CN114025922A - 机器人助理 - Google Patents

机器人助理 Download PDF

Info

Publication number
CN114025922A
CN114025922A CN202180003315.XA CN202180003315A CN114025922A CN 114025922 A CN114025922 A CN 114025922A CN 202180003315 A CN202180003315 A CN 202180003315A CN 114025922 A CN114025922 A CN 114025922A
Authority
CN
China
Prior art keywords
arm
robotic assistant
drawer
motor
lifting 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.)
Pending
Application number
CN202180003315.XA
Other languages
English (en)
Inventor
张呈昆
马顿.比尔
***·拉西德·派克
雷蒙德·马
路易斯·阿尔弗雷多·马特奥斯·古兹曼
刘原硕
谭欢
熊友军
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.)
Ubicon Qingdao Technology Co ltd
Original Assignee
Shenzhen Ubtech Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen Ubtech Technology Co ltd filed Critical Shenzhen Ubtech Technology Co ltd
Priority to CN202211421838.9A priority Critical patent/CN116021495A/zh
Publication of CN114025922A publication Critical patent/CN114025922A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • 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
    • B25J9/123—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/026—Racks equipped with a displaceable load carrying surface to facilitate loading or unloading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Multimedia (AREA)
  • Nursing (AREA)
  • Electromagnetism (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Computing Systems (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Manipulator (AREA)
  • Handcart (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Specific Conveyance Elements (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种机器人助理包括：轮式基座；包括一个或多个抽屉的贮存单元；可折叠臂，其包括连接至所述可折叠臂的远端的臂端工具，所述可折叠臂连接至所述贮存单元的顶部；在轮式基座上定位的升降机构，所述升降机构被配置为上下移动所述贮存单元；及接收命令指令的控制***，响应于该命令指令，该控制***被配置为：移动轮式基座，打开或关闭所述一个或多个抽屉，驱动所述可折叠臂和臂端工具的运动，以从确定的位置拾取外部物体和放置外部物体到确定的位置，及控制所述贮存单元驱动所述一个或多个抽屉。本发明的可折叠臂连同升降机构使机器人助理具有延伸可达范围的机构，该延伸可达范围的机构延伸超过了机器人助理的基本物理占位面积。

Description

PCT国内申请，说明书已公开。

Claims (20)

  1. PCT国内申请，权利要求书已公开。
CN202180003315.XA 2020-05-09 2021-04-30 机器人助理 Pending CN114025922A (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211421838.9A CN116021495A (zh) 2020-05-09 2021-04-30 轮式基座

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US16/870,903 2020-05-09
US16/870,903 US11518042B2 (en) 2020-05-09 2020-05-09 Robotic assistant
PCT/CN2021/091582 WO2021227900A1 (zh) 2020-05-09 2021-04-30 机器人助理

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202211421838.9A Division CN116021495A (zh) 2020-05-09 2021-04-30 轮式基座

Publications (1)

Publication Number Publication Date
CN114025922A true CN114025922A (zh) 2022-02-08

Family

ID=78412106

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202180003315.XA Pending CN114025922A (zh) 2020-05-09 2021-04-30 机器人助理
CN202211421838.9A Pending CN116021495A (zh) 2020-05-09 2021-04-30 轮式基座

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202211421838.9A Pending CN116021495A (zh) 2020-05-09 2021-04-30 轮式基座

Country Status (5)

Country Link
US (2) US11518042B2 (zh)
JP (1) JP2023524550A (zh)
KR (1) KR20230004866A (zh)
CN (2) CN114025922A (zh)
WO (1) WO2021227900A1 (zh)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10814489B1 (en) * 2020-02-28 2020-10-27 Nimble Robotics, Inc. System and method of integrating robot into warehouse management software
US20220174865A1 (en) * 2020-12-04 2022-06-09 Scythe Robotics, Inc. Autonomous lawn mower
DE112021006090T5 (de) * 2021-02-18 2023-10-19 Hitachi High-Tech Corporation Mobiler roboter
KR102557033B1 (ko) * 2021-12-02 2023-07-19 주식회사 씨랩 탄성 그리퍼를 구비한 수중드론 로봇암
WO2023110818A1 (en) * 2021-12-14 2023-06-22 Eeve Bv A multi-functional robot with integrated container and extendable tool system
EP4309611A1 (en) * 2022-07-20 2024-01-24 Cyber Surgery, S.L. Parking robot system
KR102604615B1 (ko) 2023-01-25 2023-11-22 서정원 진료 협업 로봇 운영 시스템 및 그 구동방법

Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150032252A1 (en) * 2013-07-25 2015-01-29 IAM Robotics, LLC System and method for piece-picking or put-away with a mobile manipulation robot
CN104552230A (zh) * 2013-10-22 2015-04-29 西华大学 图书馆取书机器人
CN104786236A (zh) * 2015-04-30 2015-07-22 北京特种机械研究所 一种用作工业机器人底盘的全向智能移动平台
CN105397817A (zh) * 2015-12-22 2016-03-16 山东鲁班机械科技有限公司 一种应急救援机器人
CN205852774U (zh) * 2016-07-27 2017-01-04 太原科技大学 多功能整理机器人
CN107520848A (zh) * 2016-06-16 2017-12-29 康茂股份公司 机器人单元
CN207071924U (zh) * 2017-07-12 2018-03-06 贝肯智能科技（苏州）有限公司 一种可送样的取样机械手
CN108247598A (zh) * 2016-12-28 2018-07-06 大连四达高技术发展有限公司 智能agv升降机器人制孔***
CN207858826U (zh) * 2018-01-24 2018-09-14 深圳市大象机器人科技有限公司 一种机器人工作站
CN109352571A (zh) * 2018-12-11 2019-02-19 沈阳航空航天大学 一种基于语音识别的智能扳手更换车
CN109789905A (zh) * 2018-05-10 2019-05-21 深圳蓝胖子机器人有限公司 一种货物装卸车、货物转运***及其自动调平方法
CN109986580A (zh) * 2019-04-29 2019-07-09 宁波大学 一种仿生家用移动式助理机器人
CN209111089U (zh) * 2018-11-30 2019-07-16 宣城市安工大工业技术研究院有限公司 一种防线缆缠绕的智能钻孔机器人
US20190291955A1 (en) * 2018-03-20 2019-09-26 Bastian Solutions, Llc Robotic shuttle system
CN110654804A (zh) * 2019-10-09 2020-01-07 广州大学 一种物流机器人自动装卸***
CN210161132U (zh) * 2018-12-26 2020-03-20 莱森姆智能科技(常州)有限公司 一种移动式机器人平台

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6443543B1 (en) * 2001-04-06 2002-09-03 Wayne Chiang Mobile personal computer
JP4129452B2 (ja) * 2004-11-30 2008-08-06 株式会社東芝 移動ロボット
US9428336B2 (en) * 2010-07-28 2016-08-30 Par Systems, Inc. Robotic storage and retrieval systems
WO2017041015A1 (en) * 2015-09-04 2017-03-09 Mako Surgical Corp. Steering mechanism for portable surgical robot
US10549915B1 (en) * 2018-07-13 2020-02-04 Vecna Robotics, Inc. System and method of asynchronous robotic retrieval and delivery of items
US10556334B1 (en) * 2018-07-13 2020-02-11 Vecna Robotics, Inc. System and method of asynchronous robotic retrieval and delivery of items between two sites
DE102018217471A1 (de) * 2018-10-12 2020-04-16 Krones Ag Modulares Robotersystem für eine Behälterverarbeitungsanlage
CN209758195U (zh) * 2019-02-01 2019-12-10 深圳市海柔创新科技有限公司 一种搬运机器人

Patent Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150032252A1 (en) * 2013-07-25 2015-01-29 IAM Robotics, LLC System and method for piece-picking or put-away with a mobile manipulation robot
CN104552230A (zh) * 2013-10-22 2015-04-29 西华大学 图书馆取书机器人
CN104786236A (zh) * 2015-04-30 2015-07-22 北京特种机械研究所 一种用作工业机器人底盘的全向智能移动平台
CN105397817A (zh) * 2015-12-22 2016-03-16 山东鲁班机械科技有限公司 一种应急救援机器人
CN107520848A (zh) * 2016-06-16 2017-12-29 康茂股份公司 机器人单元
CN205852774U (zh) * 2016-07-27 2017-01-04 太原科技大学 多功能整理机器人
CN108247598A (zh) * 2016-12-28 2018-07-06 大连四达高技术发展有限公司 智能agv升降机器人制孔***
CN207071924U (zh) * 2017-07-12 2018-03-06 贝肯智能科技（苏州）有限公司 一种可送样的取样机械手
CN207858826U (zh) * 2018-01-24 2018-09-14 深圳市大象机器人科技有限公司 一种机器人工作站
US20190291955A1 (en) * 2018-03-20 2019-09-26 Bastian Solutions, Llc Robotic shuttle system
CN109789905A (zh) * 2018-05-10 2019-05-21 深圳蓝胖子机器人有限公司 一种货物装卸车、货物转运***及其自动调平方法
CN209111089U (zh) * 2018-11-30 2019-07-16 宣城市安工大工业技术研究院有限公司 一种防线缆缠绕的智能钻孔机器人
CN109352571A (zh) * 2018-12-11 2019-02-19 沈阳航空航天大学 一种基于语音识别的智能扳手更换车
CN210161132U (zh) * 2018-12-26 2020-03-20 莱森姆智能科技(常州)有限公司 一种移动式机器人平台
CN109986580A (zh) * 2019-04-29 2019-07-09 宁波大学 一种仿生家用移动式助理机器人
CN110654804A (zh) * 2019-10-09 2020-01-07 广州大学 一种物流机器人自动装卸***

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
杨顺根: "橡胶机械安装维护保养和检修", vol. 1, 化学工业出版社, pages: 277 *

Also Published As

Publication number Publication date
CN116021495A (zh) 2023-04-28
KR20230004866A (ko) 2023-01-06
WO2021227900A1 (zh) 2021-11-18
US11518042B2 (en) 2022-12-06
US20210347059A1 (en) 2021-11-11
US20210347060A1 (en) 2021-11-11
JP2023524550A (ja) 2023-06-12
US11511437B2 (en) 2022-11-29

Similar Documents

Publication Publication Date Title
WO2021227900A1 (zh) 机器人助理
US10265227B2 (en) Mobile human-friendly assistive robot
US11396096B2 (en) Humanoid robotics system and methods
Graf et al. Care-O-bot II—Development of a next generation robotic home assistant
Jain et al. EL-E: an assistive mobile manipulator that autonomously fetches objects from flat surfaces
Graf et al. Robotic home assistant Care-O-bot® 3-product vision and innovation platform
Hashimoto et al. A field study of the human support robot in the home environment
US9567021B2 (en) Dynamically stable stair climbing home robot
Brooks et al. Sensing and manipulating built-for-human environments
Chen et al. A direct physical interface for navigation and positioning of a robotic nursing assistant
Hendrich et al. Architecture and software design for a service robot in an elderly-care scenario
JPH09267276A (ja) 搬送ロボットシステム
US11806303B2 (en) Robotic walking assistant
US20230072318A1 (en) Robotic assistant and method for controlling the same
Cunningham et al. Jamster: A mobile dual-arm assistive robot with jamboxx control
Kantharak et al. Design and development of service robot based human-robot interaction (HRI)
Xu et al. Enhanced bimanual manipulation assistance with the personal mobility and manipulation appliance (PerMMA)
Bakri et al. A review on service robots: Mechanical design and localization system
Cremer et al. Application requirements for robotic nursing assistants in hospital environments
Falck et al. Human-centered manipulation and navigation with Robot DE NIRO
Hermann et al. Hardware and software architecture of a bimanual mobile manipulator for industrial application
Elarbi-Boudihir et al. Eye-in-hand/eye-to-hand configuration for a wmra control based on visual servoing
Pudchuen et al. Medical Telerobotic: IRAPs SHaRE-aGIVeR
US20240139957A1 (en) Mobile robotic arm configured to provide on-demand assistance
SureshKumar et al. Design and development of indoor mobile robot for disabled people

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
TA01 Transfer of patent application right

Effective date of registration: 20230316

Address after: Room 202-1, Building 3, No. 8, Shengshui Road, Laoshan District, Qingdao, Shandong 266000

Applicant after: Ubicon (Qingdao) Technology Co.,Ltd.

Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province

Applicant before: Shenzhen UBTECH Technology Co.,Ltd.

TA01 Transfer of patent application right