolt or nut.
  • D is generally a value exceeding 0, and D may be a relatively large value when the rotational speed changes rapidly.
  • the second torque rate can be calculated by detecting the measured torque with time only by the rotational inertia force.
  • the second torque rate is also a joint characteristic, which is theoretically the same as the first torque rate a.
  • the second torque rate may be slightly different from the first torque rate in consideration of the change in the friction coefficient according to the fastening degree.
  • step 2-4 s27 of sequentially providing impact torque. That is, the manner of providing torque applied to the nut is switched to the impact torque generated intermittently.
  • the fastening method for controlling the rotational speed of the electric motor cannot finally provide the target torque to the nut when the rotational speed varies from a preset value. That is, if the rotational speed of the electric motor changes rapidly, the electric motor cannot follow the preset rotational speed even if the brake current is controlled.
  • the rate of increase with respect to the maximum value of the measured torque for each impact torque is controlled to match the second torque rate.
  • the specific reason is the same as described above, and the detailed description thereof will be omitted.
  • a square wave current is used to provide an impact torque, and the control method is the same as described above.
  • the control method of the power tool according to the above embodiment can minimize the fastening energy. In addition, when the power tool is not properly controlled, the failure of the fastening process can be prevented thereby.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)

Abstract

L'invention concerne un procédé de commande d'un outil à entraînement électrique renfermant un moteur électrique et des écrous de fixation par la commande du courant apporté au moteur électrique, le procédé de commande d'outil à entraînement électrique comprenant : étape 1 pour déterminer, lors de la mise en place d'un écrou, si la vitesse de rotation du moteur électrique atteint une vitesse prédéfinie Vt ; étape 2-1 pour, si la vitesse Vt n'est pas atteinte, suspendre l'alimentation en courant, fixer l'écrou uniquement par la force d'inertie de rotation du moteur électrique et, en même temps, détecter des couples mesurés en fonction du temps, et ainsi calculer un premier rapport de couple ; et étape 3-1 pour consécutivement fournir un couple d'impact après que la vitesse de rotation du moteur électrique est devenue nulle ; et étape 4 pour compenser/commander le courant d'impulsion fourni suivant si la valeur maximale des couples mesurés par rapport aux couples d'impact est supérieure ou égale à une valeur obtenue en multipliant un couple cible par un pourcentage prédéfini préréglé.
PCT/KR2016/002066 2016-01-11 2016-03-02 Procédé de commande d'outil à entraînement électrique Ceased WO2017122867A1 (fr)

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Application Number Priority Date Filing Date Title
KR1020160003278A KR101759302B1 (ko) 2016-01-11 2016-01-11 전동 공구의 제어 방법
KR10-2016-0003278 2016-01-11

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WO2017122867A1 true WO2017122867A1 (fr) 2017-07-20

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111168369A (zh) * 2020-02-11 2020-05-19 浙江禾川科技股份有限公司 一种电批的控制方法及螺丝锁附装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102291032B1 (ko) * 2019-02-21 2021-08-20 계양전기 주식회사 전동 공구 및 이의 제어 방법
JP7426060B2 (ja) * 2019-06-03 2024-02-01 三洋機工株式会社 ナットランナおよびねじ締付方法

Citations (5)

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Publication number Priority date Publication date Assignee Title
JP2011156629A (ja) * 2010-02-02 2011-08-18 Makita Corp モータ制御装置、電動工具、及びプログラム
KR101453891B1 (ko) * 2013-02-26 2014-11-03 계양전기 주식회사 임팩트 전동공구 및 제어방법
KR20150051886A (ko) * 2013-11-05 2015-05-13 토네 가부시키가이샤 체결 장치 및 체결 방법
KR20150071895A (ko) * 2013-12-19 2015-06-29 계양전기 주식회사 전동공구 및 전동공구 제어방법
JP5775484B2 (ja) * 2012-04-17 2015-09-09 トヨタ自動車株式会社 ネジ締付方法及びネジ締付装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011156629A (ja) * 2010-02-02 2011-08-18 Makita Corp モータ制御装置、電動工具、及びプログラム
JP5775484B2 (ja) * 2012-04-17 2015-09-09 トヨタ自動車株式会社 ネジ締付方法及びネジ締付装置
KR101453891B1 (ko) * 2013-02-26 2014-11-03 계양전기 주식회사 임팩트 전동공구 및 제어방법
KR20150051886A (ko) * 2013-11-05 2015-05-13 토네 가부시키가이샤 체결 장치 및 체결 방법
KR20150071895A (ko) * 2013-12-19 2015-06-29 계양전기 주식회사 전동공구 및 전동공구 제어방법

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111168369A (zh) * 2020-02-11 2020-05-19 浙江禾川科技股份有限公司 一种电批的控制方法及螺丝锁附装置

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