CN206974574U - Multi-dimension force sensor - Google Patents
Multi-dimension force sensor Download PDFInfo
- Publication number
- CN206974574U CN206974574U CN201720665843.2U CN201720665843U CN206974574U CN 206974574 U CN206974574 U CN 206974574U CN 201720665843 U CN201720665843 U CN 201720665843U CN 206974574 U CN206974574 U CN 206974574U
- Authority
- CN
- China
- Prior art keywords
- ring structure
- inner ring
- elastic
- protector
- force sensor
- 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
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The utility model discloses a kind of multi-dimension force sensor, including outer ring structure, inner ring structure, elastic, foil gauge and protector；The outer ring structure is annular, is connected between inner ring structure and outer ring structure by least three elastics, the both ends of each elastic connect outer ring structure and inner ring structure respectively；The region that the inner ring structure contacts with elastic is provided with elongated slot, and each elongated slot forms the aerial flat board of an edge supports on the surface of inner ring structure, and elastic is connected on aerial flat board；Protector is arranged on outer ring structure, and gap is left between protector and inner ring structure；The side of each elastic is pasted with foil gauge.The utility model produces rational deformation when bearing load by rationally designing the thickness of aerial flat board and can make somebody a mere figurehead flat board using suitable material; in the case where load is excessive; inner ring structure contacts with protector; the load of excess is directly born by protector; without conducting to elastic, play a protective role.
Description
Technical field
It the utility model is related to sensor field, more particularly to a kind of multi-dimension force sensor and calibration method.
Background technology
Power on each axle and torque can be converted into electric signal output by multi-dimension force sensor simultaneously, continuous available for detection
The power of change and the size and Orientation of torque, are widely used in the fields such as robot, automation equipment, medicine equipment, such as certainly
Dynamic milling robot, remote operation mechanical arm etc..
The inside of multi-dimension force sensor has generally comprised at least three elastomers, the load that multi-dimension force sensor bears itself
Lotus is converted into the deformation of elastomer, and the deformation calculation by measuring three elastomers goes out the size and Orientation of current load.It is existing
The species of multi-dimension force sensor in technology is very various, the quantity and bullet of elastomer possessed by different multi-dimension force sensors
The specific constructive form of property body is different, and the elasticity that elastomer is easily lead to after excessive load is born in sensor
Expendable change can be produced, causes measurement accuracy to decline.
The content of the invention
The technical problems to be solved in the utility model is to provide a kind of multi-dimension force sensor with protection device so that applies
Add surplus load on a sensor not act directly on elastomer, improve the service life of whole sensor and reliable
Property.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is：A kind of multi-dimension force sensor, including
Outer ring structure, inner ring structure, elastic, foil gauge and protector；The outer ring structure is annular, and inner ring structure is tied with outer ring
Connected between structure by least three elastics, the both ends of each elastic connect outer ring structure and inner ring structure respectively, own
Elastic is evenly arranged around the axis of outer ring structure；The region that the inner ring structure contacts with elastic is provided with elongated slot,
Each elongated slot forms the aerial flat board of an edge supports on the surface of inner ring structure, and elastic is connected on aerial flat board；Protect
Protect device to be arranged on outer ring structure, gap is left between protector and inner ring structure；The side of each elastic is pasted with strain
Piece.
For the multi-dimension force sensor using foil gauge measurement elastic, the deformation very little of elastic in itself；Increase
Can form aerial flat board after long slot structure, make somebody a mere figurehead that flat board itself is relatively thin, by rationally design aerial flat board thickness and
Using suitable material aerial flat board can be caused to produce rational deformation when bearing load, this deformation causes sensor
Inner ring structure produces more obvious displacement, and the gap between inner ring structure and protector changes.In the excessive feelings of load
Under condition, inner ring structure is contacted with protector, and the load of excess is directly born by protector, without conducting to elastic, is risen
To overload protective function.
Further, it is threadedly coupled between the protector and outer ring structure or interference fits, is easy to regulation protector
Gap between inner ring structure.
Further, be provided with protection hole on the inner ring structure, in the locally embedding protection hole of protector, protector with
Gap is left between the inwall and bottom hole of protection hole；The direction for the load born due to inner ring structure has uncertainty, inner ring
Structure not necessarily simply moves along a straight line relative to the relative motion of protector, it is also possible to and it is rotating against for complexity,
It can be designed so that protector can also play a role in the case of complex load by protection hole.
Further, it is provided with a protector between the adjacent elastic of any two.
Further, the cross section of the elastic is rectangle, and elastic has four sides, pasted on each side
There is foil gauge.
The calibration method of the utility model multi-dimension force sensor, comprises the following steps：
Step (1)：Standard quality block is connected on inner ring structure, gyro is installed on standard quality block or inner ring structure
Instrument and accelerometer, by outer ring structure connection on the robotic arm；The quality of the standard quality block is M0, the standard quality block
Center-of-mass coordinate be R={ Rx,Ry,Rz, the coordinate system of the center-of-mass coordinate R using multi-dimension force sensor intrinsic coordinates
System；
Step (2)：Control multi-dimension force sensor and the mass being attached thereto slowly to rotate using mechanical arm, slowly revolving
The different directions of the axis pointing space of synchronous adjustment multi-dimension force sensor, rotary shaft should at least include multidimensional during turning
The xyz reference axis of coordinate system built in force snesor；Dynamic acquisition foil gauge, accelerometer and gyroscope is defeated in the process
Go out, wherein gyroscope is used for garbled data, if the variance yields and gyroscope of gyroscope data of output within certain a period of time
Difference between the variance yields of Static output data is less than setting value, then assert that the data of the accelerometer in this period can be used
Calculating in following step (3), this is to exclude the interference of coriolis force；
Step (3)：According to formula
M0GT (R)=VT6*6-Fbias
Calculate the parameter-embedded F of multi-dimension force sensorbiasAnd T6*6；
Wherein
g：Acceleration { the g of the current sensor of accelerometer outputx,gy,gz}；
T(R)：Transition matrix of the earth coordinates to sensor internal coordinate system
V：Output voltage { the V of foil gauge1,V2,V3,V4,V5,V6}。
For multi-dimension force sensor, standard quality block is applied to built in multi-dimension force sensor at coordinate origin O
Load and be：
I.e.
Meanwhile F=VT6*6-Fbias
Wherein T6*6It is the transition matrix that electric signal is converted into load force
T6*6={ TFx；TFy；TFz；TMx；TMy；TMz}；
FbiasIt is the bias of each component of sensor load power
Fbias={ Fxbias,Fybias,Fzbias,Mxbias,Mybias,Mzbias}；
Therefore：
Fx=VTFx-Fxbias
Fy=VTFy-Fybias
Fz=VTFz-Fzbias
Mx=VTMx-Mxbias
My=VTMy-Mybias
Mz=VTMz-Mzbias
With Fx=VTFx-FxbiasExemplified by, take a number of data FxAnd V, using a polynary order polynomial
It is fitted, can be in the hope of TFxAnd Fxbias；Similarly, F at final calculatingbiasAnd T6*6。
Another calibration method of the utility model multi-dimension force sensor, comprises the following steps：
Step (1)：Normal quality block is connected on inner ring structure, gyro is installed on normal quality block or inner ring structure
Instrument and accelerometer, by outer ring structure connection on the robotic arm, the quality of normal quality block and the coordinate of barycenter are unknown, this method
Only correct the bias F of each component of sensor load powerbias, the transition matrix of load force is converted into for electric signal
T6*6Without correction, using the original set-point of sensor；
Step (2)：Control multi-dimension force sensor and the mass being attached thereto slowly to rotate using mechanical arm, slowly revolving
The different directions of the axis pointing space of synchronous adjustment multi-dimension force sensor, rotary shaft should at least include multidimensional during turning
The xyz reference axis of coordinate system built in force snesor；Dynamic acquisition foil gauge, accelerometer and gyroscope is defeated in the process
Go out, wherein gyroscope is used for garbled data, if the variance yields and gyroscope of gyroscope data of output within certain a period of time
Difference between the variance yields of Static output data is less than setting value, then assert that the data of the accelerometer in this period can be used
Calculating in following step (3), this is to exclude the interference of coriolis force；
Step (3)：Accelerometer output result is g={ gx,gy,gz, calculate the parameter-embedded F of multi-dimension force sensorbias
={ Fxbias,Fybias,Fzbias,Mxbias,Mybias,Mzbias, wherein
Beneficial effect：(1) multi-dimension force sensor of the present utility model sets long slot structure to form frame on inner ring structure
Empty flat board, aerial flat board itself is relatively thin, by rationally designing the thickness of aerial flat board and using suitable material can
Aerial flat board produces rational deformation when bearing load, and in the case where load is excessive, inner ring structure contacts with protector, surpasses
The load of volume is directly born by protector, without conducting to elastic, plays a part of protecting elastic.(2) this practicality
It is threadedly coupled between the protector of new multi-dimension force sensor and outer ring structure or interference fits connects, is easy to regulation to protect
Gap between device and inner ring structure.(3) protection hole is provided with the inner ring structure of multi-dimension force sensor of the present utility model, is protected
Protect in the locally embedding protection hole of device, gap is left between the inwall and bottom hole of protector and protection hole；Because inner ring structure is held
The direction for the load received have uncertainty, inner ring structure relative to protector the not necessarily simple straight line of relative motion
Motion, it is also possible to be rotating against for complexity, can be designed so that protector in face of complex load by protection hole
In the case of can also play a role.
Brief description of the drawings
Fig. 1 is the multi-dimension force sensor structural representation of embodiment 1.
Fig. 2 is the multi-dimension force sensor local structural graph of embodiment 1.
Fig. 3 is the multi-dimension force sensor foil gauge layout drawing (one) of embodiment 1.
Fig. 4 be the multi-dimension force sensor foil gauge layout drawing of embodiment 1 (secondly).
Fig. 5 be the multi-dimension force sensor foil gauge layout drawing of embodiment 1 (thirdly).
Fig. 6 is the directional diagram of coordinate system built in the multi-dimension force sensor of embodiment 1.
Fig. 7 is the scheme of installation of the Plays mass of embodiment 1.
Fig. 8 is the force analysis figure of the Plays mass of embodiment 1.
Wherein：1st, outer ring structure；2nd, inner ring structure；201st, elongated slot；202nd, flat board is maked somebody a mere figurehead；3rd, elastic；4th, protector；5、
Standard quality block；6th, mechanical arm.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Embodiment 1
As shown in figure 1, the multi-dimension force sensor of the present embodiment, including outer ring structure 1, inner ring structure 2, elastic 3, strain
Piece and protector 4；The outer ring structure 1 is annular, and the structure of inner ring structure 2 is the equilateral triangle with fillet, inner ring structure 2
It is connected between outer ring structure 1 by three elastics 3, the both ends of each elastic 3 connect outer ring structure 1 and inner ring knot respectively
Structure 2, all elastic post 3 are evenly arranged around the axis of outer ring structure 1；The region that the inner ring structure 2 contacts with elastic 3
Elongated slot 201 is provided with, each elongated slot 201 forms the aerial flat board 202 of an edge supports, elasticity on the surface of inner ring structure 2
Post 3 is connected on aerial flat board 202.
As shown in Fig. 2 protector 4 be arranged on outer ring structure 1 on, be threadedly coupled between protector 4 and outer ring structure 1 or
Interference fits are connected, and a protector 4 is provided between the adjacent elastic 3 of any two；Protection is provided with inner ring structure 2
Hole, in the locally embedding protection hole of protector 4, gap is left between the inwall and bottom hole of protector 4 and protection hole.
The cross section of elastic 3 is rectangle, and elastic 3 has four sides, foil gauge is pasted with each side；Such as
Shown in Fig. 3 to Fig. 5, foil gauge can laterally be pasted, vertically stickup or fancy are pasted, on all elastic 3 each groups of opposite side of post
Foil gauge carry out output voltage after full-bridge or half-bridge link, the voltage that three elastics 3 export is V={ V1,V2,V3,V4,V5,
V6}。
For the multi-dimension force sensor using foil gauge measurement elastic 3, the deformation very little of elastic 3 itself；Increase
Aerial flat board 202 can be formed after having added the structure of elongated slot 201, aerial flat board 202 itself is relatively thin, passes through and rationally designs aerial flat board
202 thickness and use suitable material can cause aerial flat board 202 to produce rational deformation when bearing load, this
Deformation causes the inner ring structure 2 of sensor to produce more obvious displacement, and the gap between inner ring structure 2 and protector 4 occurs
Change.As shown in Fig. 2 in the case where load is excessive, inner ring structure 2 will be contacted directly with protector 4, and the load of excess is by protecting
Shield device 4 is directly born, and without conducting to elastic 3, is played a protective role.
That the multi-dimension force sensor of the present embodiment directly exports in measurement is the voltage signal V={ V of foil gauge measurement1,
V2,V3,V4,V5,V6, the voltage signal can pass through formula
F=VT6*6-Fbias
It is converted into specific load；
Wherein T6*6It is the transition matrix that electric signal is converted into load force
T6*6={ TFx；TFy；TFz；TMx；TMy；TMz}；
FbiasIt is the bias of each component of sensor load power
Fbias={ Fxbias,Fybias,Fzbias,Mxbias,Mybias,Mzbias}；
T6*6And FbiasThe two parameters are the intrinsic parameters of multi-dimension force sensor, and a multi-dimension force sensor is using it
Before must demarcate the two parameters first.As the use of multi-dimension force sensor and the factor such as change of environment temperature influence, T6*6
And FbiasCertain change can also occur for the two parameters, therefore multi-dimension force sensor generally requires carry out school in use
It is accurate.The calibration method of the present embodiment multi-dimension force sensor has two kinds, and the first is calibrated using standard quality block 5, and second
Kind is calibrated using normal quality block；Wherein standard quality block 5 refers to mass known to quality and center-of-mass coordinate, commonly
Mass refers to quality and the unknown mass of center-of-mass coordinate；First method can calibrate T6*6And FbiasThe two parameters, the
Two kinds of methods can only calibrate FbiasThis parameter.
The first calibration method is：
Step (1)：As shown in fig. 7, standard quality block 5 is connected on inner ring structure 2, the installation gyro in inner ring structure 2
Instrument and accelerometer (in order to easy to use, can also be when producing multi-dimension force sensor directly by gyroscope and accelerometer
Put inside inner ring structure 2), outer ring structure 1 is connected on mechanical arm 6；As shown in figure 8, the quality of the standard quality block 5
For M0, the center-of-mass coordinate of the standard quality block 5 is R={ Rx,Ry,Rz, the coordinate system of the center-of-mass coordinate R is using more
The intrinsic coordinates system of dimensional force sensor, as shown in fig. 6, intrinsic coordinates is freely defined by the designer of multi-dimension force sensor；
Step (2)：Multi-dimension force sensor and the mass being attached thereto is controlled slowly to rotate using mechanical arm 6, slow
The different directions of the axis pointing space of synchronous adjustment multi-dimension force sensor during rotation, rotary shaft should at least include more
The xyz reference axis of coordinate system built in dimensional force sensor；Dynamic acquisition foil gauge, accelerometer and gyroscope is defeated in the process
Go out, wherein gyroscope is used for garbled data, if the variance yields and gyroscope of gyroscope data of output within certain a period of time
Difference between the variance yields of Static output data is less than setting value, then assert that the data of the accelerometer in this period can be used
Calculating in following step (3), this is to exclude the interference of coriolis force；
Step (3)：According to formula
M0GT (R)=VT6*6-Fbias
Calculate the parameter-embedded F of multi-dimension force sensorbiasAnd T6*6；
Wherein
g：Acceleration { the g of the current sensor of accelerometer outputx,gy,gz}；
T(R)：Transition matrix of the earth coordinates to coordinate system built in sensor
V：Output voltage { the V of foil gauge1,V2,V3,V4,V5,V6}。
For multi-dimension force sensor, standard quality block 5 is applied to built in multi-dimension force sensor at coordinate origin O
Load and be：
I.e.
Meanwhile F=VT6*6-Fbias
Wherein T6*6It is the transition matrix that electric signal is converted into load force
T6*6={ TFx；TFy；TFz；TMx；TMy；TMz}；
FbiasIt is the bias of each component of sensor load power
Fbias={ Fxbias,Fybias,Fzbias,Mxbias,Mybias,Mzbias}；
Therefore：
Fx=VTFx-FxbiasFormula two
Fy=VTFy-Fybias
Fz=VTFz-Fzbias
Mx=VTMx-Mxbias
My=VTMy-Mybias
Mz=VTMz-Mzbias
With Fx=VTFx-FxbiasExemplified by, take a number of data FxAnd V, it is intended using a polynary order polynomial
Close, can be in the hope of TFxAnd Fxbias；Similarly, F at final calculatingbiasAnd T6*6。
The first calibration method is：
Step (1)：Normal quality block (the connected mode with the standard quality block 5 shown in Fig. 7 is connected on inner ring structure 2
Unanimously), gyroscope and accelerometer are installed on inner ring structure 2 (in order to easy to use, can also produce multi-dimension force sensor
When directly gyroscope and accelerometer are built in inside inner ring structure 2), outer ring structure 1 is connected on mechanical arm 6.Commonly
The quality of mass and the coordinate of barycenter are unknown, as shown in fig. 6, built-in coordinate system is freely determined by the designer of multi-dimension force sensor
Justice；
Step (2)：Multi-dimension force sensor and the mass being attached thereto is controlled slowly to rotate using mechanical arm 6, slow
The different directions of the axis pointing space of synchronous adjustment multi-dimension force sensor during rotation, rotary shaft should at least include more
The xyz reference axis of coordinate system built in dimensional force sensor；Dynamic acquisition foil gauge, accelerometer and gyroscope is defeated in the process
Go out, wherein gyroscope is used for garbled data, if the variance yields and gyroscope of gyroscope data of output within certain a period of time
Difference between the variance yields of Static output data is less than setting value, then assert that the data of the accelerometer in this period can be used
Calculating in following step (3), this is to exclude the interference of coriolis force；
Step (3)：Accelerometer output result is g={ gx,gy,gz, calculate the parameter-embedded F of multi-dimension force sensorbias
={ Fxbias,Fybias,Fzbias,Mxbias,Mybias,Mzbias}；
Because the quality and center-of-mass coordinate of normal quality block are unknown, this method must seek calculation parameter by specified conditions
Fbias；From foregoing formula one and formula two：
Fx=M0gx=VTFx-Fxbias
Work as gxWhen=0, Fxbias=VTFx；
Therefore selection meets g in the data of step (2) collectionxAll result of calculations are taken by the data V of=0 condition
F is obtained after valuexbias, similarly can obtain：
Although embodiment of the present utility model is illustrated in specification, these embodiments are intended only as carrying
Show, should not limit the scope of protection of the utility model.Various omissions are carried out in the range of the utility model aims are not departed from, are put
Change and change should be included in the scope of protection of the utility model.
Claims (5)
- A kind of 1. multi-dimension force sensor, it is characterised in that：Including outer ring structure, inner ring structure, elastic, foil gauge and protection Device；The outer ring structure is annular, is connected between inner ring structure and outer ring structure by least three elastics, each bullet Property post both ends connect outer ring structure and inner ring structure respectively, all elastic post is evenly arranged around the axis of outer ring structure；The region that the inner ring structure contacts with elastic is provided with elongated slot, and each elongated slot forms one on the surface of inner ring structure The aerial flat board of edge supports, elastic are connected on aerial flat board；Protector is arranged on outer ring structure, and gap is left between protector and inner ring structure；The side of each elastic is pasted with foil gauge.
- 2. multi-dimension force sensor according to claim 1, it is characterised in that：It is spiral shell between the protector and outer ring structure Line connects or interference fits connection.
- 3. multi-dimension force sensor according to claim 2, it is characterised in that：Protection hole is provided with the inner ring structure, In the locally embedding protection hole of protector, gap is left between the inwall and bottom hole of protector and protection hole.
- 4. multi-dimension force sensor according to claim 3, it is characterised in that：Set between the adjacent elastic of any two There is a protector.
- 5. multi-dimension force sensor according to any one of claims 1 to 4, it is characterised in that：The cross section of the elastic is Rectangle, elastic have four sides, foil gauge are pasted with each side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720665843.2U CN206974574U (en) | 2017-06-09 | 2017-06-09 | Multi-dimension force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720665843.2U CN206974574U (en) | 2017-06-09 | 2017-06-09 | Multi-dimension force sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206974574U true CN206974574U (en) | 2018-02-06 |
Family
ID=61407527
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720665843.2U Active CN206974574U (en) | 2017-06-09 | 2017-06-09 | Multi-dimension force sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206974574U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111879247A (en) * | 2020-08-03 | 2020-11-03 | 海伯森技术（深圳）有限公司 | Device for measuring specification of shaft hole |
-
2017
- 2017-06-09 CN CN201720665843.2U patent/CN206974574U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111879247A (en) * | 2020-08-03 | 2020-11-03 | 海伯森技术（深圳）有限公司 | Device for measuring specification of shaft hole |
| CN111879247B (en) * | 2020-08-03 | 2022-05-20 | 海伯森技术（深圳）有限公司 | Device for measuring specification of shaft hole |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107167267B (en) | The calibration method of multi-dimension force sensor | |
| CN103558415B (en) | With the mems accelerometer of temperature-compensating | |
| CN203869684U (en) | Rotating angle sensor for rotating shaft and wind power generation equipment with rotating angle sensor | |
| CN105387859B (en) | MEMS sensor combination temp drift error compensation method | |
| CN102364311B (en) | Six-degree of freedom vibration absolute measuring method based on triaxial acceleration sensor array | |
| CN102168991B (en) | Calibration and compensation method for mounting errors between triaxial vector sensor and mounting carrier | |
| CN101246078B (en) | Amending method for positional error of total static pressure sensor on low-speed unmanned aerial vehicle | |
| Zappa et al. | On the number and placement of accelerometers for angular velocity and acceleration determination | |
| CN102589537A (en) | Method for calibrating electronic compass of unmanned machine under magnetic environment | |
| CN106644365A (en) | Low-speed wind tunnel thrust vector balance calibrating device | |
| CN104048791A (en) | Double cross beam type six-dimensional force and torque sensor based on low-dimensional coupling | |
| CN104459828B (en) | Based on the non-aligned bearing calibration of earth magnetism vector system around method of principal axes | |
| CN101694581B (en) | Self-zeroing method of robot | |
| CN104316037B (en) | A kind of bearing calibration of electronic compass and device | |
| CN109948245B (en) | Wing baseline dynamic position measurement method based on iFEM method and RZT theory | |
| CN101241009A (en) | Magneto- electronic compass error compensation method | |
| CN106840100A (en) | A kind of digital obliquity sensor and measuring method | |
| CN206974574U (en) | Multi-dimension force sensor | |
| CN114912301B (en) | Low-speed wind tunnel full-machine model force measurement test data processing and correcting system | |
| CN105466458A (en) | Direct error correction method for regular-hexahedron magnetic gradient tensor system | |
| CN108037318A (en) | A kind of unmanned plane accelerometer calibration method based on ellipsoid fitting | |
| CN112613159A (en) | Stewart platform 6-UHU structure kinematics solving and error calibrating method | |
| CN105043414A (en) | Platform body control parameter calculating method of triaxial inertia stabilization platform system | |
| CN107066726B (en) | Numerical control machine tool rotating shaft perpendicularity error modeling method | |
| CN102654515B (en) | Calibration algorithm for z sensitive shaft of three-shaft acceleration transducer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 518000 Floor 1, Building E, Huafeng International Robot Industrial Park, Nanchang Community Avenue, Xixiang Street, Baoan District, Shenzhen City, Guangdong Province Patentee after: Hebson Technology (Shenzhen) Co., Ltd. Address before: 518100 Room 526, Block A, Baoan Zhigu Science Park, 4 Yintian Road, Xixiang Street, Baoan District, Shenzhen City, Guangdong Province Patentee before: Hebson Technology (Shenzhen) Co., Ltd. |
|
| CP02 | Change in the address of a patent holder |