CN105689881B - A kind of control system of welding robot - Google Patents
A kind of control system of welding robot Download PDFInfo
- Publication number
- CN105689881B CN105689881B CN201610263396.8A CN201610263396A CN105689881B CN 105689881 B CN105689881 B CN 105689881B CN 201610263396 A CN201610263396 A CN 201610263396A CN 105689881 B CN105689881 B CN 105689881B
- Authority
- CN
- China
- Prior art keywords
- manipulator
- water
- cavity
- welding gun
- welding
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/36—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Resistance Welding (AREA)
- Manipulator (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
The present invention relates to robots, specifically a kind of control system of welding robot, including welding controller, robot forearm and manipulator, manipulator is hinged with forearm by wrist, and manipulator is connected with welding gun, position sensor is installed on the manipulator, the wrist is provided with the air valve connecting with gas source, and after the controller receives the gas supply signal of welding gun, control air valve is opened, so that high pressure gas is flowed into manipulator from wrist, then flows into welding gun from manipulator；The position signal that the controller is transmitted according to position sensor controls manipulator described in the gas for flowing through manipulator or cooling water-driven and elongates or shortens.The present invention is on the one hand the water supply of welding gun electrode part, Butt welding gun is cooled down by each leading into cooling water and high pressure gas out of hollow manipulator；On the other hand it can be supplied for welding gun, provide necessary pressure for robot welding；The present apparatus is ingenious in design, easy to use, easy to maintain, greatly improves robot working efficiency.
Description
Technical field
The present invention relates to the robot of automobile manufacturing field, specifically a kind of control system of welding robot.
Background technique
Robot is widely used in industrial production, especially in the welding process that auto parts produce and process,
The arm of robot meets industrial demand by doing swing and circle rotation movement.With the hair of advanced manufacturing technology
Exhibition has become the outstanding feature of welding automatization technology modernization using robot welding.Welding robot due to it is versatile,
The advantages of reliable operation, is more and more paid attention to by people.But matched spot welding aqueous vapor transport of kinetic energy, control mode
It is more chaotic.Pipe-line layout trend is random, various terminal is multifarious, maintenance
Work is complicated and has a single function, and can not make effective control, serious shadow to many problems that Robot Spot Welding occurs
The stability rung machine task efficiency, reduced welding quality.
Summary of the invention
In view of the above technical problems, the present invention provides a kind of bonding machine that gas supply and water circulation are carried out by telescopic magic hand
The control system of device people.
The present invention solves technical solution used by above-mentioned technical problem：A kind of control system of welding robot, packet
Welding controller, robot forearm and manipulator are included, manipulator is hinged by wrist and forearm, and manipulator is connected with welding gun, institute
It states and position sensor is installed on manipulator, the wrist is provided with the air valve connecting with gas source, and the controller receives welding gun
Gas supply signal after, control air valve open, make high pressure gas from wrist flow into manipulator, then from manipulator flow into welding gun；It is described
Wrist is provided with the water valve connecting with water source, and after the controller receives the water supply signal of welding gun, control water valve is opened, and makes to cool down
Water flows into manipulator from wrist, then flows into welding gun electrode part from manipulator, is then partly refluxed to wrist from welding gun electrode；Institute
It states the position signal that controller is transmitted according to position sensor and controls machinery described in the gas for flowing through manipulator or cooling water-driven
Hand elongates or shortens.
Preferably, the wrist includes rotatable hollow rotating shaft, the radial side of the rotating shaft is fixedly connected with institute
Manipulator is stated, the radial other side of rotating shaft and the forearm are hinged；The manipulator is hollow manipulator, is set to manipulator
Manipulator inner cavity is divided into closed air cavity and water cavity by intermediate partition, and rotating shaft inner cavity both ends are separated by intermediate plate,
Rotating shaft inner cavity one end is equipped with the air valve, is flowed into described in the gas of rotating shaft inner cavity flows into through air cavity by the air valve
Welding gun；The rotating shaft inner cavity other end is equipped with the water valve, flows into the cooling water of rotating shaft inner cavity through water by the water valve
Chamber enters the welding gun electrode part, then is back to the other end described in rotating shaft inner cavity from electrode section.
Preferably, the manipulator includes hollow shell and the shell inner cavity and front end is arranged in passes through cover closure
Hollow inner casing, inner casing are connect with the welding gun, and the shell inner cavity and inner casing inner cavity constitute the manipulator inner cavity, the partition
It is made of the rear bulkhead among the front baffle being arranged among inner casing inner cavity and setting inside the shell chamber, front and back partition can be slided relatively
Dynamic, which is divided into the air cavity and water cavity for the manipulator inner cavity；The controller is controlled according to position signal
It flows through the gas of air cavity or flows through inner casing described in the cooling water-driven of water cavity and stretch out or retract shell inner cavity.
Preferably, the welding gun is mounted on the cover board of inner casing, cover board is equipped with the water hole being connected to water cavity, should
Water hole is connected to by water pipe with the water inlet of welding gun；The cover board is equipped with the stomata being connected to air cavity, which passes through tracheae
It is connected to the air inlet of welding gun；The position sensor installation on the cover board, is equipped with outlet valve, the tracheae on the water pipe
On air outlet valve is installed, the controller controls the outlet valve according to the signal of position sensor and/or air outlet valve is closed；It is described
According to supplying water and/or supplying, signal controls the outlet valve to controller and/or air outlet valve is opened.
Preferably, the rotating shaft side wall is opened up there are two through-hole, one of through-hole is connected to one described in shaft inner cavity
End and air cavity, another through-hole are connected to the other end and water cavity described in shaft inner cavity；It is intracavitary in the manipulator to be equipped with two springs,
In a spring be set in water cavity, another spring is set in air cavity, and one end of two springs is connect with the cover board, two springs
The other end connect with the rotating shaft side wall.
Preferably, opening up several grooves along its length in the shell inner cavity inner wall, the inner casing outer wall is equipped with number
A sliding block, each sliding block are protruded into corresponding groove and can be moved along groove.
Preferably, sealing strip is provided in groove described in each along its length.
Preferably, being equipped with gasket between the front and back partition.
From upper technical solution it is found that the present invention is by each leading into cooling water and high pressure gas out of hollow manipulator,
It on the one hand is that welding gun electrode part is supplied water, Butt welding gun is cooled down；On the other hand it can supply for welding gun, be provided for robot welding
Necessary pressure；The present apparatus is ingenious in design, easy to use, easy to maintain, greatly improves robot working efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of preferred embodiment of the present invention.
Specific embodiment
The present invention is discussed in detail below with reference to Fig. 1：
A kind of control system of welding robot, including welding controller 7, robot forearm 1 and manipulator 2, manipulator
Hinged by wrist 4 and forearm 1, manipulator is connected with welding gun 6, installs position sensor 71, the wrist on the manipulator
Portion is provided with the air valve 72 connecting with gas source, and after the controller receives the gas supply signal of welding gun, control air valve is opened, and makes high pressure
Gas flows into manipulator from wrist, then flows into welding gun from manipulator, supplies for welding gun；The wrist, which is provided with, to be connect with water source
Water valve 73, after the controller receives the water supply signal of welding gun, control water valve is opened, and cooling water is made to flow into manipulator from wrist,
Welding gun electrode part is flowed into from manipulator again, is then partly refluxed to wrist from welding gun electrode, carries out water circulation for welding gun electrode,
Take away the heat of work；The position signal control that the controller is transmitted according to position sensor flows through the gas or cold of manipulator
But manipulator described in water-driven elongates or shortens, to adjust the position of welding gun, guarantees that welding gun is located at optimum welding position.From upper
It is found that the present invention passes through ingehious design wrist and manipulator, while realizing the extension and contraction control of manipulator, for water management and gas supply
Three functions are controlled, production efficiency is substantially increased, reduces production cost.
Preferably, the wrist 4 includes rotatable hollow rotating shaft 42, the radial side of the rotating shaft is fixedly connected
The manipulator, the radial other side of rotating shaft and the forearm are hinged, and forearm drives torch swinging, and rotating shaft can drive welding gun
Rotation, so that welding gun is in optimum welding position；The manipulator is hollow manipulator, is set among manipulator inner cavity
Partition 33 manipulator is divided into closed air cavity 36 and water cavity 37, guarantee that air cavity and water cavity are respectively independent, between each other not
The phenomenon that in the presence of leakage；43 both ends of rotating shaft inner cavity are separated by intermediate plate 44, and the inner cavity at both ends is made not to be interconnected；It is described
Rotating shaft inner cavity one end is equipped with the air valve 72, flows into the weldering through air cavity by the gas that the air valve flows into rotating shaft inner cavity
Rifle；The rotating shaft inner cavity other end is equipped with the water valve 73, flows into the cooling water of rotating shaft inner cavity through water by the water valve
Chamber enters the welding gun electrode part, then is back to the other end described in rotating shaft inner cavity from electrode section；To realize water supply and
Gas supply.
The manipulator 2 includes hollow shell 21 and setting in the shell inner cavity and front end is closed hollow by cover board 3
Inner casing 22, inner casing are connect with the welding gun, and the shell inner cavity and inner casing inner cavity constitute the manipulator inner cavity, the partition 33
It is made of the rear bulkhead 332 among the front baffle 331 being arranged among inner casing inner cavity and setting inside the shell chamber, front and back partition can
The manipulator inner cavity is divided into the air cavity and water cavity by opposite sliding, the front and back partition；The controller is believed according to position
Number control flow through air cavity gas or flow through inner casing described in the cooling water-driven of water cavity stretch out or retract shell inner cavity, to drive
Welding gun is mobile.
Welding gun 6 in the present invention is mounted on the cover board 3 of inner casing, and easy for installation, demolition and maintenance are simple；It is set on cover board
There is the water hole 31 being connected to water cavity, which is connected to by water pipe 34 with the water inlet of welding gun；The cover board is equipped with and air cavity
The stomata 32 of connection, the stomata are connected to by tracheae 35 with the air inlet of welding gun；The position sensor 71 is mounted on cover board 3
On, outlet valve 74 is installed on the water pipe 34, air outlet valve 75 is installed on the tracheae.
In implementation process, when needing to adjust the position of welding gun, controller receives the signal of position sensor, can be by institute
It states water valve to open and close the outlet valve, to guarantee the airtightness of water cavity, then water source is delivered to water from rotating shaft inner cavity
Chamber achievees the purpose that telescopic magic hand to keep inner casing mobile using the effect of cooling water；Similarly, in the position for adjusting welding gun
When, the air valve can also be opened to by controller and be closed the air outlet valve, keep inner casing mobile using high pressure gas；Certainly,
Also inner casing can be kept mobile using the effect of cooling water and high pressure gas simultaneously.
In implementation process, when robot needs to supply water, the controller receives the water supply signal that welding gun transmits, by institute
It states water valve and opens and open the outlet valve, then water source is delivered to water cavity through rotating shaft inner cavity from water valve, then through outlet valve
It is delivered to the electrode section of welding gun, is finally back to rotating shaft, realizes water circulation.Similarly, when robot needs to supply, control
Device is opened simultaneously according to gas supply signal control air valve and air outlet valve, and high pressure gas is then delivered to welding gun, realizes gas supply.This hair
Bright gas supply and water supply can also be carried out simultaneously by the control of controller, and there is no interfere the two.
In the present invention, the rotating shaft side wall is opened up there are two through-hole 41, and one of through-hole is connected to described in shaft inner cavity
One end and air cavity 36, another through-hole are connected to the other end described in shaft inner cavity and water cavity 37；It is intracavitary in the manipulator 2 to be equipped with two
Spring 5, wherein a spring is set in water cavity, another spring is set in air cavity, and one end of two springs connects with the cover board
It connects, the other end of two springs is connect with the rotating shaft side wall.In implementation process, high pressure gas is from rotating shaft inner cavity one end
Enter air cavity by through-hole, then the air inlet of welding gun can be entered by the stomata and tracheae of cover board from air cavity, to be supplied for welding gun
Gas；Cooling water can enter water cavity from the rotating shaft inner cavity other end by another through-hole, then from water cavity by water hole on cover board and
Water pipe enters the water inlet of welding gun, so that the electrode section of Butt welding gun is cooled down, carries out water after cooling to electrode and directly returns
It is flow to the rotating shaft inner cavity other end, circulation is participated in again, due to carrying out water after cooling from the shaft inner cavity other end to electrode
Route is longer, can natural cooling in cyclic process.Heat exchange can also be carried out to the water of reflux in implementation process, keep its cold
But circulation is participated in after again again.
In the welding process, when welding gun farther out from pad when, cooling water is entered from rotating shaft inner cavity by the through-hole
Water cavity, so that inner casing stretches out shell under the action of cooling water, to drive welding gun close to pad, while spring extends；Such as
Fruit welding gun is too close from pad, and intracavitary a part of cooling water can flow back to shaft inner cavity from through-hole in manipulator, in spring-return
Under the action of power, inner casing is made gradually to retract shell inner cavity, so that welding gun be made to be in optimal welding position.Similarly, in high pressure gas
Inner casing can be driven mobile under the action of body and air cavity spring.
Shell inner cavity inner wall of the invention opens up several grooves 221 along its length, and the inner casing outer wall is equipped with several cunnings
Block 241, each sliding block are protruded into corresponding groove and can be moved along groove；In the process that inner casing extends and retracts, sliding block is along recessed
Slot it is mobile, it can be achieved that inner casing accurate movement；Sealing strip 222 is provided in groove described in each along its length, is guaranteed
The leakproofness of manipulator inner cavity；When inner casing is mobile, front baffle 331 is shifted along, and is arranged between front baffle and rear bulkhead
Gasket 333, it is ensured that front baffle when moving front and back partition between leakproofness, prevent air cavity to be connected to water cavity.
It is provided for the embodiments of the invention technical solution above to be described in detail, specific case used herein
The principle and embodiment of the embodiment of the present invention are expounded, the explanation of above embodiments is only applicable to help to understand this
The principle of inventive embodiments；At the same time, for those skilled in the art, according to an embodiment of the present invention, in specific embodiment party
There will be changes in formula and application range, in conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (7)
1. a kind of control system of welding robot, including welding controller, robot forearm and manipulator, manipulator pass through wrist
Portion is hinged with robot forearm, and manipulator is connected with welding gun, it is characterised in that：Position sensor is installed on the manipulator,
The wrist is provided with the air valve connecting with gas source, and after the welding controller receives the gas supply signal of welding gun, control air valve is opened
It opens, so that high pressure gas is flowed into manipulator from wrist, then flow into welding gun from manipulator；The wrist is provided with the water connecting with water source
Valve, after the welding controller receives the water supply signal of welding gun, control water valve is opened, and cooling water is made to flow into manipulator from wrist,
Welding gun electrode part is flowed into from manipulator again, is then partly refluxed to wrist from welding gun electrode；The welding controller is according to position
The position signal for setting sensor transmission controls manipulator described in the gas for flowing through manipulator or cooling water-driven and elongates or shortens；Institute
Stating wrist includes rotatable hollow rotating shaft, and the radial side of the hollow rotating shaft is fixedly connected with the manipulator, middle backlash
The radial other side of shaft and the robot forearm are hinged；The manipulator is hollow manipulator, is set among manipulator
Partition manipulator inner cavity is divided into closed air cavity and water cavity, the hollow rotating shaft inner cavity both ends are separated by intermediate plate,
Described hollow rotating shaft inner cavity one end is equipped with the air valve, flows into the gas of hollow rotating shaft inner cavity through air cavity by the air valve
Flow into the welding gun；The hollow rotating shaft inner cavity other end is equipped with the water valve, flows into hollow rotating shaft by the water valve
The cooling water of inner cavity enters the welding gun electrode part through water cavity, then from electrode section to be back to hollow rotating shaft inner cavity another
End.
2. the control system of welding robot as described in claim 1, it is characterised in that：The manipulator include hollow shell and
The hollow shell inner cavity and front end are set and pass through the hollow inner casing of cover closure, hollow inner casing is connect with the welding gun, hollow
Shell inner cavity and hollow inner casing inner cavity constitute the manipulator inner cavity, before the partition is by being arranged among hollow inner casing inner cavity
Partition and the rear bulkhead being arranged among hollow shell inner cavity form, and front and back partition opposite can slide, which will be described
Manipulator inner cavity is divided into the air cavity and water cavity；The welding controller according to position signal control flow through air cavity gas or
The hollow inner casing of cooling water-driven for flowing through water cavity stretches out or retracts hollow shell inner cavity.
3. the control system of welding robot as claimed in claim 2, it is characterised in that：The welding gun is mounted on hollow inner casing
On the cover board, cover board is equipped with the water hole being connected to water cavity, which is connected to by water pipe with the water inlet of welding gun；The lid
Plate is equipped with the stomata being connected to air cavity, which is connected to by tracheae with the air inlet of welding gun；The position sensor installation
On the cover board, outlet valve is installed on the water pipe, air outlet valve is installed, the welding controller is according to position on the tracheae
The signal of sensor controls the outlet valve or air outlet valve is closed；The welding controller should go out according to supplying water or supplying signal control
Water valve or air outlet valve are opened.
4. the control system of welding robot as claimed in claim 3, it is characterised in that：The hollow rotating shaft side wall offers
Two through-holes, one of through-hole connection hollow rotating shaft inner cavity one end and air cavity, another through-hole are connected in hollow rotating shaft
The chamber other end and water cavity；It is intracavitary in the manipulator to be equipped with two springs, wherein a spring is set in water cavity, another spring setting
In in air cavity, one end of two springs is connect with the cover board, and the other end of two springs connects with the hollow rotating shaft side wall
It connects.
5. the control system of welding robot as claimed in claim 4, it is characterised in that：Cavity wall is along length in hollow shell
Direction opens up several grooves, and hollow inner casing outer wall is equipped with several sliding blocks, and each sliding block protrudes into corresponding groove and can be along groove
It is mobile.
6. the control system of welding robot as claimed in claim 5, it is characterised in that：In groove described in each along its length
Direction is provided with sealing strip.
7. the control system of welding robot as claimed in claim 6, it is characterised in that：Sealing is equipped between the front and back partition
Pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610263396.8A CN105689881B (en) | 2016-04-26 | 2016-04-26 | A kind of control system of welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610263396.8A CN105689881B (en) | 2016-04-26 | 2016-04-26 | A kind of control system of welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105689881A CN105689881A (en) | 2016-06-22 |
| CN105689881B true CN105689881B (en) | 2018-11-30 |
Family
ID=56217629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610263396.8A Active CN105689881B (en) | 2016-04-26 | 2016-04-26 | A kind of control system of welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105689881B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1317459A (en) * | 1970-06-02 | 1973-05-16 | Chavarria M J | Hydraulic jacks for motor vehicles |
| CN2410093Y (en) * | 2000-03-10 | 2000-12-13 | 简新锋 | Clamping jaw for combined manipulator |
| CN101269490A (en) * | 2007-03-19 | 2008-09-24 | 发那科株式会社 | Robot having arm in which umbilical member is accomodated |
| DE202008011356U1 (en) * | 2007-06-28 | 2009-02-19 | Ewm Hightec Welding Gmbh | Tungsten inert gas welding torch |
| CN104339365A (en) * | 2013-07-26 | 2015-02-11 | 株式会社安川电机 | Robot and manufacturing method of same |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06126673A (en) * | 1992-10-20 | 1994-05-10 | Matsushita Electric Ind Co Ltd | Parts holding unit |
| KR101595285B1 (en) * | 2013-06-17 | 2016-02-19 | 대우조선해양 주식회사 | Module type welding device |
-
2016
- 2016-04-26 CN CN201610263396.8A patent/CN105689881B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1317459A (en) * | 1970-06-02 | 1973-05-16 | Chavarria M J | Hydraulic jacks for motor vehicles |
| CN2410093Y (en) * | 2000-03-10 | 2000-12-13 | 简新锋 | Clamping jaw for combined manipulator |
| CN101269490A (en) * | 2007-03-19 | 2008-09-24 | 发那科株式会社 | Robot having arm in which umbilical member is accomodated |
| DE202008011356U1 (en) * | 2007-06-28 | 2009-02-19 | Ewm Hightec Welding Gmbh | Tungsten inert gas welding torch |
| CN104339365A (en) * | 2013-07-26 | 2015-02-11 | 株式会社安川电机 | Robot and manufacturing method of same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105689881A (en) | 2016-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10493621B2 (en) | Robot arm having hydraulic rotary actuators | |
| CN105921335B (en) | A kind of plastic barrel spray painting drying mechanism | |
| WO2021017088A1 (en) | Multi-angle paint spraying industrial robot and method | |
| CN105289885B (en) | Tube type metal heat exchanger outer wall automatic spraying equipment | |
| CN208826646U (en) | A kind of welding robot of adjustable soldering angle | |
| CN206996930U (en) | A kind of outer tube inner surface spray equipment of outdoor fan | |
| CN105689881B (en) | A kind of control system of welding robot | |
| CN204159600U (en) | A kind of air gun | |
| CN204325431U (en) | A kind of two rooms air-cooling vacuum furnace | |
| CN107234029A (en) | Controllable formula spray-painting plant | |
| CN105690406B (en) | The feeder of welding robot | |
| CN106208526B (en) | The weather-proof motor that vortex water cooling, air-cooled dual intensity cool down | |
| CN207325487U (en) | pneumatic rotary air blowing device | |
| CN105665983B (en) | The spot welding system of automobile production welding robot | |
| CN208913397U (en) | A kind of school fire device | |
| CN206598030U (en) | A kind of welding robot | |
| CN210729909U (en) | Aluminum alloy section powder spraying device | |
| CN105710522A (en) | Water circulating device of welding robot | |
| CN203534014U (en) | High-pressure air cooling device | |
| CN105690380B (en) | A kind of cycle water control system of robot | |
| CN211160378U (en) | Network machine case powder spraying production line with VOC exhaust gas purification equipment | |
| CN106040509A (en) | Waterborne inorganic zinc-rich primer spraying equipment | |
| CN207308202U (en) | Controllable formula spray-painting plant | |
| JP2017007053A (en) | Robot cell device | |
| CN110152947A (en) | A kind of metering-type glue feeder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200713 Address after: Room 2-2, No.60 Zhengtong Road, Luorong Town, Liuzhou City, Guangxi Zhuang Autonomous Region Patentee after: Liuzhou Yongchuang Robot Technology Co., Ltd Address before: 52 No. 545000 the Guangxi Zhuang Autonomous Region Liuzhou Liu Dong New Area, Kwun Tong Road Patentee before: LIUZHOU FUNENG ROBOT DEVELOPMENT Co.,Ltd. |