CN219255579U - Driving plate for mechanical arm, driving module, driving control circuit and mechanical arm - Google Patents
Driving plate for mechanical arm, driving module, driving control circuit and mechanical arm Download PDFInfo
- Publication number
- CN219255579U CN219255579U CN202223597580.6U CN202223597580U CN219255579U CN 219255579 U CN219255579 U CN 219255579U CN 202223597580 U CN202223597580 U CN 202223597580U CN 219255579 U CN219255579 U CN 219255579U
- Authority
- CN
- China
- Prior art keywords
- driving
- stepping motor
- module
- interface
- mechanical arm
- 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
- 239000000758 substrate Substances 0.000 claims abstract description 25
- 230000008054 signal transmission Effects 0.000 claims abstract description 18
- 238000001914 filtration Methods 0.000 claims description 22
- 238000010586 diagram Methods 0.000 description 14
- 230000000875 corresponding effect Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Control Of Stepping Motors (AREA)
Abstract
The utility model provides a driving plate, a driving module, a driving control circuit and a mechanical arm for the mechanical arm, wherein the driving plate for the mechanical arm comprises a substrate, a plurality of pluggable stepping motor driving interfaces are arranged on the substrate, and each stepping motor driving interface is used for being connected with the stepping motor driving module of the mechanical arm; the substrate is also provided with a plurality of stepping motor control signal transmission lines corresponding to the stepping motor driving interfaces, and each stepping motor control signal transmission line is connected with the corresponding stepping motor driving interface. According to the multi-degree-of-freedom mechanical arm driving device, the plurality of stepping motor driving interfaces are arranged on the substrate, so that the driving plate can simultaneously control the plurality of mechanical arm joints, the layout space is saved, the requirement of multiple degrees of freedom of the mechanical arm is met, the replacement after the stepping motor driving module is damaged is facilitated through the stepping motor driving interfaces which are arranged in a pluggable manner, the whole driving plate and even the main control plate are not required to be replaced, and the cost is saved.
Description
Technical Field
The utility model relates to the field of mechanical arm drive control, in particular to a drive plate, a drive module, a drive control circuit and a mechanical arm for the mechanical arm.
Background
In order to grasp and convey objects in different positions and orientations in space, the mechanical arm at least needs 6 degrees of freedom to reach all attitude positions, so that the common six-axis joint mechanical arm needs 6 stepping motor driving modules and simultaneously drives 6 stepping motors independently.
In the existing driving circuit, 6 stepping motor driving modules are directly welded on the same driving circuit board, therefore, once any one of the stepping motor driving modules is damaged, the whole driving circuit needs to be replaced, so that the rest stepping motor driving modules still intact on the driving circuit board are wasted, the operation cost is increased, and meanwhile, the working efficiency is reduced.
Disclosure of Invention
Based on the above, the utility model aims to provide a driving plate, a driving module, a driving control circuit and a mechanical arm for the mechanical arm, so that the driving module of the stepping motor can be replaced in a plug-in mode without replacing the whole driving plate, thereby being convenient and quick and saving the cost.
The utility model is realized by the following technical scheme:
in a first aspect, the present utility model provides a driving board for a mechanical arm, including a substrate, on which a plurality of pluggable stepper motor driving interfaces are disposed, wherein each of the stepper motor driving interfaces is configured to output a stepper motor control signal to a connected stepper motor driving module;
the substrate is also provided with a plurality of stepping motor control signal transmission lines corresponding to the stepping motor driving interfaces, and each stepping motor control signal transmission line is connected with the corresponding stepping motor driving interface.
Further, a main control board interface is further arranged on the substrate, the main control board interface comprises a plurality of groups of control signal switching terminals, and each group of control signal switching terminals is used for receiving control signals of corresponding stepping motors sent by the main control board;
each group of control signal transfer terminals is also connected with the corresponding stepping motor control signal transmission line.
Further, a digital signal filtering module is further arranged on the substrate, and each group of control signal transfer terminals is further connected with the corresponding stepping motor control signal transmission line through the digital signal filtering module.
Further, the base plate is further provided with a limiting return-to-zero signal input module, the main control board interface further comprises a limiting return-to-zero signal switching terminal, and the limiting return-to-zero signal input module is connected with the limiting return-to-zero signal switching terminal through the digital signal filtering module.
Further, the base plate is further provided with a brake control module, the main control board interface further comprises a brake signal switching terminal, and the brake signal switching terminal is connected with the brake control module.
Further, a power module is further arranged on the substrate, and the power module is connected with the main control board interface, the stepping motor driving module and the brake control module and is used for outputting voltage to the main control board interface, the stepping motor driving module and the brake control module.
In a second aspect, the utility model also provides a driving module for the mechanical arm, which comprises a driving chip, a pluggable driving board interface and a motor driving interface, wherein the driving chip is respectively connected with the driving board interface and the motor driving interface;
the driving plate interface is used for connecting a stepping motor driving plate of the mechanical arm, and the motor driving interface is used for connecting a stepping motor of the mechanical arm.
In a third aspect, the present utility model provides a drive control circuit for a mechanical arm, the mechanical arm including a main control board and a stepper motor drive board of the mechanical arm according to the first aspect of the present utility model;
the main control board comprises a control chip and a driving interface, wherein the control chip is connected with the driving interface, and the driving interface is connected with the main control board.
Further, an external signal input circuit and an external signal output circuit are further arranged on the main control board, and the external signal input circuit and the external signal output circuit are respectively connected with the control chip.
In a fourth aspect, the present utility model provides a mechanical arm, comprising a drive control circuit for a mechanical arm according to the third aspect of the present utility model.
The driving plate for the mechanical arm has the following beneficial effects:
1. according to the driving plate for the mechanical arm, the plurality of stepping motor driving interfaces are arranged on the substrate, so that the driving plate can simultaneously control a plurality of mechanical arm joints, the layout space is saved, and meanwhile the requirement of multiple degrees of freedom of the mechanical arm is met.
2. According to the driving plate for the mechanical arm, the pluggable stepping motor driving interface is arranged, so that the driving plate can be replaced conveniently after the stepping motor driving module is damaged, the whole driving plate and even the main control plate are not required to be replaced, and the cost is saved.
3. According to the driving plate for the mechanical arm, the digital signal filtering module is arranged to process the stepping motor control signal sent by the main control board, so that interference of clutter on driving of the stepping motor is avoided.
For a better understanding and implementation, the present utility model is described in detail below with reference to the drawings.
Drawings
FIG. 1 is a block circuit diagram of a drive plate for a robotic arm according to an embodiment of the present utility model;
FIG. 2 is a circuit diagram of a master control board interface for a drive board of a robotic arm according to an embodiment of the present utility model;
FIG. 3 is a circuit diagram of a digital signal filtering module for a drive board of a robot arm according to an embodiment of the present utility model;
FIG. 4 is a circuit diagram of a stepper motor drive module for a drive plate of a robotic arm according to an embodiment of the present utility model;
FIG. 5 is a circuit diagram of a limit return-to-zero signal input module for a drive plate of a robotic arm according to an embodiment of the present utility model;
FIG. 6 is a circuit diagram of a brake control module for a drive plate of a robotic arm according to an embodiment of the present utility model;
FIG. 7 is a circuit diagram of a power module for a drive board of a robotic arm according to an embodiment of the utility model;
fig. 8 is a diagram of an external signal input circuit of a drive control circuit for a robot arm according to an embodiment of the present utility model;
fig. 9 is a circuit diagram of an external signal output of a drive control circuit for a robot arm according to an embodiment of the present utility model.
Reference numerals: 10. a substrate; 12. a stepper motor drive interface; 13. a main control board interface; 14. a limit return-to-zero signal input module; 15. a stepper motor drive module; 16. a brake control module; 17. a power module; 18. a digital signal filtering module; 20. a main control board; 21. an external signal input circuit; 22. an external signal output circuit.
Detailed Description
The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present utility model are shown in the accompanying drawings.
In the description of the present utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
As shown in fig. 1, an embodiment of the present utility model provides a driving board for a mechanical arm, where the driving board includes a substrate 10, and a main control board interface 13, a stepper motor driving interface 12, a digital signal filtering module 18, a limiting return-to-zero signal input module 14, a brake control module 16, and a power module 17 are disposed on the substrate 10.
The main control board interface 13 is used for connecting a main control board 20, a control chip is arranged on the main control board 20 and used for controlling and adjusting each driving motor of the mechanical arm, and the main control board interface is provided with a plurality of pins which can be connected with the main control board through a connector or a wire harness for communication. In other examples, the substrate 10 may not be provided with a main control board interface, that is, a control chip may be provided on the substrate 10, and connection and communication between the main control chip and other modules may be completed on the substrate 10.
The stepper motor driving interface 12 is a pluggable stepper motor driving interface, and is used for connecting the stepper motor driving module 15 of the mechanical arm, and corresponds to a packaging structure of the stepper motor driving module 15, the stepper motor driving interface 12 is a connection seat capable of matching pins of the stepper motor driving module 15, for example, the stepper motor driving module 15 is packaged into a DIP (dual in-line package) structure, and then the stepper motor driving interface 12 can be optionally used as a DIP connection seat. In the embodiment of the present utility model, the stepper motor driving interface 12 may include a plurality, for example, 6, of stepper motor driving modules 15 correspondingly connected to each other, where each stepper motor driving module 15 is used for driving a stepper motor of one mechanical arm, so as to implement joint driving of the 6-degree-of-freedom mechanical arm. Correspondingly, the number of the digital signal filtering modules 18 and the limit zero-return signal input modules 14 is 6.
The pins of the main control board interface 13 may be optionally divided into a plurality of groups of control signal switching terminals, a limiting return-to-zero signal switching terminal and a brake signal switching terminal according to functions. Each group of control signal transfer terminals is used for being connected with one driving port of the main control board through a connector or a wire harness and connected with one stepping motor driving interface 12 on the base plate 10; each group of limiting return-to-zero signal switching terminals are used for being connected with one driving port of the main control board through a connector or a wire harness and are connected with one limiting return-to-zero signal input module 14 on the substrate 10; each set of brake signal transfer terminals is adapted to be connected to one of the drive ports of the main control board via a connector or harness and to one of the brake control modules 16 on the base plate 10.
In an alternative embodiment, as shown in fig. 2, the circuit diagram of the main control board interface 13 is shown, and the number of the control signal switching terminals and the limit return-to-zero signal switching terminals is 6 respectively.
In order to realize the transmission of control signals between the main control board and the stepper motor driving modules, a plurality of stepper motor control signal transmission lines corresponding to the stepper motor driving interfaces 12 are further arranged on the substrate 10, and the stepper motor control signal transmission lines are used for transmitting control signals of the control chip of the main control board to each stepper motor driving module. In a specific embodiment, one end of each stepper motor control signal transmission line is connected to the corresponding stepper motor driving interface 12, and the other end of each stepper motor control signal transmission line is connected to a corresponding set of control signal transfer terminals on the main control board interface, where the signal transmission line may include a transmission cable laid on the substrate 10, and related conductive elements. In other examples, when the control chip is directly disposed on the substrate 10, the other end of each stepper motor control signal transmission line may also be directly or indirectly connected to the stepper motor driving interface to which the control chip responds.
The digital signal filtering module 18 is used for filtering the passing signal. One end of the digital signal filtering module 18 is connected with the main control board interface 13, and the other end is respectively connected with the limit return-to-zero signal input module 14 and the stepping motor driving interface 12. In this embodiment, as shown in FIG. 3, the digital signal filtering module 18 includes a plurality of bus transceivers 74LV245PW.
The stepper motor driving module 15 is connected with a control signal switching terminal of the main control board interface 13 through the stepper motor driving interface 12 and the digital filtering module 18, and is used for connecting and controlling driving of the stepper motor. In the present embodiment, the number of the stepping motor driving modules 15 is 6, and 6 stepping motor driving interfaces 12 are correspondingly provided. As shown in fig. 4, the stepper motor driver module 15 includes a stepper motor driver chip for the DRV8825-Mdl signals.
The limiting zeroing signal input module 14 is connected with the digital signal filtering module 18, that is, the limiting zeroing signal input module 14 is connected with a limiting zeroing signal transfer terminal of the main control board interface 13 through the digital signal filtering module 18, and is used for externally connecting with a photoelectric switch and acquiring external physical position information through on-off of the photoelectric switch. In this embodiment, the number of limit zero-return signal input modules 14 is 6, and the circuit diagram thereof is shown in fig. 5.
The brake control module 16 is connected with the brake signal transfer terminal of the main control board interface 13 and is used for receiving a brake control signal sent by the main control board. In this embodiment, as shown in fig. 5, the brake control module 16 includes an optocoupler switch and a 24V relay, where the optocoupler switch is configured to receive the driving information of the optocoupler switch sent by the main control board, so as to control on-off of the 24V relay, and further synchronously control braking of 6 stepper motors. In this embodiment, the circuit diagram of the brake control module 16 is shown in FIG. 6.
The power module 17 is connected with the main control board interface 13, the stepping motor driving module 15 and the brake control module 16, and is used for outputting 5V voltage to the main control board, outputting 5V and 24V voltage to the stepping motor driving module 15 and outputting 24V voltage to the brake control module 16. In the present embodiment, a circuit diagram of the power supply module 17 is shown in fig. 7.
The utility model provides a working principle and a working process of a driving plate for a mechanical arm, wherein the working principle and the working process are as follows:
the limit zeroing signal input module 14 is externally connected with a photoelectric switch, and obtains the physical position information of the external mechanical arm through on-off of the switch; when the stepping motor driving board is electrified, the limiting return-to-zero signal input module 14 sends the physical position information to the main control board through the digital signal filtering module 18 and the limiting return-to-zero signal switching terminal; the main control board sends the adjustment information of the stepper motor to the stepper motor control signal transmission line through the control signal switching terminal and the digital signal filtering module 18, and the stepper motor driving module 15 which receives the adjustment information drives the stepper motor to perform adjustment action, so that the mechanical arm is ensured to be at the zero position; after the limit returns to zero, the brake control of the stepping motor is manually released by a user, the main control board sends a control signal of the stepping motor to the stepping motor control signal transmission line through the control signal switching terminal and the digital signal filtering module 18, and the stepping motor driving module 15 receives the control signal and drives the corresponding stepping motor to perform corresponding actions, so that the mechanical arm is controlled to complete corresponding actions. When the stepper motor driving module 15 is damaged, the connection between the stepper motor driving module 15 and the pluggable stepper motor driving interface 12 can be released, so that the new stepper motor driving module 15 can be quickly replaced.
The embodiment of the utility model also provides a stepping motor driving module of the mechanical arm, which comprises:
the drive chip is respectively connected with the pluggable drive board interface and the motor drive interface; the pluggable drive plate interface is used for connecting a drive plate for a mechanical arm, which is provided in any embodiment of the application, and the motor drive interface is used for connecting a stepping motor.
The embodiment of the utility model also provides a driving control circuit for the mechanical arm, which comprises a main control board 20 and the driving board for the mechanical arm.
The main control board 20 comprises a control chip and a driving interface, the control chip is connected with the driving interface, and the driving interface is connected with the main control board interface 13. As shown in fig. 1, the main control board is further provided with an external signal input circuit 21 and an external signal output circuit 22, and the external signal input circuit 21 and the external signal output circuit 22 are respectively connected with the control chip. As shown in fig. 8 and 9, fig. 8 and 9 are circuit diagrams of the external signal input circuit 21 and the external signal output circuit 22, respectively. The external signal input circuit 21 includes an opto-coupler switch for isolating the external input from the internal circuit by the opto-coupler switch to prevent interference. In this embodiment, the main control board is reserved with 4 interfaces of the external signal input circuit 21. The external signal output circuit 22 includes an opto-coupler switch for controlling the signal output to the external circuit. Specifically, the external signal input circuit 22 is used to control 24V output by a 5V signal. In this embodiment, the main control board reserves 4 interfaces of the external signal output circuit 22.
The embodiment of the utility model also provides a mechanical arm, which comprises the driving control circuit for the mechanical arm.
The driving plate, the driving module, the driving control circuit and the mechanical arm for the mechanical arm have the following beneficial effects:
1. according to the driving plate for the mechanical arm, the plurality of stepping motor driving interfaces are arranged on the substrate, so that the driving plate can simultaneously control a plurality of mechanical arm joints, the layout space is saved, and meanwhile the requirement of multiple degrees of freedom of the mechanical arm is met.
2. According to the driving plate for the mechanical arm, the pluggable stepping motor driving interface is arranged, so that the driving plate can be replaced conveniently after the stepping motor driving module is damaged, the whole driving plate and even the main control plate are not required to be replaced, and the cost is saved.
3. According to the driving plate for the mechanical arm, the digital signal filtering module is arranged to process the stepping motor control signal sent by the main control board, so that interference of clutter on driving of the stepping motor is avoided.
The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model.
Claims (10)
1. A drive plate for a robotic arm, comprising:
the device comprises a substrate, wherein a plurality of pluggable stepping motor driving interfaces are arranged on the substrate, and each stepping motor driving interface is used for being connected with a stepping motor driving module of a mechanical arm;
the substrate is also provided with a plurality of stepping motor control signal transmission lines corresponding to the stepping motor driving interfaces, and each stepping motor control signal transmission line is connected with the corresponding stepping motor driving interface.
2. A drive plate for a robotic arm as defined in claim 1, wherein:
the substrate is also provided with a main control board interface, and the main control board interface is used for connecting a main control board;
the main control board interface comprises a plurality of groups of control signal switching terminals,
each group of control signal transfer terminals is connected with the corresponding stepping motor control signal transmission line.
3. A drive plate for a robotic arm as defined in claim 2, wherein:
the base plate is also provided with a digital signal filtering module, and each group of control signal transfer terminals is also connected with the corresponding stepping motor control signal transmission line through the digital signal filtering module.
4. A drive plate for a robotic arm as defined in claim 3, wherein:
the base plate is also provided with a limiting return-to-zero signal input module, the main control board interface further comprises a limiting return-to-zero signal switching terminal, and the limiting return-to-zero signal input module is connected with the limiting return-to-zero signal switching terminal through the digital signal filtering module.
5. A drive plate for a robotic arm as defined in claim 4, wherein:
the base plate is also provided with a brake control module, the main control board interface also comprises a brake signal switching terminal, and the brake signal switching terminal is connected with the brake control module.
6. A drive plate for a robotic arm as defined in claim 5, wherein:
the base plate is also provided with a power module, and the power module is connected with the main control board interface, the stepping motor driving module and the brake control module and is used for outputting voltage to the main control board interface, the stepping motor driving module and the brake control module.
7. A drive module for a robotic arm, comprising:
the driving chip is respectively connected with the driving board interface and the motor driving interface;
the driving plate interface is used for connecting a stepping motor driving plate of the mechanical arm, and the motor driving interface is used for connecting a stepping motor of the mechanical arm.
8. A drive control circuit for a robotic arm, characterized by:
a stepper motor drive board comprising a main control board and a mechanical arm according to any one of claims 1-6;
the main control board comprises a control chip and a driving interface, wherein the control chip is connected with the driving interface, and the driving interface is connected with the main control board.
9. The drive control circuit for a robot arm according to claim 8, wherein:
and the main control board is also provided with an external signal input circuit and an external signal output circuit, and the external signal input circuit and the external signal output circuit are respectively connected with the control chip.
10. A mechanical arm, characterized in that:
comprising a drive control circuit for a robotic arm as claimed in claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223597580.6U CN219255579U (en) | 2022-12-29 | 2022-12-29 | Driving plate for mechanical arm, driving module, driving control circuit and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223597580.6U CN219255579U (en) | 2022-12-29 | 2022-12-29 | Driving plate for mechanical arm, driving module, driving control circuit and mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219255579U true CN219255579U (en) | 2023-06-27 |
Family
ID=86854284
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223597580.6U Active CN219255579U (en) | 2022-12-29 | 2022-12-29 | Driving plate for mechanical arm, driving module, driving control circuit and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219255579U (en) |
-
2022
- 2022-12-29 CN CN202223597580.6U patent/CN219255579U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101408209B (en) | Pneumatic device control system | |
| US7596635B2 (en) | Method and apparatus for providing redundant I/O adapters in machine and process controllers | |
| CN111182722B (en) | MCU application circuit board of modularization concatenation | |
| CN219255579U (en) | Driving plate for mechanical arm, driving module, driving control circuit and mechanical arm | |
| CN201432298Y (en) | Modular robot motor controlling system | |
| CN109462486B (en) | Integrated arrangement with voltage supply and communication interface | |
| CN110303488A (en) | A kind of robot servo drive system based on electric line carrier communication technology | |
| CN206594494U (en) | Six axle mixed type kinetic control systems and automated machine equipment | |
| CN103164380B (en) | Bus node and control system | |
| CN212649472U (en) | Optical module auxiliary circuit and optical module auxiliary device | |
| CN211956167U (en) | Universal multi-axis motion control board card | |
| CN214151691U (en) | Serial port communication circuit | |
| CN115480512A (en) | Universal vehicle-mounted chassis controller | |
| CN1826567A (en) | Bus coupling without plug connections for automation devices | |
| CN220401627U (en) | Drive, control modular direct current brush motor system | |
| CN218733963U (en) | Multichannel motor intelligence integrated control circuit | |
| CN215769454U (en) | Valve terminal device, clamping handle control device and mechanical equipment | |
| CN217195341U (en) | Integrated robot motor driving module | |
| CN218788150U (en) | Z-axis transfer plate, single-z-axis driving device and production line | |
| CN220154813U (en) | Remote slave station system capable of expanding input and output modules | |
| CN216360330U (en) | Elevator bus control panel | |
| CN111684372B (en) | A encoder, driver, controller and robot for robot | |
| CN220171427U (en) | Expandable input/output module | |
| CN219349386U (en) | Shuttle control system and stereoscopic warehouse control system | |
| CN216649550U (en) | Electronic controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: Building A, 5th Floor, Building 1, Boda Science and Technology Innovation Park, No. 4 Chuangxing Avenue, High tech Industrial Development Zone, Qingyuan City, Guangdong Province, 511520 Patentee after: GUANGDONG ZHONGSHENG HUAKONG INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 510030 room 1312, No. 1, Guangwei Road, Yuexiu District, Guangzhou, Guangdong Patentee before: GUANGDONG ZHONGSHENG HUAKONG INTELLIGENT TECHNOLOGY Co.,Ltd. |