CN107160385A - A kind of five axis robots with flexible gear structure - Google Patents
A kind of five axis robots with flexible gear structure Download PDFInfo
- Publication number
- CN107160385A CN107160385A CN201710549429.XA CN201710549429A CN107160385A CN 107160385 A CN107160385 A CN 107160385A CN 201710549429 A CN201710549429 A CN 201710549429A CN 107160385 A CN107160385 A CN 107160385A
- Authority
- CN
- China
- Prior art keywords
- gear
- motor
- retainer
- output end
- output
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of five axis robots with flexible gear structure, it causes whole manipulator light, flexible, it is easy to carry, and intermeshing plastic gear remains stable squeezed state in engagement process, it ensure that gear-driven exactly, it is ensured that transmission accuracy and gear life.It includes the first motor, the both sides of first motor are disposed with two axial guide rods parallel to the first output end, first retainer is set in the axial guide rod, first output end of first motor connects the feed screw nut in first retainer by wire rod thread, the second motor is fixed with first retainer, second output end of second motor is arranged parallel to the first output end of the first motor, output gear is set with second output end, running through on the first retainer thickness direction has transmission shaft, the both sides positioned at first retainer of the transmission axle are respectively installed with the first input gear, first output gear.
Description
Technical field
The present invention relates to the technical field of robot manipulator structure, specially a kind of five shaft mechanicals with flexible gear structure
Hand.
Background technology
Existing robot manipulator structure, especially five axis robots, because the gear made using metal material is driven,
It needs base being made big very heavy, and then as the effect of balancing weight, it make it that the cost of material is high, and weight is larger,
Cause the carrying of manipulator and transport extremely difficult and complexity；Simultaneously in manipulator field, in order to reduce cost, the biography of manipulator
Moving gear can use plastic production, and yet with plastic injection or printing shaping is used, its gear has difference after the cooling period
The shrink of degree, i.e., after being connected using the gear engagement system of transmission, the corresponding connection parts branch of manipulator is because plastic gear
Dimensional accuracy vibration not enough, in gear movement occurs, precision and the life-span of gear that final influence is driven.
The content of the invention
In view of the above-mentioned problems, the invention provides a kind of five axis robots with flexible gear structure, it causes entirely
Manipulator is light, flexible, is easy to carry, and intermeshing plastic gear remains stable extruding shape in engagement process
State, it is ensured that gear-driven exactly, it is ensured that transmission accuracy and gear life.
A kind of five axis robots with flexible gear structure, it is characterised in that：It includes the first motor, first electricity
The both sides of machine are disposed with two axial guide rods parallel to the first output end, and the first retainer is set in the axial guide rod,
First output end of first motor connects the feed screw nut in first retainer by wire rod thread, and described first passes
The second motor is fixed with dynamic seat, the second output end of second motor is arranged parallel to the first output end of the first motor,
It is set with to run through on output gear, the first retainer thickness direction in second output end and has transmission shaft, the transmission
The both sides positioned at first retainer of axle are respectively installed with the first input gear, the first output gear, the output gear
Engagement connection first input gear, one end of the remote axial guide rod of first retainer is provided with first axle
Hold, the second axle is plugged in the clutch shaft bearing, be fixed with the second retainer on second axle, second axle corresponds to
One end of first output gear is fixed with the second input gear, the second input gear engagement connection first output
Gear, the rotation of the second axle is rotated by the second motor and then drives the second input gear to rotate, and second retainer is remote
One end of second axle is fixed with second bearing, and the 3rd axle is plugged in the second bearing, on second retainer also
The 3rd motor is fixed with, the 3rd output end of the 3rd motor is fixed with the 3rd output gear, and the shaft end of the 3rd axle is consolidated
Equipped with the 3rd input gear, the 3rd output gear engagement connection the 3rd input gear, the 3rd axle carries side
The 4th motor is fixed with convex connecting plate, the connecting plate, the 4th output end of the 4th motor is connected with mechanical arm, institute
State the 4th output end to arrange perpendicular to the 3rd axle, the outer end of the mechanical arm is provided with the 5th motor, the 5th motor
The 5th output end be set with the 5th output gear, the 5th output end is arranged perpendicular to the length direction of the mechanical arm,
The output gear, the first input gear, the first output gear, the second input gear, the 3rd output gear, the 3rd input gear
Gear ring inner ring be provided with the discontinuous air hole structure of ring-type, and be plastic gear.
It is further characterized by：
First motor, the second motor, the 3rd motor are parallel to arrangement, it is ensured that total floor space is few；
The installation site that 3rd axle corresponds to the 4th motor is provided with the convex mounting seat in side, the 4th output end
The inner of the mechanical arm, the connection position of inner and described 4th output end of the mechanical arm are connected after the convex mounting seat in side
Setting in fourth bearing, it is ensured that transmission it is smooth；
First motor connection has the first encoder, and second motor connection has second encoder, the 3rd electricity
Machine is connected with the 3rd encoder, and the 4th motor connection has the 4th encoder, and the 5th motor connection has the 5th encoder；
The setting of encoder ensures that control is accurate；
The main body end face parallel arrangement of first retainer, the second retainer, it is ensured that the covered scope of work is enough
Greatly；
The discontinuous air hole structure of ring-type can be circle, similar round, sector, arc, rectangle, the shape of class rectangle；
The discontinuous air hole structure of ring-type is three layers of arrangement, its size for ensuring mutually to extrude during gear engagement,
Ensure stable drive；
Generally radially decrement is 0.1mm~0.3mm to the discontinuous air hole structure of ring-type.
After structure using the present invention, the first motor drives the first retainer, and axially guide rod rectilinear direction is advanced, the
Two motors drive the second axle to rotate, and the 3rd motor drives the 3rd axle to rotate, and the 4th motor causes mechanical arm can be in mechanical arm
Heart axle is turned round, and the outside distribution structure to be installed of the 5th motor driving carries out angle positioning, and it make it that the working range of whole mechanical arm is big,
And the output gear, the first input gear, the first output gear, the second input gear, the 3rd output gear, the 3rd input tooth
The gear ring inner ring of wheel is provided with the discontinuous air hole structure of ring-type, and it causes intermeshing plastic gear to begin in engagement process
Stable squeezed state is kept eventually, it is ensured that gear-driven exactly, it is ensured that transmission accuracy and gear life, and due to tooth
Take turns as plastic gear, it causes whole manipulator light, flexible, be easy to carry.
Brief description of the drawings
Fig. 1 is three-dimensional figure structure schematic representation of the invention；
Fig. 2 is main view figure structure schematic representation of the invention；
Fig. 3 is partial enlargement structural representation at Fig. 1 A；
Title in figure corresponding to sequence number is as follows：
First motor 1, the first output end 2, axial guide rod 3, the first retainer 4, screw mandrel 5, the output of the second motor 6, second
End 7, output gear 8, transmission axle 9, the first input gear 10, the first output gear 11, clutch shaft bearing 12, the second axle 13, second
Retainer 14, the second input gear 15, second bearing 16, the 3rd axle 17, the 3rd motor 18, the output of the 3rd output end the 19, the 3rd
Gear 20, the 3rd input gear 21, connecting plate 22, the 4th motor 23, fourth bearing 24, mechanical arm 25, the 5th motor the 26, the 5th
Output end 27, the 5th output gear 28, the discontinuous air hole structure 29 of ring-type, the convex mounting seat 30 in side,.
Embodiment
A kind of five axis robots with flexible gear structure, are shown in Fig. 1, Fig. 2：It includes the first motor 1, the first motor 1
Both sides be disposed with two axial guide rods 3 parallel to the first output end 2, the first retainer 4 is set in axial guide rod 3,
The feed screw nut that first output end 2 of one motor 1 is threadedly coupled in the first retainer 4 by screw mandrel 5 (is not drawn into figure, belonged to
Existing mature structure), the second motor 6 is fixed with the first retainer 4, the second output end 7 of the second motor 6 is parallel to the first electricity
First output end 2 of machine 1 arranges that being set with to run through on output gear 8, the thickness direction of the first retainer 4 in the second output end 7 has
Transmission shaft 9, the both sides positioned at the first retainer 4 of transmission axle 9 are respectively installed with the first input gear 10, the first output gear
11, engagement the first input gear 10 of connection of output gear 8, one end away from axial guide rod 3 of the first retainer 4 is provided with first
Bearing 12, the second axle 13 is plugged in clutch shaft bearing 12, and the second retainer 14, the correspondence of the second axle 13 are fixed with the second axle 13
The second input gear 15, the second input gear 15 engagement the first output gear of connection are fixed with one end of the first output gear 11
11, the rotation of the second axle 13 is rotated by the second motor 6 and then drives the second input gear 15 to rotate, and the second retainer 14 is remote
One end of second axle 13 is fixed with second bearing 16, and the 3rd axle 17 is plugged in second bearing 16,
Also it is fixed with the 3rd motor 18 on second retainer 14, it is defeated that the 3rd output end 19 of the 3rd motor 18 is fixed with the 3rd
Go out gear 20, the shaft end of the 3rd axle 17 is fixed with the 3rd input gear 21, and the 3rd output gear 20 engagement connection the 3rd inputs tooth
The 4th motor 23, the 4th of the 4th motor 23 the are fixed with wheel 21, the connecting plate 22 convex with side of the 3rd axle 17, connecting plate 22
Output end is connected with mechanical arm 25, and the 4th output end is arranged perpendicular to the 3rd axle 17, and the outer end of mechanical arm 25 is provided with the 5th electricity
Machine 26, the 5th output end 27 of the 5th motor 26 is set with the 5th output gear 28, and the 5th output end 28 is perpendicular to mechanical arm 25
Length direction arrangement, output gear 8, the first input gear 10, the first output gear 11, the second input gear the 15, the 3rd are defeated
Go out gear 20, the gear ring inner ring of the 3rd input gear 21 and be provided with the discontinuous air hole structure 29 of ring-type, and be plastic gear.
First motor 1, the second motor 6, the 3rd motor 18 are parallel to arrangement, it is ensured that total floor space is few；
The installation site that 3rd axle 17 corresponds to the 4th motor 23 is provided with the convex mounting seat 30 in side, and the 4th output end runs through side
The inner of mechanical arm 25 is connected after convex mounting seat 30, the inner of mechanical arm 25 and the link position of the 4th output end are located at the 4th axle
Hold in 24, it is ensured that transmission it is smooth；
First motor 1 is connected with the first encoder, and the second motor 6 is connected with second encoder, and the 3rd motor 18 is connected with
3rd encoder, the 4th motor 23 is connected with the 4th encoder, and the 5th motor 26 is connected with the 5th encoder；The setting of encoder
Ensure that control is accurate；
The main body end face parallel arrangement of first retainer 4, the second retainer 14, it is ensured that the covered scope of work is enough
Greatly；
The discontinuous air hole structure 29 of ring-type can be circle, similar round, sector, arc, rectangle, the shape of class rectangle；
The discontinuous air hole structure 29 of ring-type is three layers of arrangement, and it ensures the size mutually extruded during gear engagement, protected
Demonstrate,prove stable drive；
Generally radially decrement is 0.1mm~0.3mm to the discontinuous air hole structure 29 of ring-type, and such gear one has enough to meet the need,
All the time the state of extruding is kept with an other gear, it is ensured that the transmission of exactly.Flexible gear reducing transmission structure should
With substantially reducing the required precision to plastic gear.Original demand is set to be reduced to +/- 0.15mm by +/- 0.005mm.Typically
Engineering plastics can just meet requirement.
After structure using the present invention, the first motor drives the first retainer, and axially guide rod rectilinear direction is advanced, the
Two motors drive the second axle to rotate, and the 3rd motor drives the 3rd axle to rotate, and the 4th motor causes mechanical arm can be in mechanical arm
Heart axle is turned round, and the outside distribution structure to be installed of the 5th motor driving carries out angle positioning, and it make it that the working range of whole mechanical arm is big,
And output gear, the first input gear, the first output gear, the second input gear, the 3rd output gear, the 3rd input gear
Gear ring inner ring is provided with the discontinuous air hole structure of ring-type, and it causes intermeshing plastic gear to be protected all the time in engagement process
Keep steady fixed squeezed state, it is ensured that gear-driven exactly, it is ensured that transmission accuracy and gear life, and because gear is
Plastic gear, it causes whole manipulator light, flexible, is easy to carry.
The specific embodiment of the present invention is described in detail above, but content is only the preferable implementation of the invention
Example, it is impossible to be considered as the practical range for limiting the invention.All impartial changes made according to the invention application range
Change and improvement etc., all should still be belonged within this patent covering scope.
Claims (8)
1. a kind of five axis robots with flexible gear structure, it is characterised in that：It includes the first motor, first motor
Both sides be disposed with two axial guide rods parallel to the first output end, the first retainer is set in the axial guide rod, institute
The first output end for stating the first motor connects feed screw nut in first retainer, first transmission by wire rod thread
The second motor is fixed with seat, the second output end of second motor is arranged parallel to the first output end of the first motor, institute
State and output gear is set with the second output end, running through on the first retainer thickness direction has transmission shaft, the transmission axle
The both sides positioned at first retainer be respectively installed with the first input gear, the first output gear, the output gear is nibbled
Connection first input gear is closed, one end of the remote axial guide rod of first retainer is provided with clutch shaft bearing,
Second axle is plugged in the clutch shaft bearing, is fixed with the second retainer on second axle, and second axle corresponds to institute
The one end for stating the first output gear is fixed with the second input gear, the second input gear engagement connection first output gear
Wheel, the rotation of the second axle is rotated by the second motor and then drives the second input gear to rotate, and second retainer is away from institute
The one end for stating the second axle is fixed with second bearing, and the 3rd axle is plugged in the second bearing, also solid on second retainer
Equipped with the 3rd motor, the 3rd output end of the 3rd motor is fixed with the 3rd output gear, and the shaft end of the 3rd axle is fixedly mounted with
Have the 3rd input gear, the 3rd output gear engagement connection the 3rd input gear, the 3rd axle it is convex with side
Connecting plate, be fixed with the 4th motor on the connecting plate, the 4th output end of the 4th motor is connected with mechanical arm, described
4th output end arranges that the outer end of the mechanical arm is provided with the 5th motor, the 5th motor perpendicular to the 3rd axle
5th output end is set with the 5th output gear, and the 5th output end is arranged perpendicular to the length direction of the mechanical arm, institute
State output gear, the first input gear, the first output gear, the second input gear, the 3rd output gear, the 3rd input gear
Gear ring inner ring is provided with the discontinuous air hole structure of ring-type, and is plastic gear.
2. a kind of five axis robots with flexible gear structure as claimed in claim 1, it is characterised in that：First electricity
Machine, the second motor, the 3rd motor are parallel to arrangement.
3. a kind of five axis robots with flexible gear structure as claimed in claim 1, it is characterised in that：3rd axle
Installation site corresponding to the 4th motor is provided with the convex mounting seat in side, and the 4th output end connects after running through the convex mounting seat in side
The inner of the mechanical arm is connect, the link position of inner and described 4th output end of the mechanical arm is located in fourth bearing.
4. a kind of five axis robots with flexible gear structure as claimed in claim 1, it is characterised in that：First electricity
Machine is connected with the first encoder, and second motor connection has second encoder, and the 3rd motor connection has the 3rd encoder,
4th motor connection has the 4th encoder, and the 5th motor connection has the 5th encoder.
5. a kind of five axis robots with flexible gear structure as claimed in claim 1, it is characterised in that：Described first passes
The main body end face parallel arrangement of dynamic seat, the second retainer.
6. a kind of five axis robots with flexible gear structure as claimed in claim 1, it is characterised in that：The ring-type is not
Continuous pore structure can be circle, similar round, sector, arc, rectangle, the shape of class rectangle.
7. a kind of five axis robots with flexible gear structure as claimed in claim 6, it is characterised in that：The ring-type is not
Continuous pore structure is three layers of arrangement.
8. a kind of five axis robots with flexible gear structure as claimed in claims 6 or 7, it is characterised in that：The ring
Generally radially decrement is 0.1mm~0.3mm to the discontinuous air hole structure of shape.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710549429.XA CN107160385B (en) | 2017-07-07 | 2017-07-07 | Five-axis manipulator with flexible gear structure |
| PCT/CN2018/094882 WO2019007425A1 (en) | 2017-07-07 | 2018-07-06 | Mechanical arm with flexible gear structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710549429.XA CN107160385B (en) | 2017-07-07 | 2017-07-07 | Five-axis manipulator with flexible gear structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107160385A true CN107160385A (en) | 2017-09-15 |
| CN107160385B CN107160385B (en) | 2020-05-12 |
Family
ID=59823036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710549429.XA Active CN107160385B (en) | 2017-07-07 | 2017-07-07 | Five-axis manipulator with flexible gear structure |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107160385B (en) |
| WO (1) | WO2019007425A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019007425A1 (en) * | 2017-07-07 | 2019-01-10 | 苏州工业园区凯艺精密科技有限公司 | Mechanical arm with flexible gear structure |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877820B (en) * | 2019-03-19 | 2022-08-02 | 重庆摩西机器人有限公司 | Clamping and overturning mechanism for material displacement in industrial production |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04256596A (en) * | 1991-02-04 | 1992-09-11 | Matsushita Electric Ind Co Ltd | Safety device for robot |
| CN101893060A (en) * | 2010-08-10 | 2010-11-24 | 中国人民解放军国防科学技术大学 | Self-adaptation clearance-dispelling gear transmission mechanism based on compliant structure |
| CN103317506A (en) * | 2013-06-07 | 2013-09-25 | 深圳华意隆电气股份有限公司 | Lifting and rotation device for manipulator and manipulator adopting same |
| CN103692433A (en) * | 2013-12-23 | 2014-04-02 | 厦门理工学院 | Model decoupling three-arm-lever five-freedom-degree translation welding robot and decoupling method thereof |
| CN207578410U (en) * | 2017-07-07 | 2018-07-06 | 苏州工业园区凯艺精密科技有限公司 | A kind of five axis robots with flexible gear structure |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201198136Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Joint type convey robot |
| CN107160385B (en) * | 2017-07-07 | 2020-05-12 | 苏州工业园区凯艺精密科技有限公司 | Five-axis manipulator with flexible gear structure |
-
2017
- 2017-07-07 CN CN201710549429.XA patent/CN107160385B/en active Active
-
2018
- 2018-07-06 WO PCT/CN2018/094882 patent/WO2019007425A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04256596A (en) * | 1991-02-04 | 1992-09-11 | Matsushita Electric Ind Co Ltd | Safety device for robot |
| CN101893060A (en) * | 2010-08-10 | 2010-11-24 | 中国人民解放军国防科学技术大学 | Self-adaptation clearance-dispelling gear transmission mechanism based on compliant structure |
| CN103317506A (en) * | 2013-06-07 | 2013-09-25 | 深圳华意隆电气股份有限公司 | Lifting and rotation device for manipulator and manipulator adopting same |
| CN103692433A (en) * | 2013-12-23 | 2014-04-02 | 厦门理工学院 | Model decoupling three-arm-lever five-freedom-degree translation welding robot and decoupling method thereof |
| CN207578410U (en) * | 2017-07-07 | 2018-07-06 | 苏州工业园区凯艺精密科技有限公司 | A kind of five axis robots with flexible gear structure |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019007425A1 (en) * | 2017-07-07 | 2019-01-10 | 苏州工业园区凯艺精密科技有限公司 | Mechanical arm with flexible gear structure |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019007425A1 (en) | 2019-01-10 |
| CN107160385B (en) | 2020-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203282493U (en) | Scara robot | |
| CN103089956B (en) | A kind of roller screw drive linear actuator | |
| WO2016183917A1 (en) | Transmission method and device for coaxially outputting autorotation and revolution | |
| CN107160385A (en) | A kind of five axis robots with flexible gear structure | |
| CN205271996U (en) | Novel ZR axle subassembly of many joints of level manipulator | |
| KR101311374B1 (en) | A roller screw type linear actuator | |
| CN109676594A (en) | A kind of four axis robot of high-precision | |
| CN104786211A (en) | Six-freedom-degree industrial robot with ball screw pairs | |
| CN207578410U (en) | A kind of five axis robots with flexible gear structure | |
| CN106855105B (en) | Series power split ball joint | |
| CN106975964A (en) | A kind of mechanical pushing linear motion device of use screw-nut transmission | |
| CN106855104B (en) | Light ball joint of tandem type | |
| CN107175655A (en) | A kind of five axis robots | |
| CN206065426U (en) | A kind of processing equipment of stator and rotor machining equipment | |
| CN112178134B (en) | Large-scale high-rigidity impact-resistant precise speed reducer | |
| CN209682189U (en) | A kind of four axis robot of high-precision | |
| CN115126838A (en) | Double-freedom-degree mechanical arm with adjustable backlash based on conical worm transmission | |
| CN204253777U (en) | A kind of compound cycloid bilateral is to incorgruous roller arc-shaped gear driving mechanism | |
| CN112737211A (en) | Novel electric cylinder | |
| CN211449562U (en) | High-precision two-axis movement device | |
| CN206764422U (en) | A kind of mechanical pushing linear motion device being driven using screw-nut | |
| CN206754289U (en) | Double servo worm-gear speed reducers and lathe | |
| CN202798324U (en) | Sliding table gear transmission device for servo numerical control machine tool | |
| CN207415343U (en) | A kind of five axis robots | |
| CN112894878A (en) | High-speed heavy-load mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for 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: 20210524 Address after: 215000 workshop 15, Luzhi Intelligent Manufacturing Industrial Park, 1 Zhangqing street, Luzhi Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: SUZHOU XIAOGONGJIANG ROBOT Co.,Ltd. Address before: No.888 Luzhi Avenue, Luzhi Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: SUZHOU INDUSTRIAL PARK KAYMAX PRECISION ENGINEERING Co.,Ltd. |