CN102032324B - Three-sheet double-cycloid single stage decelerator of industrial robot - Google Patents
Three-sheet double-cycloid single stage decelerator of industrial robot Download PDFInfo
- Publication number
- CN102032324B CN102032324B CN 201010263553 CN201010263553A CN102032324B CN 102032324 B CN102032324 B CN 102032324B CN 201010263553 CN201010263553 CN 201010263553 CN 201010263553 A CN201010263553 A CN 201010263553A CN 102032324 B CN102032324 B CN 102032324B
- Authority
- CN
- China
- Prior art keywords
- bearing
- input shaft
- pin
- cycloid
- cycloid wheel
- 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.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000005520 cutting process Methods 0.000 claims description 6
- 125000006850 spacer group Chemical group 0.000 claims description 4
- 230000004323 axial length Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 4
- 238000007514 turning Methods 0.000 abstract description 2
- 238000005452 bending Methods 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000035939 shock Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- MFYSYFVPBJMHGN-UHFFFAOYSA-N Cortisone Natural products O=C1CCC2(C)C3C(=O)CC(C)(C(CC4)(O)C(=O)CO)C4C3CCC2=C1 MFYSYFVPBJMHGN-UHFFFAOYSA-N 0.000 description 1
- 235000014364 Trapa natans Nutrition 0.000 description 1
- 240000001085 Trapa natans Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000011038 discontinuous diafiltration by volume reduction Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000001138 tear Anatomy 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Landscapes
- Retarders (AREA)
Abstract
The invention relates to the technical field of industrial robot decelerators, in particular to a three-sheet double-cycloid single stage decelerator of an industrial robot. The decelerator is characterized in that: (a) single state deceleration is realized; (b) the output shaft has a rigid cage-shaped structure provided with a large-diameter disc and supported at two ends; (c) the input shaft (3) is provided with an elastic retainer ring (4), a disc spring (5), an eccentric bearing a, a space ring (15), an eccentric bearing b, a disc spring (14) and an elastic retainer ring (12) in turn, wherein the input shaft is connected with the two single eccentric bearings a and b by using multiple threads of the same turning direction; at initial time, wheel teeth of a cycloid wheel A are tightly attached to needle tooth pins (16) on the upper half area of a needle tooth shell (10) along the clockwise direction, and wheel teeth of a cycloid wheel B are tightly attached to needle tooth pins (16) on the lower half area of the needle tooth shell (10) along the anticlockwise direction; and (d) the two single eccentric bearings a and b are tightly matched with inner eccentric sleeves through standard outer ring-free roller bearings. The decelerator has the advantages that: (1) after the engaged surfaces are abraded, the return difference can be automatically compensated; (2) the process difficulty is low, and a high-precision machine tool is not needed; (3) the bearing capacity can be improved by 40 to 50 percent; (4) the manufacturing cost is only 25 to 35 percent of an FA decelerator; (5) the inner cycloid wheel is simpler than a needle wheel consisting of the needle tooth shell, the needle teeth and a needle tooth sleeve; and (6) a uniform loading ring can improve the rigidity and bending strength of the pins.
Description
[technical field] relates to industrial robot retarder technical field, a kind of Three-sheet double-cycloid single stage decelerator of industrial robot.
[background technique] SUMITOMO CHEMICAL FA single reduction gear is the cycloid transmission of new development, and Dalian hands over large scholar this to be done theoretical research for many years.FA retarder three capacity eccentric bearing phase angles equal 120 °, partly bury toothing.Its advantage is: (1) volume is little, lightweight; (2) because there not being pin gear sleeve, the maximum deceleration ratio can reach 119 (" calculating of three-cycloid gear driver cycloid wheel intensity " Machine Designs 2007.10); (3) the rotary arm bearing weak link is improved; (4) pin tooth and pin stress equalization, stable drive; (5) bearing capacity increases by 50% in theory; (6) partly bury toothing, rigidity is large, strong shock resistance.FA three pieces type retarder input speed allowable is 1500～1800r/min.
FA robot retarder subject matter is: the accuracy of manufacturing requirement is very high, the rear return difference of Surface of action wearing and tearing can not auto-compensation.
Just replaced the pinwheel that is consisted of by pin wheel housing, a lot of pin tooth and pin gear sleeve with the hypocycloid wheel in the double cycloid transmission.Its advantage is: (1) is simple in structure, part is few in addition; (2) single-stage speed reducing is larger than very, it is said to reach 200 (" the cycloid variable-speed motor that does not have pinwheel " mechanical transmission 2006.04); (3) in reduction speed ratio greater than 59 o'clock, hypocycloid wheel must be taken out tooth unlike pinwheel, simultaneously because internal cycloidal gear is pure rolling mesh with the external tooth cycloid wheel, therefore under the input power same case, can be with 1-2 grade of volume reduction of retarder.The cycloid transmission has very high rigidity and anti-impact force, and this feature is that involute tooth type does not possess.
China's 863 Program, state natural sciences fund repeat to list again and again, wish state internal gear expert, first-class manufactory on the RV basis, develop the own retarder of Chinese and replace Japanese RV.Yet, so far still must be supporting from Japanese import RV.
The significant improvement of [summary of the invention] the present invention system " micro-backflash cycloidal speed reducer of industrial robot " (200910196984.4) and RV retarder, purpose is: propose that a kind of medium accuracy of manufacturing, technology difficulty are little, return difference can auto-compensation, manufacturing cost estimation is the 25-35% of RV, CORT and the Three-sheet double-cycloid single stage decelerator of industrial robot that can make class RV-C hollow type.
Resiliently deformable return difference when the return difference of industrial robot retarder mainly comprises geometry return difference and load.Wherein:
Geometry return difference when (one) unloaded: kinematic accuracy represents by driving error (the present invention is single-stage, thereby only cycloid transmission and two links of output mechanism), return difference is worth 1 '～1.5 '.Gear pin hole circumferential position error in the cycloid transmission, gear pin radius error, equidistantly to reach the modification of moved distance error be how much return difference principal elements;
(2) resiliently deformable return difference (rigidity) during load: in the load movement situation, the total return difference that comprises the return difference that resiliently deformable causes can not surpass 6 ' (Zhu Xiaolu " 827 pages of Gear Transmission Design handbook).
The concrete technological scheme that how to design, make little return difference industrial robot retarder is as follows:
Zero return difference when (A) unloaded: in order to eliminate initial return difference, the 1/3 district gear teeth, cycloid wheel C are close to other 1/3 district's gear teeth on the hypocycloid gear ring along contrary pin direction separately on the hypocycloid gear ring along being close to along the pin direction to make cycloid wheel A, B on the structure;
(B) two take turns synchronous work done during load, increase mesh stiffness, reduce juxtaposition metamorphose, its principle is as follows:
Eccentric bushing (nut) a, b and c are at both sides pre-pressure of the spring Q in cycloid wheel A, B and the C
0Effect is lower, the spiral motion of difference potential " the contrary pin that moves to right turns " and " move to left and turn along pin ", latent torque M
0=Q
0(d
2/ 2) tg (λ+φ).When the nut right side or the m that moves to left (about 0.05～0.15), then torque is increased to M
1=(Q
0+ mp ') (d
2/ 2) tg (λ+φ)
When input shaft (right handed screw) when turning clockwise: screw driving torque T=T
0+ Ma, wherein:
T
0That nut a, b make cycloid wheel A, B rotate counterclockwise the required moment of torsion of acting;
Ma be nut a, b promote vertically nut c move to right simultaneously that contrary pin turns (with potentially move to left, to turn (square) along pin opposite), obvious Ma should greater than or be slightly larger than M
0, and because the increase of spring pressure, torque M a also can increase.
Nut c moment that contrary pin simultaneously rotates that moves to right makes the C wheel gear teeth along relying on fast clockwise in addition 1/3 district hypocycloidal tooth, so A, B and C wheel turn the realization power stage against pin synchronously.(p ' be the spring rigidity index, central diameter d
2, lead angle λ, friction angle φ)
After the outage, rely on spring reset; Again energising, screw rod anti-(counterclockwise) turn, B takes turns work done, and A takes turns hysteresis ...
(C) output shaft adopts the rigidity cage structure of big diameter disc, two supports, and rigidity is large, shock resistance is high.
[beneficial effect] contrast background technique FA high accurate speed reducer, its novelty, creativeness and practicability are embodied in:
1. return difference energy auto-compensation after Surface of action weares and teares; 2. technology difficulty little, do not need high precision machine tool; 3. in reduction speed ratio greater than 59 o'clock, hypocycloid wheel needn't be taken out tooth, simultaneously because internal cycloidal gear and external tooth cycloid wheel are pure rolling mesh, thereby bearing capacity can improve 40～50%; 4. manufacture cost only is 25～35% of FA retarder; 5. the hypocycloid wheel is simply more a lot of than the pinwheel that is made of pin wheel housing, pin tooth and pin gear sleeve; 6. all carry ring and can improve pin rigidity and flexural strength.
[description of drawings] Fig. 1. be the structural representation of the embodiment of the invention
Fig. 2 is original state: (2-a) cycloid wheel A, the B gear teeth are close to 1/3 district's hypocycloid gear teeth along clockwise direction separately, and the structural representation that the cycloid wheel C gear teeth are close to other 1/3 district's hypocycloid gear teeth in the counterclockwise direction;
(2-b) capacity eccentric bearing a, b and c and the input shaft screw pair structural representation in cycloid wheel A, B and the C.
When Fig. 3 is work: (3-a) structural representation that is close to the hypocycloid gear teeth along clockwise direction of cycloid wheel A, B and the C gear teeth;
(3-b) capacity eccentric bearing a, b and c and the input shaft screw pair structural representation in cycloid wheel A, B and the C.
[embodiment] is with reference to Fig. 1,2 and 3. a kind of Three-sheet double-cycloid single stage decelerator of industrial robot, by first, second and the 3rd cycloid wheel (A, B and C) and with it corresponding, be contained in first, second and the 3rd capacity eccentric bearing (a, b and c), the hypocycloid gear ring 10 of taking turns endoporus, pin 7, column sleeve 6, input shaft 3 and W output mechanism form, and it is characterized in that:
Described input shaft 3 behind the cycloid wheel single-stage speed reducing by the coaxial output of W output mechanism;
Described W output mechanism is comprised of left frame 1, right frame 17, pin 7 and column sleeve 6, with pin 7 with left and right frame 1,
17 drive fits and screw attachment one, the W output mechanism adopts the rigidity cage structure of major diameter frame, two supports, thereby rigidity is large, shock resistance is high, left and right frame 1,17 relies on respectively first, second bearing 8,11 to be bearing in hypocycloid gear ring 10 both sides endoporus, and described input shaft 3 two ends are bearing in left and right frame 1,17 endoporus with the 3rd, the 4th bearing 2,13 respectively;
Install successively the first circlip 4 on the described input shaft 3, the first belleville spring 5, the first capacity eccentric bearing (a), thin circle 15, the second capacity eccentric bearing (b), spacer ring 16, the 3rd capacity eccentric bearing (c), the second belleville spring 14 and the second circlip 12, described input shaft 3 and first, second and third capacity eccentric bearing (a, b and c) between use with the rotation direction multiple thread and connect, the axial length of the spacer ring 16 that described and axle is slidingly matched makes first, the second cycloid wheel (A, B) the gear teeth along along on pin direction and the hypocycloid gear ring 10 separately 1/3 district's gear teeth be close to, and the 3rd cycloid wheel (C) gear teeth in the counterclockwise direction with hypocycloid gear ring 10 in addition 1/3 district's gear teeth be close to, described first, the second capacity eccentric bearing (a, b) phase angle is 120 °, described first, the 3rd capacity eccentric bearing (a, c) angle phi 1 ≈ is 120 °, described second, the 3rd capacity eccentric bearing (b, c) angle phi 2 ≈ 120 °, φ 1 ≠ φ 2;
First, second with the 3rd capacity eccentric bearing (a, b and c) by standard without outer ring roller bearing and interior eccentric bushing close-fitting or excessively cooperate and add pin and form, the calculated results shows, the employing standard can satisfy the requirement in specified working life without outer ring roller bearing+interior eccentric bushing structure.Standard without the advantage of outer ring roller bearing+interior eccentric bushing structure is: the machining difficulty that greatly reduces the bull nut of interior eccentric bushing, the endoporus of three interior eccentric bushings is with the rotation direction multiple thread, and multiple thread consists of screw pair on described multiple thread and the input shaft 3;
The hypocycloid gear teeth of described hypocycloid gear ring 10 adopt the line cutting process to obtain, and " 839 pages of Gear Transmission Design handbook are pointed out: " affect RV retarder return difference principal element: gear pin hole circumferential position error, gear pin radius error, correction of the flank shape error." facts have proved, hypocycloid wheel with in the slow feeding linear cutting bed cut out continuous, a smoothed curve.Line cutting best surface roughness is Ra0.5～0.8 μ m, and cutting accuracy is ± 0.005mm.Than it " mill teeth-heat treatment-roll flute " technique, reduction speed ratio is larger, and the advantage of line cutting is more aobvious outstanding.；
Described first, second and the 3rd cycloid wheel (A, B and C) place between the left and right frame 1,17, wherein have one to be enclosed within first on the pin 7 and all to carry ring flat-plate 9 between first and second cycloid wheel (A and B), have one to be enclosed within second on the pin 7 and all to carry ring flat-plate 19 between the second and the 3rd cycloid wheel (B and C), place the column sleeve 6 of the uniform pin-and-hole of cycloid wheel wide with cycloid wheel, all carry ring and can improve pin rigidity and flexural strength, length is overlapped to shorten to improve and is lubricated with stressed more reasonable;
Described input shaft 3 is hollow shaft, and its input end connects a driven gear, and left frame 1 has a center hole to communicate with input shaft 3 endoporus, and the input end driven gear forms hollow structure in order to mesh with the actuating motor driving gear, to replace RV-C hollow type.
Above-described embodiment is to explanation of the present invention rather than to limiting, and all belongs to protection domain of the present invention after any simple transformation.
Claims (1)
1. Three-sheet double-cycloid single stage decelerator of industrial robot, by first, second and the 3rd cycloid wheel (A, B and C) and with it corresponding, be contained in first, second and the 3rd capacity eccentric bearing (a, b and c), the hypocycloid gear ring (10) of taking turns endoporus, pin (7), column sleeve (6), input shaft (3) and W output mechanism form, and it is characterized in that:
Described input shaft (3) behind the cycloid wheel single-stage speed reducing by the coaxial output of W output mechanism;
Described W output mechanism is comprised of left frame (1), right frame (17), pin (7) and column sleeve (6), with pin (7) with left and right frame (1,17) drive fit and screw attachment one, left and right frame (1,17) relies on respectively first, second bearing (8,11) to be bearing in hypocycloid gear ring (10) both sides endoporus, and described input shaft (3) two ends use respectively the 3rd, the 4th bearing (2,13) to be bearing in left and right frame (1,17) endoporus;
Install successively the first circlip (4) on the described input shaft (3), the first belleville spring (5), the first capacity eccentric bearing (a), thin circle (15), the second capacity eccentric bearing (b), spacer ring (16), the 3rd capacity eccentric bearing (c), the second belleville spring (14) and the second circlip (12), described input shaft (3) and first, second and third capacity eccentric bearing (a, b and c) between use with the rotation direction multiple thread and connect, the axial length of the spacer ring (16) that described and axle is slidingly matched makes first, the second cycloid wheel (A, B) the gear teeth along clockwise direction with hypocycloid gear ring (10) on separately 1/3 district's gear teeth be close to, and the 3rd cycloid wheel (C) gear teeth are close to the upper in addition 1/3 district's gear teeth of hypocycloid gear ring (10) in the counterclockwise direction, described first, the second capacity eccentric bearing (a, b) phase angle is 120 °, described first, the 3rd capacity eccentric bearing (a, c) angle phi
1120 ° of ≈, described second, third capacity eccentric bearing (b, c) angle phi
2120 ° of ≈, φ
1≠ φ
2
First, second with the 3rd capacity eccentric bearing (a, b and c) by standard without outer ring roller bearing and interior eccentric bushing close-fitting or excessively cooperate and add pin and form, the endoporus of three interior eccentric bushings is with the rotation direction multiple thread, and the upper multiple thread of described multiple thread and input shaft (3) consists of screw pair;
The hypocycloid gear teeth of described hypocycloid gear ring (10) adopt the line cutting process to obtain;
Described first, second and the 3rd cycloid wheel (A, B and C) place between the left and right frame (1,17), wherein have one to be enclosed within first on the pin (7) and all to carry ring flat-plate (9) between first and second cycloid wheel (A and B), have one to be enclosed within second on the pin (7) and all to carry ring flat-plate (19) between the second and the 3rd cycloid wheel (B and C), place the column sleeve (6) of the uniform pin-and-hole of cycloid wheel and cycloid wheel wide;
Described input shaft (3) is hollow shaft, and its input end connects a driven gear, and left frame (1) has a center hole to communicate with input shaft (3) endoporus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010263553 CN102032324B (en) | 2010-08-18 | 2010-08-18 | Three-sheet double-cycloid single stage decelerator of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010263553 CN102032324B (en) | 2010-08-18 | 2010-08-18 | Three-sheet double-cycloid single stage decelerator of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102032324A CN102032324A (en) | 2011-04-27 |
| CN102032324B true CN102032324B (en) | 2013-01-02 |
Family
ID=43885615
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010263553 Expired - Fee Related CN102032324B (en) | 2010-08-18 | 2010-08-18 | Three-sheet double-cycloid single stage decelerator of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102032324B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102889342B (en) * | 2011-07-17 | 2016-03-16 | 吴小杰 | Novel pinwheel exports cycloidal reducer |
| JP5537516B2 (en) * | 2011-09-02 | 2014-07-02 | 住友重機械工業株式会社 | Eccentric oscillation type speed reducer |
| CN112112948A (en) * | 2020-10-20 | 2020-12-22 | 贵州群建精密机械有限公司 | Method and device for improving bearing capacity of small-tooth-difference transmission output mechanism |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5222922A (en) * | 1991-08-13 | 1993-06-29 | Sumitomo Heavy Industries, Ltd. | Inscribed meshing planetary gear construction |
| CN201003571Y (en) * | 2007-01-19 | 2008-01-09 | 大连交通大学 | Three gear plate inner mesh few teeth difference planetary gear transmission device |
| CN201396400Y (en) * | 2009-05-15 | 2010-02-03 | 重庆妙奇丰科技有限公司 | Two-stage secondary envelope cycloid gear planet driving yawing speed reducer |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH086785B2 (en) * | 1987-07-08 | 1996-01-29 | 住友重機械工業株式会社 | Planetary gear |
-
2010
- 2010-08-18 CN CN 201010263553 patent/CN102032324B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5222922A (en) * | 1991-08-13 | 1993-06-29 | Sumitomo Heavy Industries, Ltd. | Inscribed meshing planetary gear construction |
| CN201003571Y (en) * | 2007-01-19 | 2008-01-09 | 大连交通大学 | Three gear plate inner mesh few teeth difference planetary gear transmission device |
| CN201396400Y (en) * | 2009-05-15 | 2010-02-03 | 重庆妙奇丰科技有限公司 | Two-stage secondary envelope cycloid gear planet driving yawing speed reducer |
Non-Patent Citations (1)
| Title |
|---|
| JP昭64-15556A 1989.01.19 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102032324A (en) | 2011-04-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101963210B (en) | Three-piece type single-stage cycloid reducer of industrial robot | |
| CN101907149B (en) | Double cycloid single-stage reducer of industrial robot | |
| CN102252062B (en) | Complex precise cycloidal speed reducer | |
| CN102498317B (en) | Force-transmitting device | |
| CN101949429B (en) | Single-stage cycloidal speed reducer of industrial robot | |
| CN105840742B (en) | Rolling push rod oscillating tooth robot joint speed reducer | |
| WO2011091770A1 (en) | Filtering gear reducer | |
| CN102562956B (en) | External wave type compound rolling moveable teeth speed reducer | |
| CN201137672Y (en) | Double inner gearing balance type few teeth difference decelerator | |
| CN105221669B (en) | A kind of planetary gear transmission mechanism, robot joint speed reducer and robot | |
| CN203130928U (en) | RV double-cycloidal-pin-wheel speed reducer | |
| CN201262223Y (en) | Clearance-eliminating transmission case | |
| CN103016634A (en) | RV (rotate vector) double-cycloidal pin gear speed reducer | |
| CN104696460A (en) | Bearing speed reducer | |
| CN102032324B (en) | Three-sheet double-cycloid single stage decelerator of industrial robot | |
| CN101382192A (en) | Gap eliminating transmission case | |
| CN101832364A (en) | Industrial robot double-cycloid single-stage reducer | |
| CN202203345U (en) | Compound precision cycloid decelerator | |
| CN102032320B (en) | Zero-return difference worm gear speed reducer for industrial robot | |
| CN101832365A (en) | Industrial robot single-stage cycloidal reducer | |
| CN102943845A (en) | Redundancy transmission mechanism for spacecraft | |
| CN106989142A (en) | The RV decelerators of helical teeth vuilt-up crankshaft formula in industrial robot | |
| CN113015504A (en) | Prosthetic wrist unit | |
| CN205715472U (en) | Rolling push rod oscillating tooth robot joint speed reducer | |
| CN106704547B (en) | Double-gear automatic compensation anti-backlash transmission structure for swing angle head rotating shaft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: 225500 Jiangsu, Taizhou, Jiangyan District, Jiangyan Town People's road, No. 261 Patentee after: Wu Shengzhen Address before: 325400 Zhejiang province Pingyang Kunyang town Whitehead Street No. four building 761 room Patentee before: Wu Shengzhen |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wen Haoquan Inventor before: Wu Shengzhen |
|
| COR | Change of bibliographic data | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20151124 Address after: Room A609, A610 scientific research building in the town of Nanhai District, Nanhai Software Technology Park high-tech center for Buddhist A block 528225 in Guangdong city of Foshan Province Patentee after: GUANGDONG XINXING ROBOT TECHNOLOGY Co.,Ltd. Address before: 225500 Jiangsu, Taizhou, Jiangyan District, Jiangyan Town People's road, No. 261 Patentee before: Wu Shengzhen |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20201016 Address after: Room 408, information Avenue (R & D building B), Nanhai software technology park, Shishan town, Nanhai District, Foshan City, Guangdong Province Patentee after: FOSHAN BANDEYI ROBOT TECHNOLOGY Co.,Ltd. Address before: Room A609, A610 scientific research building in the town of Nanhai District, Nanhai Software Technology Park high-tech center for Buddhist A block 528225 in Guangdong city of Foshan Province Patentee before: GUANGDONG XINXING ROBOT TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130102 Termination date: 20210818 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |