CN102929171B - Network-type tricot machine control system and method - Google Patents
Network-type tricot machine control system and method Download PDFInfo
- Publication number
- CN102929171B CN102929171B CN201210292658.5A CN201210292658A CN102929171B CN 102929171 B CN102929171 B CN 102929171B CN 201210292658 A CN201210292658 A CN 201210292658A CN 102929171 B CN102929171 B CN 102929171B
- Authority
- CN
- China
- Prior art keywords
- control system
- network
- module
- servomotor
- tricot machine
- 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
Abstract
The present invention proposes a kind of network-type tricot machine control system and method, described system comprises host computer and n axis controller, axis controller is communicated by letter with host computer by bus, and each axis controller is controlled respectively multiple motor servo controllers, and wherein n is greater than 1 natural number. Described method host computer is by man-machine interface set device technological parameter; Axis controller receives the technical parameter information of host computer output by bus, gather the servomotor live signal in encoder on motor servo controller simultaneously, axis controller obtains servomotor control signal according to the servomotor live signal of technical parameter information and collection, controls servomotor running thereby servomotor control signal is sent to each motor servo controller with the form of message. The present invention has cancelled the D/A converter of speed/torque instruction in the past and Command Impulse Device, makes servo-control system anti-interference stronger, more simplifies.
Description
Technical field
The present invention proposes a kind of new network type tricot machine control system and method, has changed parallel convey control signal in the past and letterBreath exchanged form, the form construction system of employing fieldbus, realizes the control of the unrestricted number of axle intelligent network of tricot machine mechanical movementSystem.
Background technology
Fieldbus is mostly the serial bus technology based on RS-485 and line actuation techniques at present. CANopen is relatively neutralA whole set of agreement of announcing of Cia tissue, comprising the servo communications protocol relevant with motion control, watch in American-European low and middle-endTake product and be widely used, weak point is the bus protocol based on CAN, belongs to Event triggered type bus, does not possess when strictBetween synchronization mechanism. It is advantageous that at present a lot of DSP and MCU and be all integrated with CAN bus control unit interface.DeviceNet is that the ODVA taking Rockwell as main promoter is organized in and watches a set of the comprising of developing on CAN bus basisClothes control based on CIP application layer protocol, similar with CANopen, owing to being based on CAN bus protocol, also belong to the remaining matterPart flip-over type bus, does not possess strict Time Synchronization Mechanism, and in American-European-Japanese low and middle-end product servo, application is very extensive.ProfibusDP is a type in the Profibus bussing technique promoted mainly of Siemens company, possess certain ability soft in real timeSynchronous trigger mechanism, especially its DPV2, have more application, but influence power is far away from Profibus in servo interface technologyItself, this may come from its performance suspending in mid air and relatively high technical sophistication degree and realize cost.
The developing direction of Industry Control field network is high speed, ether networking. From SERCOS to SERCOSIII, ProfibusTo Profinet, DeviceNet is to CIPMotion, and Modbus is to ModbusTCP, and SSCNETII is to SSCNETIIICC-Link is to CC-LinkIE, and MECHATROLINK, to MECHATROLINK-III etc., is experiencing speed invariablyWith the upgrading of physical layer medium, add EthernetPowerlink, EtherCAT, SynqNet, HSCI etc. based in real time withThe too appearance of the high speed serialization synchronous bus of net, real-time ethernet technology becomes between motion controller and servo-driver alreadyThe technological development direction of distributed serial synchronous interface.
Existing control system field wiring complexity, control line complexity, anti-interference is not strong, and stability of control system is not high.
Summary of the invention
The object of the invention is to for the defect in background technology, a kind of network-type tricot machine control system is provided. Promote through compilingThe machine number of machine, the plane No. of lifting tricot machine, increases sley bar number, improves integrated degree.
Technical scheme of the present invention is: network-type tricot machine control system, comprises a host computer and n axis controller, axis controllerCommunicate by letter with host computer by bus, each axis controller is controlled respectively multiple motor servo controllers, wherein n be greater than 1 fromSo number.
Described axis controller comprises microprocessor, memory module, switching value input/output module, analog input/output mouldPiece, communication module and power module, memory module, switching value input/output module, analog input/output module and logicalNews module respectively with microcontroller two-way communication, power module is to the power supply of above-mentioned modules.
Described communication module comprises ethernet module, RS485 and RS232 serial communication module.
Described too net module adopts the Ethernet card control chip that model is JL-101.
Described microprocessor adopts the micro-chip processor that model is ARM-LPC2292FBD144.
Described communication module is communicated by letter with tricot machine by Mechatrolink network-bus.
This tricot machine control system is from 0.2 meter to 100 meters of distance between sites, and the minimum transfer cycle is 31.25 μ s, can confuse and makeWith the Frame of different size.
The Frame of this tricot machine control system is 8 or 16 or 32 or 48 or 64 bytes.
The control method of network-type tricot machine control system is as follows: host computer is by man-machine interface set device technological parameter; Axle controlDevice processed receives the technical parameter information of host computer output by bus, gather on motor servo controller in encoder simultaneouslyServomotor live signal, axis controller obtains servo according to the servomotor live signal of technical parameter information and collectionMotor control signal, controls servo thereby servomotor control signal is sent to each motor servo controller with the form of messageMotor rotation.
The present invention is for high speed, networking and intelligentized tricot machine control system. This network-type system is based on MechatrolinkExpress network bus, and be connected with host computer, high-speed, high synchronism, stiff stability. Can meet motion control high speedThe demand of periodic communication and mass data amount message communicating. Can carry out information exchange with 62 offices in precise synchronization ground. UseEasy method of attachment and general connector. Distribution expense and construction debug time are save. Cancel speed in the past/turnD/A converter and Command Impulse Device for square instruction, make servo-control system anti-interference stronger, more simplifies.
The circulation of this tricot machine control system and retry processing: this system will realize motion control, must carry out real-time Communication for Power control,Therefore in communication cycle, importantly conscientiously carry out communicate by letter (the sending the instructions such as target location, target velocity) with each substation.
Synchronous between this tricot machine control system chips: during for motion control, sometimes must make multiple motors turn round simultaneously, fullIn the network of this requirement of foot, must there is the function that all chips that can make in network are synchronously processed.
Brief description of the drawings
Fig. 1 is that axis controller is realized block diagram.
Fig. 2 is that system hardware is realized block diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further illustrated.
Technical scheme of the present invention is divided into: system hardware exploitation, communication interface and application layer software exploitation and application software designAnd test several parts. Wherein hardware development is as follows:
As shown in Figure 2, network-type tricot machine control system of the present invention, comprises a host computer and n axis controller, and axis controller is logicalCross bus and communicate by letter with host computer, each axis controller is controlled respectively multiple motor servo controllers, and wherein n is greater than 1 natureNumber.
Described axis controller comprises microprocessor, memory module, switching value input/output module, analog input/output mouldPiece, communication module and power module, memory module, switching value input/output module, analog input/output module and logicalNews module respectively with microcontroller two-way communication, power module is to the power supply of above-mentioned modules.
The control method of network-type tricot machine control system is as follows: host computer is by man-machine interface set device technological parameter; Axle controlDevice processed receives the technical parameter information of host computer output by bus, gather on motor servo controller in encoder simultaneouslyServomotor live signal, axis controller obtains servo according to the servomotor live signal of technical parameter information and collectionMotor control signal, controls servo thereby servomotor control signal is sent to each motor servo controller with the form of messageMotor rotation.
As shown in Figure 1, the main task of hardware design is that design interface circuit meets the requirement of distributed control. According to beingSystem function around core controller ARM-LPC2292FBD144, hardware system can be divided into four modules, they respectively:Microprocessor and memory module, switching value input/output module, analog input/output module, communication module and power supply mouldPiece.
The Hardware Design can meet the requirement of industrial environment work, meets following technical indicator: operating ambient temperature:0~60℃
Working environment humidity: relative humidity is less than 85%(without condensation)
Air quality: non-corrosiveness and inflammable gas
Power supply: 220VAC ± 10%
Anti-electromagnetic interference design:
EMC Design is optimized design for the electromagnetic interference producing in electronic product in fact exactly, at same electromagnetism ringIn border, equipment can be not because the interference effect of miscellaneous equipment normally work, simultaneously also not to the miscellaneous equipment work that exerts an influenceDisturb. Capacitor is the most concentrated element of electric field, and the electric current that flows through capacitor is displacement current, and this displacement current is due to electricityTwo pole plates of container are charged, and produce electric field between two pole plates, and by electric field induction, two pole plates can produce and discharge and recharge,Form displacement current. In fact the electric current in capacitor loops does not really flow through capacitor, and just capacitor is filledElectric discharge. In the time that two pole plates of capacitor open, two pole plates can be regarded as to one group of electric field radiation antenna, now at twoCircuit between pole plate all can produce induction to the electric field between pole plate.
Inductor and transformer are the most concentrated elements in magnetic field, and the electric current that flows through transformer secondary output coil is induced-current, this senseWhen induced current is because has electric current to flow through in transformer, produce magnetic induction and produce. In inductor and transformer weekThe circuit on limit, all can regard the induction coil of a transformer as, and the magnetic line of force producing when inductor and transformer leakage inductance is through certainWhen individual circuit, this circuit will produce induced-current as " secondary coil " of transformer. At High-Speed PCB and systemIn, pin, all kinds of connectors etc. of high-frequency signal line, integrated circuit all may become the radiation interference source with antenna performance,Energy emitting electromagnetic wave also affects other system or the normal work of interior other subsystems of native system.
A, inhibition to current harmonics
B, inhibition to ringing voltage
C, inhibition to conducted interference signal
D, inhibition to radiation interference signal
Monoblock circuit board is by 5V direct current supply, it is integrated ARM-LPC2292FBD144 microprocessor, 512K'sThe SRAM of FlashRAM, 128K and RJ-45 Ethernet interface. Rabbit2000 has 58 parallel-by-bit interfaces, wherein BA part for mouth and D mouth is for being connected with the Ethernet card control chip JL-101LQFP of Realtek; C mouth can be forRS485 or RS232 serial communication. The interface hardware circuit that I/O gathers is connected with bus, and whole control unit interface part comprises9 analog input channels, tunnel, 2 analog output channels, tunnel, 8 way switch amount input channels and 8 way switch amount output channels.Wherein, D/A and mould/number conversion chip are 12, and precision can meet the requirement of general control object.
Hardware system by signal isolate, the interference protection measure such as device aging processing, reach and can meet under industry spot production environmentThe requirement of normal work. Interface hardware exploitation based on MECHATROLINK-III communication protocol, meets physical linkNeeded electric property. Based on the software development of MECHATROLINK-III application layer communication. Comprise: the coding of data withDecoding, Network Synchronization control etc., to meet the needs of many motors of motion control Synchronization Control; Control the exploitation of application software, realTime, accept and send the position data for controlling exactly, speed data, the information such as input/output state, complete flexibly,High-precision motion control, comprises the motion control arithmetics such as electronic gear, electric cam, interpolation, and the coordinate synchronization of each between centers.Except controlling mechanical necessary torque, position, speed controlling function, also can realize the high phase coordination control of precision prescribedSystem. And can complete online switching controls mode arbitrarily, if system is in position control mode is carried out, switch to online torque controlMode processed, makes complicated mechanical action be able to efficiently, control reposefully. The application of system on multi-bar warp knitting machine, every controlSystem processed can realize the nearly the synchronized Coordinative Control of 16 axles. Every tricot machine has 20 ~ 80 axle interlocks to control, with 2 ~ 5 controlsDevice just can meet corresponding control requirement, between controller, is realized and is coordinated to control by CAN bus protocol. Multi-field applicationResearch. On the basis of tricot machine successful Application, expand and go deep into the application in other field, as: printing machine, packing machine, partly leadSystem manufacturing apparatus, metalworking machinery, handling machinery, industrial robot and other special processing equipments. Opening of operation interfaceSend out and exploitation and the application of tension management platform. Adopt configuration software, realize human-computer dialogue, friendly interface, real-time,Workable, can dynamically show production process parameters, data record, information warning etc. And by Ethernet interface, accessUpper strata production management system, to realize data sharing.
Method by experiment, application design software, optimizes wiring board design.
Its communication interface and application layer software exploitation are as follows:
System adopts Mechatrolink-III high-speed field bus network, can with PLC, motion controller, CNC controller,Card, servo-driver, frequency converter, stepper motor, slide rail, I/O, thermoregulator and image processing that various PC are applicableThe equipment connections such as controller. Target domain is the field network of realizing centered by motion control, and its feature is exactly communication cycle and instituteThere is the Synchronization Control of chip.
Communication cycle and retry processing: this system will realize motion control, must carry out real-time Communication for Power control, therefore communication cycleIn importantly conscientiously carry out and the communicating by letter of each substation instructions such as () transmission target location, target velocities, if can not be according to each biographyThe defeated cycle is switched instructions such as sending target location, just cannot realize desirable action. In communication cycle, any substation has occurred logicalBelieve when abnormal, owing to can carry out retry (transmission processing again of communication data) function, main website and substation in same transmission cycleBetween data transmission, receive more reliable.
Chip chamber synchronous: during for motion control, sometimes must make multiple motors turn round simultaneously, meet in the network of this requirementMust there is the function that all chips that can make in network are synchronously processed. During all chips in network communicate simultaneouslyDisconnected, and there is the function that makes each chip start to process within this break period. Though the call duration time between main website and each substationSo different, but main website is measured the time communicating with all substations in the time initializing. And taking this measurement result as basisSet, its executive communication in the time that the transmitting-receiving that communicates data with all substations finishes is interrupted. Like this, with all sonsIn the moment of the sign off of standing, there is communication disruption in all substations, and within this time period, start to process the finger just now receivingOrder, to realize the action of Complete Synchronization.
Its application software design and test are as follows:
Software for Design comprises the general structure design of the function of design software and the algorithm of realization and method, software and modular design, programmingWith debugging, program uniting and adjustment and test.
Software test:
Structure State of factors table (as table 1)
The condition that affects experimental index is called to the factor, and the condition of the impact experiment factor is the state of the factor. Utilize orthogonal experimentWhen method for designing is carried out design test case, first to find out and affect the behaviour that its function realizes according to the description of tested softwareMake object and external factor, they are used as to the factor; And the value of each factor is used as to state. To Software Requirement SpecificationIn functional requirement divide, entirety, the functional requirement of summary decomposes and expansion layer by layer, resolves into concreteThere is functional requirement relative independentability, basic. So just the factors all in tested software all can be decided, andFor determining that the weights of each factor provide the foundation of reference. Certainty factor and state are the keys of design test case. Therefore requirementComprehensive, correct as far as possible definite value, to guarantee that the design of test case accomplishes complete and effective.
A, weighting screening, forming factors analytical table
Can be by the weighting respectively of its significance level to the selection of the factor and state. Can be according to the effect size of each factor and state, go outShow the size of frequency and the needs of test, determine the size of weights.
B, utilize Construction of Orthogonal Arrays test data set
Utilize orthogonal experiment design design test case, than using the methods such as equivalence class division, boundary value analysis, cause-and-effect diagramThere is following advantage: save test job man-hour; Can control the test case quantity of generation; Test case has certain coverage rate.
In the time using orthogonal experiment method, consider the function point of wanting setup test in system under test (SUT), and these function points are exactly to wantThe factor of obtaining or factor, but the data that each function point will be inputted divide and have multiplely by equivalence class, and namely each factor is defeatedEnter condition, i.e. state or level value.
The formation of orthogonal table
Line number (Runs): the number of the row in orthogonal table, the number of times of test, is also the survey that we design by orthogonal experiment methodRoutine number on probation.
Because of prime number (Factors): the number being listed as in orthogonal table, the function point that we will test.
Number of levels (Levels): the maximum number of the value that any single factor can obtain. The value comprising in orthogonal table is from 0 to number" number of levels-1 " or from 1 to " number of levels ". Want the initial conditions of test function point.
Table 1
Claims (5)
1. a network-type tricot machine control system, is characterized in that comprising a host computer and n axis controller, and axis controller is communicated by letter with host computer by bus, and each axis controller is controlled respectively multiple motor servo controllers, and wherein n is greater than 1 natural number; Described axis controller comprises microprocessor, memory module, switching value input/output module, analog input/output module, communication module and power module, memory module, switching value input/output module, analog input/output module and communication module respectively with microprocessor two-way communication, power module is given the power supply of above-mentioned modules; This tricot machine control system is from 0.2 meter to 100 meters of distance between sites, and the minimum transfer cycle is 31.25 μ s, can confuse the Frame that uses different size, and the Frame of this tricot machine control system is 8 or 16 or 32 or 48 or 64 bytes; Host computer is by man-machine interface set device technological parameter; Axis controller receives the technical parameter information of host computer output by bus, gather the servomotor live signal in encoder on motor servo controller simultaneously, axis controller obtains servomotor control signal according to the servomotor live signal of technical parameter information and collection, controls servomotor running thereby servomotor control signal is sent to each motor servo controller with the form of message.
2. according to network-type tricot machine control system claimed in claim 1, it is characterized in that, described communication module comprises ethernet module, RS485 and RS232 serial communication module.
3. according to network-type tricot machine control system claimed in claim 2, it is characterized in that, described ethernet module adopts the Ethernet card control chip that model is JL-101.
4. according to network-type tricot machine control system claimed in claim 1, it is characterized in that, described microprocessor adopts the micro-chip processor that model is ARM-LPC2292FBD144.
5. according to network-type tricot machine control system claimed in claim 1, it is characterized in that, described communication module is communicated by letter with motor servo controller by Mechatrolink network-bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210292658.5A CN102929171B (en) | 2012-08-16 | 2012-08-16 | Network-type tricot machine control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210292658.5A CN102929171B (en) | 2012-08-16 | 2012-08-16 | Network-type tricot machine control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102929171A CN102929171A (en) | 2013-02-13 |
| CN102929171B true CN102929171B (en) | 2016-05-11 |
Family
ID=47644000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210292658.5A Active CN102929171B (en) | 2012-08-16 | 2012-08-16 | Network-type tricot machine control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102929171B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103246253A (en) * | 2013-04-02 | 2013-08-14 | 上海大学 | Multi-motor distributed type control system under wireless network and multi-motor distributed type control method |
| CN103576592A (en) * | 2013-11-15 | 2014-02-12 | 福建宏宇电子科技有限公司 | System and method for controlling guy jacquard |
| CN104731008B (en) * | 2015-03-17 | 2017-12-08 | 三明学院 | A kind of embedded electronic jacquard comb |
| CN104827481B (en) * | 2015-04-29 | 2016-08-24 | 东莞市智捷自动化设备有限公司 | A kind of SCARA method for controlling robot based on motion controller |
| CN106909128B (en) * | 2015-12-23 | 2019-05-28 | 中国科学院沈阳自动化研究所 | A kind of motion control method for supporting motion-control module online upgrading |
| CN107608272A (en) * | 2017-10-13 | 2018-01-19 | 连云港杰瑞深软科技有限公司 | A kind of workshop appliance monitoring system based on Powerlink |
| CN108776463A (en) * | 2018-05-28 | 2018-11-09 | 西安工程大学 | A kind of intelligence flame control system and method |
| CN108646649A (en) * | 2018-07-31 | 2018-10-12 | 深圳市山龙智控有限公司 | A kind of closed loop control method and closed-loop control device |
| CN109347673A (en) * | 2018-10-26 | 2019-02-15 | 苏州华兴源创科技股份有限公司 | A kind of PLC means of communication, device, equipment and storage medium |
| CN110320864A (en) * | 2019-06-14 | 2019-10-11 | 山东省轻工工程学校 | A kind of smart host that industrial robot is interacted with numerical control device |
| CN110499574B (en) * | 2019-08-05 | 2021-04-02 | 福建屹立智能化科技有限公司 | Electronic transverse moving controller and control method |
| CN113268039B (en) * | 2021-04-29 | 2022-08-19 | 南兴装备股份有限公司 | Control system of high-speed double-end edge bonding machine |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1588789A (en) * | 2004-09-23 | 2005-03-02 | 深圳市丰盛泰实业有限公司 | Multiple mani shaft synchronous control system for asynchronous motor |
| CN2927526Y (en) * | 2006-05-25 | 2007-07-25 | 南京工业大学 | Teaching multiaxis distributed control system based on Ethernet and CAN bus |
| CN101101486A (en) * | 2007-08-01 | 2008-01-09 | 暨南大学 | Multiple axis linkage movement controller |
| CN202854535U (en) * | 2012-08-16 | 2013-04-03 | 常州市翔云测控软件有限公司 | Network type warp knitting machine control system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7904182B2 (en) * | 2005-06-08 | 2011-03-08 | Brooks Automation, Inc. | Scalable motion control system |
-
2012
- 2012-08-16 CN CN201210292658.5A patent/CN102929171B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1588789A (en) * | 2004-09-23 | 2005-03-02 | 深圳市丰盛泰实业有限公司 | Multiple mani shaft synchronous control system for asynchronous motor |
| CN2927526Y (en) * | 2006-05-25 | 2007-07-25 | 南京工业大学 | Teaching multiaxis distributed control system based on Ethernet and CAN bus |
| CN101101486A (en) * | 2007-08-01 | 2008-01-09 | 暨南大学 | Multiple axis linkage movement controller |
| CN202854535U (en) * | 2012-08-16 | 2013-04-03 | 常州市翔云测控软件有限公司 | Network type warp knitting machine control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102929171A (en) | 2013-02-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102929171B (en) | Network-type tricot machine control system and method | |
| CN103744356B (en) | A kind of lathe intelligent controller based on DSP/FPGA dynamic and configurable and control method | |
| CN102354175B (en) | Remote I/O (input/output) control system of Modbus fieldbus DI-16-route monitor | |
| CN107863823A (en) | A kind of medium voltage switchgear equipment intelligence control system with wide area synchro measure function | |
| CN107695775B (en) | Heavy digital control machine tool heat error compensation control system and thermal error compensation method based on CPS | |
| CN105068243A (en) | Variable optical attenuator | |
| CN103455463A (en) | Communication access and rollout method of master control unit | |
| CN106227097B (en) | Multibus multi-axis motion controller | |
| CN101867192B (en) | Reactive compensation control simulation test system | |
| CN201256298Y (en) | Transforming plant voltage intelligent reactive dynamic compensation device based on field bus | |
| CN102916489A (en) | Virtual terminal automatic wiring method based on primary system structure of regional power grid | |
| CN107192361A (en) | The kinetic control system and its control method of a kind of three coordinate measuring machine | |
| CN202854535U (en) | Network type warp knitting machine control system | |
| CN207588875U (en) | A kind of power distribution network distribution time service device | |
| CN104932385A (en) | Multi-axis control system and method for wave simulation | |
| CN201361600Y (en) | Spray gun control device | |
| CN108345236A (en) | A kind of control system based on EtherCAT | |
| CN207571572U (en) | Current conversion station measure and control device based on PROFIBUS-DP buses | |
| CN109991905A (en) | A kind of integrated small hydropower station automatic control system | |
| CN204615705U (en) | Impulse generator protection measurement and control integration device | |
| CN203658838U (en) | Labview-based testing system of RS485 bus structure DCS system I/O slave station | |
| CN101807070A (en) | Numerical control system and method based on EPA field bus | |
| CN202094918U (en) | General servo pulse value interface module of ether CAT bus | |
| CN104750093A (en) | Labview based RS485 bus structure DCS system I/O slave station testing system | |
| CN206340889U (en) | A kind of intelligent high-pressure and low-pressure pre-casing type transforming station |
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 | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190617 Address after: 213000 No. 02, 14 blocks, Hang Seng Science Park, Tianning District, Changzhou City, Jiangsu Province Patentee after: Changzhou Xiangyun Intelligent Control System Co., Ltd. Address before: 213000 No. 9 B318, Taihu East Road, Xinbei District, Changzhou City, Jiangsu Province Patentee before: Changzhou Xinagyun Measurement & Control Software Co., Ltd. |
|
| TR01 | Transfer of patent right |