CN107378936A - A kind of drive mechanism for underwater robot - Google Patents
A kind of drive mechanism for underwater robot Download PDFInfo
- Publication number
- CN107378936A CN107378936A CN201710642676.4A CN201710642676A CN107378936A CN 107378936 A CN107378936 A CN 107378936A CN 201710642676 A CN201710642676 A CN 201710642676A CN 107378936 A CN107378936 A CN 107378936A
- Authority
- CN
- China
- Prior art keywords
- annular
- gear
- drive
- ring gear
- drive mechanism
- 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
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of drive mechanism for underwater robot, including annular matrix, be rotatably arranged on annular matrix ring gear, be arranged on annular matrix for two propeller drives driving the gear driven mechanism of annular pinion rotation and be arranged on ring gear.The present invention has positive effect：In use, annular matrix can turn an angle around robot body, propeller drives can be turned an angle around annular matrix again, therefore the driving direction of this kind of drive mechanism can be driven relative to robot body with any angle.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of drive mechanism for underwater robot.
Background technology
Existing underwater robot, the power direction of its drive mechanism relative to the direction of body be usually it is fixed, according to
Change direct of travel by changing rudder direction, this traveling mode is difficult to meet the needs of complex action.
The content of the invention
It can be used for underwater machine relative to robot body with what any angle drove it is an object of the invention to provide a kind of
The drive mechanism of device people.
Realizing the technical scheme of the object of the invention is：A kind of drive mechanism for underwater robot, including annular matrix,
The ring gear that is rotatably arranged on annular matrix, be arranged on annular matrix be used for drive the gear of annular pinion rotation to drive
Motivation structure and two propeller drives being arranged on ring gear.
In such scheme, annular matrix includes the base and cover plate that are fixedly linked, and base is a ring plate, cover plate bag
Annular flat plate portion and annular wall plate portion are included, annular wall plate portion is that the inner periphery of annular flat plate portion vertically is protruded to be formed；Annular wall
Plate portion is provided with keyhole portion and axle hole, and keyhole and axis hole are coaxially disposed.
In such scheme, an annular chamber is formed between base and cover plate.
In such scheme, ring gear includes tubular body and the sliding tooth being arranged on tubular body internal perisporium；Annular
Gear is located in the annular chamber of annular matrix.
In such scheme, four positioning gears being rotatably arranged on base are provided with the annular chamber of annular matrix, it is each fixed
Position gear and ring gear adjoining adaptation；This four positioning gears are arranged on the inner side of ring gear, and ring gear is by this four
Gear positioning is positioned, so as to around the center axis thereof of annular matrix.
In such scheme, gear driven mechanism includes being fixedly installed on installation room below annular matrix base, is arranged on
Gear drive motor, the battery being arranged in installation room and the drive gear being arranged in annular chamber in installation room.
In such scheme, gear driven mechanism has two, respectively positioned at the both sides of housing.
In such scheme, two propeller drives are located at the both sides of ring gear, and each propeller drives include fixing
The drive chamber that is arranged on ring gear periphery wall, the blade motor being arranged in drive chamber and it is rotatably arranged on drive chamber
Propeller on outer wall, each blade motor drive a corresponding propeller rotational.
In such scheme, each drive gear abuts ring gear and positioned at the inner side of ring gear, gear drive motor band
When dynamic drive gear rotates, ring gear is driven around housing into rotation.
In such scheme, power direction caused by two propellers is identical.
The present invention has positive effect：In use, annular matrix can turn an angle around robot body, spiral
Pitch driver can turn an angle around annular matrix again, therefore the driving direction of this kind of drive mechanism can relative to robot body
Driven with any angle.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the present invention；
Fig. 2 is a kind of explosive view of drive mechanism shown in Fig. 1；
Fig. 3 is a kind of dimensional structure diagram using the made robots of Fig. 3；
Fig. 4 is a kind of front view of robot shown in Fig. 3；
Fig. 5 is a kind of explosive view of robot shown in Fig. 3.
Reference is：Housing 1, hemispherical observation window 11, drive mechanism 3, annular matrix 4, base 41, cover plate 42, ring
Shape flat part 421, annular wall plate portion 422, keyhole portion 423, axle hole 424, position gear 43, ring gear 5, tubular body
51, sliding tooth 52, gear driven mechanism 6, room 61, gear drive motor 62, battery 63, drive gear 64, propeller drive are installed
Dynamic device 7, drive chamber 71, propeller 72, output shaft 81, rotating shaft 82.
Embodiment
（Embodiment 1）
The present embodiment is a kind of drive mechanism for underwater robot, and as shown in Fig. 1 to Fig. 2, the drive mechanism 3 includes annular
Matrix 4, the ring gear 5 being rotatably arranged on annular matrix, be arranged on annular matrix be used for drive annular pinion rotation
Gear driven mechanism 6 and two propeller drives 7 being arranged on ring gear.
Annular matrix includes the base 41 and cover plate 42 being fixedly linked, and base is a ring plate, and cover plate includes annular
Flat part 421 and annular wall plate portion 422, annular wall plate portion are that the inner periphery of annular flat plate portion vertically is protruded to be formed；Annular wall
Plate portion is provided with keyhole portion 423 and axle hole 424, and keyhole and axis hole are coaxially disposed.An annular is formed between base and cover plate
Chamber.
Ring gear includes tubular body 51 and the sliding tooth 52 being arranged on tubular body internal perisporium；Ring gear is located at
In the annular chamber of annular matrix.
Four positioning gears 43 being rotatably arranged on base are provided with the annular chamber of annular matrix, it is each to position gear and ring
Shape gear adjoining adaptation；This four positioning gears are arranged on the inner side of ring gear, and ring gear is determined by this four positioning gears
Position, so as to around the center axis thereof of annular matrix.
Gear driven mechanism 6 includes being fixedly installed on the installation room 61 below annular matrix base, is arranged in installation room
Gear drive motor 62, the battery 63 that is arranged in installation room and the drive gear 64 that is arranged in annular chamber；The present embodiment
In gear driven mechanism have two, respectively positioned at the both sides of housing.Each drive gear abuts ring gear and is located at annular tooth
The inner side of wheel, when gear drive motor 62 drives drive gear rotation, ring gear is driven around housing into rotation.
Two propeller drives 7 are located at the both sides of ring gear, and each propeller drives 7 include being fixedly installed on annular
Drive chamber 71 on outer peripheral gear wall, the blade motor being arranged in drive chamber and it is rotatably arranged on driving chamber outer wall
Propeller 72, each blade motor drive a corresponding propeller rotational；Preferable scheme is moved caused by two propellers
Force direction is identical.
（Application examples 1）
The application example is to use a kind of underwater robot that can change power drive direction made of above-described embodiment 1, sees Fig. 3 extremely
Shown in Fig. 5, including housing 1, the photographing module being built in housing and the drive mechanism 3 moved for drive shell.
The global shape of housing is spherical, and the bottom of housing is provided with transparent hemispherical observation window 11；Photographing module includes
The cradle head mechanism with motor that is built in housing, the camera being arranged on cradle head mechanism and it is arranged on cradle head mechanism
On illuminating lamp（It is not drawn on figure）.Camera is fixedly installed on the bottom of cradle head mechanism, camera face hemispherical observation window
Transparent wall body.
Drive mechanism 3 includes the annular matrix 4 being rotatably arranged on housing, the annular tooth being rotatably arranged on annular matrix
Wheel 5, be arranged on annular matrix be used for drive annular pinion rotation gear driven mechanism 6 and be arranged on ring gear
Two propeller drives 7.
Annular matrix includes the base 41 and cover plate 42 being fixedly linked, and base is a ring plate, and cover plate includes annular
Flat part 421 and annular wall plate portion 422, annular wall plate portion are that the inner periphery of annular flat plate portion vertically is protruded to be formed；Annular wall
Plate portion is provided with keyhole portion 423 and axle hole 424, and keyhole and axis hole are coaxially disposed.An annular is formed between base and cover plate
Chamber.
The main drive motor for being used for driving annular matrix to rotate is provided with housing, in the application example, main drive motor it is defeated
Shaft 81 stretches out a side of housing, and is plugged on annular matrix in corresponding keyhole, so that the output shaft and annular
Matrix is fixedly linked；The other end of housing is provided with the rotating shaft 82 for stretching out housing, and the axis of rotation is arranged on annular matrix accordingly
Axis hole in, output shaft and rotating shaft are coaxially disposed, therefore main drive motor can drive annular matrix rotate axis center by output shaft
Axis rotates.In the application example, the central axis of the rotating shaft passes through the centre of sphere of spherical shell.
Ring gear includes tubular body 51 and the sliding tooth 52 being arranged on tubular body internal perisporium；Ring gear is located at
In the annular chamber of annular matrix.
Four positioning gears 43 being rotatably arranged on base are provided with the annular chamber of annular matrix, it is each to position gear and ring
Shape gear adjoining adaptation；This four positioning gears are arranged on the inner side of ring gear, and ring gear is determined by this four positioning gears
Position, so as to around the center axis thereof of annular matrix.
Gear driven mechanism 6 includes being fixedly installed on the installation room 61 below annular matrix base, is arranged in installation room
Gear drive motor 62, the battery 63 that is arranged in installation room and the drive gear 64 that is arranged in annular chamber；The application example
In gear driven mechanism have two, respectively positioned at the both sides of housing.Each drive gear abuts ring gear and is located at annular tooth
The inner side of wheel, when gear drive motor 62 drives drive gear rotation, ring gear is driven around housing into rotation.
Two propeller drives 7 are located at the both sides of ring gear, and each propeller drives 7 include being fixedly installed on annular
Drive chamber 71 on outer peripheral gear wall, the blade motor being arranged in drive chamber and it is rotatably arranged on driving chamber outer wall
Propeller 72, each blade motor drive a corresponding propeller rotational；Preferable scheme is moved caused by two propellers
Force direction is identical.
The application example also has the cleaning agency 2 for being used for cleaning hemispherical observation window outer wall, and cleaning agency includes semi-circular
Support plate 21, set in the housing be used for drive semi-circular support plate reciprocally swinging cleaning motor, be fixedly installed on
The up cleaning brush 22 of semi-circular support plate inwall；The output shaft stretching housing for cleaning motor is fixedly installed on semi-circular branch
One end of plate is held, the other end of semi-circular support plate is rotatably arranged on housing by bearing pin；Cleaning brush is foam-rubber cushion or hairbrush；
Clean motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive cleaning brush to brush hemispherical observation window
Foul on outer wall.
In the application example work, main drive motor can drive annular matrix reciprocating rotation around the shaft, because propeller drives
Device is fixedly installed on annular matrix, therefore propeller drives rotate with annular matrix, is realized and is changed propeller drives
Driving direction；In addition, blade motor can also drive ring gear to rotate, therefore can be driven again from another angulation change propeller
The driving direction of device；In summary the angle adjustment of two kinds of rotations, it may be such that propeller drives realize 360 degree of appointing without dead angle
The driving of meaning direction.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.And these
The obvious changes or variations that the connotation for belonging to of the invention is extended out still falls within protection scope of the present invention.
Claims (10)
- A kind of 1. drive mechanism for underwater robot, it is characterised in that：Including annular matrix, it is rotatably arranged on annular matrix On ring gear, be arranged on annular matrix be used for drive annular pinion rotation gear driven mechanism and be arranged on ring Two propeller drives on shape gear.
- 2. the drive mechanism according to claim 1 for underwater robot, it is characterised in that：Annular matrix includes fixing Connected base and cover plate, base are a ring plates, and cover plate includes annular flat plate portion and annular wall plate portion, annular wall plate portion It is that the inner periphery of annular flat plate portion vertically is protruded to be formed；Annular wall plate portion is provided with keyhole portion and axle hole, keyhole and axis hole It is coaxially disposed.
- 3. the drive mechanism according to claim 2 for underwater robot, it is characterised in that：Shape between base and cover plate Into an annular chamber.
- 4. the drive mechanism according to claim 3 for underwater robot, it is characterised in that：Ring gear includes tubulose Body and the sliding tooth being arranged on tubular body internal perisporium；Ring gear is located in the annular chamber of annular matrix.
- 5. the drive mechanism according to claim 4 for underwater robot, it is characterised in that：The annular chamber of annular matrix In be provided with four positioning gears being rotatably arranged on base, it is each to position gear and ring gear adjoining adaptation；This four positioning Gear is arranged on the inner side of ring gear, and ring gear is positioned by this four positioning gears, so as to around the center of annular matrix Axis rotates.
- 6. the drive mechanism according to claim 5 for underwater robot, it is characterised in that：Gear driven mechanism includes It is fixedly installed on the installation room below annular matrix base, the gear drive motor being arranged in installation room, is arranged on installation room In battery and the drive gear that is arranged in annular chamber.
- 7. the drive mechanism according to claim 6 for underwater robot, it is characterised in that：Gear driven mechanism has two It is individual, respectively positioned at the both sides of housing.
- 8. the drive mechanism according to claim 7 for underwater robot, it is characterised in that：Two propeller drives Positioned at the both sides of ring gear, each propeller drives include drive chamber, the setting being fixedly installed on ring gear periphery wall Blade motor and the propeller being rotatably arranged on driving chamber outer wall, each blade motor driving phase in drive chamber Answer a propeller rotational.
- 9. the drive mechanism according to claim 8 for underwater robot, it is characterised in that：Each drive gear abuts ring Shape gear and the inner side for being located at ring gear, when gear drive motor drives drive gear rotation, ring gear is driven around housing Rotate.
- 10. the drive mechanism according to claim 9 for underwater robot, it is characterised in that：Two propellers produce Power direction it is identical.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810415047.2A CN108639293A (en) | 2017-07-31 | 2017-07-31 | A kind of adjustable driving mechanism for underwater robot of driving direction |
| CN201810415720.2A CN108583833A (en) | 2017-07-31 | 2017-07-31 | A kind of driving mechanism for underwater robot |
| CN201710642676.4A CN107378936B (en) | 2017-07-31 | 2017-07-31 | A kind of driving mechanism for underwater robot |
| CN201810415098.5A CN108609143A (en) | 2017-07-31 | 2017-07-31 | driving mechanism for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642676.4A CN107378936B (en) | 2017-07-31 | 2017-07-31 | A kind of driving mechanism for underwater robot |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810415098.5A Division CN108609143A (en) | 2017-07-31 | 2017-07-31 | driving mechanism for underwater robot |
| CN201810415720.2A Division CN108583833A (en) | 2017-07-31 | 2017-07-31 | A kind of driving mechanism for underwater robot |
| CN201810415047.2A Division CN108639293A (en) | 2017-07-31 | 2017-07-31 | A kind of adjustable driving mechanism for underwater robot of driving direction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107378936A true CN107378936A (en) | 2017-11-24 |
| CN107378936B CN107378936B (en) | 2018-06-26 |
Family
ID=60343438
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810415720.2A Withdrawn CN108583833A (en) | 2017-07-31 | 2017-07-31 | A kind of driving mechanism for underwater robot |
| CN201810415047.2A Withdrawn CN108639293A (en) | 2017-07-31 | 2017-07-31 | A kind of adjustable driving mechanism for underwater robot of driving direction |
| CN201810415098.5A Withdrawn CN108609143A (en) | 2017-07-31 | 2017-07-31 | driving mechanism for underwater robot |
| CN201710642676.4A Active CN107378936B (en) | 2017-07-31 | 2017-07-31 | A kind of driving mechanism for underwater robot |
Family Applications Before (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810415720.2A Withdrawn CN108583833A (en) | 2017-07-31 | 2017-07-31 | A kind of driving mechanism for underwater robot |
| CN201810415047.2A Withdrawn CN108639293A (en) | 2017-07-31 | 2017-07-31 | A kind of adjustable driving mechanism for underwater robot of driving direction |
| CN201810415098.5A Withdrawn CN108609143A (en) | 2017-07-31 | 2017-07-31 | driving mechanism for underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN108583833A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111337082A (en) * | 2020-03-31 | 2020-06-26 | 杭州万知科技有限公司 | Grain condition detection system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2066805A (en) * | 1935-04-17 | 1937-01-05 | Frank W Chandler | Flexible gear drive |
| CN202429337U (en) * | 2011-12-08 | 2012-09-12 | 上海交通大学 | Propeller required for assisting deep-sea pipeline to move |
| CN203921182U (en) * | 2014-05-13 | 2014-11-05 | 上海海洋大学 | A kind of minisub turns to propulsion system |
| CN204437606U (en) * | 2015-01-27 | 2015-07-01 | 浙江海洋学院 | A kind of binocular camera The Cloud Terrace for underwater robot detection |
| CN205311877U (en) * | 2016-01-25 | 2016-06-15 | 武汉尼维智能科技有限公司 | Unmanned ship course control device of surface of water |
| CN106428479A (en) * | 2015-08-06 | 2017-02-22 | 欧舶智能科技（上海）有限公司 | Unmanned remote-controlled underwater robot and control method thereof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101475055A (en) * | 2009-01-21 | 2009-07-08 | 上海广茂达伙伴机器人有限公司 | Underwater robot |
| CN201849653U (en) * | 2010-11-12 | 2011-06-01 | 高川 | Bionic underwater robot |
| CN103303449B (en) * | 2013-05-30 | 2015-11-11 | 河北工业大学 | A kind of under-water operation robot |
| CN103358839B (en) * | 2013-08-05 | 2015-09-02 | 战强 | A kind of Amphibious spherical scout robot |
| CN103600821B (en) * | 2013-11-07 | 2016-03-30 | 江苏科技大学 | Omnidirectional swims and climbs wall under-water robot |
| CN104554675B (en) * | 2014-12-26 | 2017-01-11 | 中国船舶重工集团公司第七一〇研究所 | Underwater dish vehicle |
| CN204578631U (en) * | 2015-03-19 | 2015-08-19 | 安徽四创电子股份有限公司 | A kind of can the ball-shaped camera cover of automated cleaning |
| CN106741757B (en) * | 2016-12-19 | 2018-11-02 | 东北石油大学 | A kind of portable underwater robot |
-
2017
- 2017-07-31 CN CN201810415720.2A patent/CN108583833A/en not_active Withdrawn
- 2017-07-31 CN CN201810415047.2A patent/CN108639293A/en not_active Withdrawn
- 2017-07-31 CN CN201810415098.5A patent/CN108609143A/en not_active Withdrawn
- 2017-07-31 CN CN201710642676.4A patent/CN107378936B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2066805A (en) * | 1935-04-17 | 1937-01-05 | Frank W Chandler | Flexible gear drive |
| CN202429337U (en) * | 2011-12-08 | 2012-09-12 | 上海交通大学 | Propeller required for assisting deep-sea pipeline to move |
| CN203921182U (en) * | 2014-05-13 | 2014-11-05 | 上海海洋大学 | A kind of minisub turns to propulsion system |
| CN204437606U (en) * | 2015-01-27 | 2015-07-01 | 浙江海洋学院 | A kind of binocular camera The Cloud Terrace for underwater robot detection |
| CN106428479A (en) * | 2015-08-06 | 2017-02-22 | 欧舶智能科技（上海）有限公司 | Unmanned remote-controlled underwater robot and control method thereof |
| CN205311877U (en) * | 2016-01-25 | 2016-06-15 | 武汉尼维智能科技有限公司 | Unmanned ship course control device of surface of water |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111337082A (en) * | 2020-03-31 | 2020-06-26 | 杭州万知科技有限公司 | Grain condition detection system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108583833A (en) | 2018-09-28 |
| CN108639293A (en) | 2018-10-12 |
| CN108609143A (en) | 2018-10-02 |
| CN107378936B (en) | 2018-06-26 |
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Effective date of registration: 20180522 Address after: 325600 Xi Ren Dang village, Liushi Town, Yueqing City, Zhejiang Province Applicant after: YUEQING FENGJIE ELECTRONIC TECHNOLOGY CO., LTD. Address before: 215000 301, room 3, 166 JINGMAO Road, Yang Dong Road, Suzhou Industrial Park, Jiangsu. Applicant before: Suzhou great rock Electronic Technology Co., Ltd. |
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Effective date of registration: 20190619 Address after: 226000 Xingyuan Road 288, Nantong High-tech Industrial Development Zone, Jiangsu Province Patentee after: Jiangsu Zhuoyu Intelligent Technology Co., Ltd. Address before: 325600 Xi Ren Dang village, Liushi Town, Yueqing City, Zhejiang Province Patentee before: YUEQING FENGJIE ELECTRONIC TECHNOLOGY CO., LTD. |
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