CN103662822A - Translational system and working method thereof - Google Patents
Translational system and working method thereof Download PDFInfo
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- CN103662822A CN103662822A CN201210343869.7A CN201210343869A CN103662822A CN 103662822 A CN103662822 A CN 103662822A CN 201210343869 A CN201210343869 A CN 201210343869A CN 103662822 A CN103662822 A CN 103662822A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 238000004891 communication Methods 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000013519 translation Methods 0.000 claims description 75
- 239000000758 substrate Substances 0.000 claims description 38
- 238000010009 beating Methods 0.000 claims description 11
- 230000005622 photoelectricity Effects 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006855 networking Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 102000004315 Forkhead Transcription Factors Human genes 0.000 description 1
- 108090000852 Forkhead Transcription Factors Proteins 0.000 description 1
- 239000011358 absorbing material Substances 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The invention discloses a translational system and a working method thereof. The translational system comprises a translational mechanism and a control mechanism; the translational mechanism comprises a base plate, a first rotary shaft, a second rotary shaft, a first connection rod, a second connection rod, a swinging rod, an execution unit, a transmission device, a driving device and an electric control device, wherein the first rotary shaft and the second rotary shaft penetrate through the base plate and are connected with the base plate in a rotation mode; the first connection rod, the second connection rod and the swinging rod are disposed on the front side of the base plate; the execution unit is mounted on the head of the swinging rod; the transmission device, the driving device and the electric control device are disposed on the back side of the base plate; the driving device and the execution unit are electrically connected with the electric control device; the control mechanism comprises a PCB (Printed Circuit Board), a main control module, a sensing module, a driving module, an output module and a communication module; the main control module, the sensing module, the driving module, the output module and the communication module are arranged on the PCB; and an output end of the driving module is electrically connected with the electric control device of the translational mechanism. Through the translational system, the structure is simplified, the operation speed of the mechanism is improved and the noise of the mechanism is reduced.
Description
Technical field
The present invention relates to a kind of translation system and method for work thereof.
Background technology
Automatic technology refers to machine or the program of device as prescribed in the situation that of unmanned intervention the or the process that instruction automatically operates or controls.Automatic technology not only can free people from heavy manual labor, part brainwork and severe, dangerous working environment, and can expand people's organ dysfunction, greatly raise labour productivity, strengthen the ability of the human knowledge world and reforming world.
For most of automation equipments, such as Automated production line device, translation mechanism is requisite member wherein.With more a kind of translation mechanism, be to adopt a plurality of cylinders or motor to drive parallelogram fork to do two-dimentional compound motion at present, thereby realize the carrying work to object.The translation mechanism of this structure is because drive element is many, and the action between each drive element need to be consistent, so the running velocity of mechanism is lower, and noise is larger.Meanwhile, electrical control mechanism interchangeability and the transplantability of existing a lot of similar driver trains are poor, and alerting ability is inadequate, so time-to-market is long, and cost of development is high.And more existing electrical control mechanisms are all the basic communication protocol adopting, poor compatibility.
Summary of the invention
It is fast that first technical matters to be solved by this invention is to provide a kind of running velocity, the translation system that noise is little.
In order to solve the problems of the technologies described above, technical scheme provided by the present invention is: a kind of translation system, comprises translation mechanism and control mechanism; Described translation mechanism comprises substrate, through substrate the first rotating shaft being connected with substrate rotating and the second rotating shaft, the first connecting rod, second connecting rod and the fork that are positioned at substrate front side, be arranged on the performance element of fork head, and the driving device, actuating device and the electrical controller that are positioned at substrate rear side; Described first connecting rod and second connecting rod be arranged in parallel; One end of described first connecting rod is fixedly connected with the second rotating shaft with the first rotating shaft respectively with one end of second connecting rod, and the other end of first connecting rod and the other end of second connecting rod are all hinged with middle part and the afterbody of fork; Described actuating device drive transmission drives the first rotating shaft and the second rotating shaft synchronously to rotate; Described actuating device and electrical controller are installed on substrate; Described actuating device and performance element are all electrically connected to electrical controller; Described control mechanism comprises pcb board and is arranged on main control module, sensing module, driver module, output module and the communication module on pcb board; Described main control module is mechanism's core; The sensor input connection of described sensing module, mouth connects the input end of main control module; The input end of described driver module connects the mouth of main control module, and the mouth of driver module is electrically connected to the electrical controller of translation mechanism; The input end of described output module connects the mouth of main control module; Described communication module and upper computer communication connection.
The actuating device of described translation mechanism comprises motor and electric machine support; Described electric machine support is fixed on substrate, and motor is fixed on electric machine support; Described driving device comprises the first belt wheel, the second belt wheel, the 3rd belt wheel and Timing Belt; Described the 3rd belt wheel is fixed on the output shaft of motor; Described Timing Belt is around the first belt wheel, the second belt wheel and the 3rd belt wheel; Described motor is electrically connected to electrical controller; The industrial bus that in described control mechanism, communication module is communicated by letter with upper computer comprises RS485 bus or CAN bus.
Described translation mechanism also comprises the pinch device that is arranged on substrate rear side; Described pinch device compresses Timing Belt, makes Timing Belt tightly around the first belt wheel, the second belt wheel and the 3rd belt wheel.
The pinch device of described translation mechanism comprises axle and bearing; Described axle is arranged on substrate; Described bearing is arranged on axle, and compresses Timing Belt.
The electrical controller of described translation mechanism comprises electric-controlled plate and electric-controlled plate support; Described electric-controlled plate support is fixed on substrate, and electric-controlled plate is fixed on electric-controlled plate support; Described actuating device and performance element are all electrically connected to electric-controlled plate; The driver module of described control mechanism is electrically connected to electric-controlled plate.
The performance element of described translation mechanism comprises vacuum cups or Pneumatic clamping jaw.
Described translation mechanism also comprises two spacing double-screw bolts that are fixed on substrate front side; Described two spacing double-screw bolts are all positioned at the outside of first connecting rod; The rotational travel of described two spacing double-screw bolt restriction first connecting rod both directions.
Described translation mechanism also comprises and is fixed on the photoelectric switch of substrate front side and is fixed on the photoelectricity catch on fork; Described photoelectric switch and photoelectricity catch are all positioned at the inner side of first connecting rod; Described photoelectric switch is electrically connected to electrical controller.
Described translation mechanism also comprises front cover shell, pillar, panel beating support and motor case; Described front cover shell is fixed on the front side of substrate; Described pillar is fixed on actuating device, and panel beating support is fixed on pillar, and motor case is fixed on panel beating support; Described motor case is provided with louvre.
Second technical matters to be solved by this invention is to provide the method for work of translation system.
For solving aforementioned technical problem, technical scheme provided by the present invention is: a kind of method of work of translation system, adopt aforesaid translation system, and comprise the following steps:
1. translation system initialization;
2. enter uC-OS major cycle, increase real time operating system (RTOS) uC-OS II, carry out task management;
3. create translation system main task and each parallel electric machine control task; Communication task is translation system main task, and each parallel electric machine control task receives relevant instruction by main task and starts;
4. receive the order from upper computer, resolve, resolve into various instruction tasks;
5. translation system is carried out instruction task and each parallel electric machine control task;
6., after complete, translation system standby, waits for that next communication instruction arrives.
Adopted after technique scheme, the present invention has following beneficial effect: (1) the present invention drives fork to do two-dimentional compound motion by a motor, simplifies the structure, and has improved the running velocity of mechanism, has reduced the noise of mechanism.
(2) control mechanism that the present invention coordinates with translation mechanism is simple in structure, driver module has interchangeability, can select driver module according to the parameter of real electrical machinery, therefore translation system of the present invention can be applied in the electromechanical integration equipments such as automatic production line, robot, have good interchangeability, operability, transplantability, alerting ability, can realize the reconstruct of single shaft module, shorten the development time simultaneously, reduce cost.
(3) control mechanism of the present invention can also be communicated by letter with upper computer, then by the RS485 in industrial bus or CAN bus, realizing networking connects, wherein RS485 bus can be expanded at most 31 axles, CAN bus can be expanded 255 axles, therefore can well for a plurality of single motors of needs, drive the occasion of translation mechanism, such as automatic production line, by upper computer, such as PLC, PC or other control system etc. are controlled the action of a plurality of translation mechanisms.
(4) the RS485 communication protocol support that control mechanism of the present invention adopts comprises the various protocols such as MODBUS-CRC, SUM verification and MODBUS-LRC, exclusive or check, compatible good.
(5) translation system of the present invention adopts uC-OS major cycle, and method of work arranges scientific and reasonable, can realize multi-task parallel operation, realizes in real time and controlling.
Accompanying drawing explanation
For content of the present invention is more easily expressly understood, according to specific embodiment also by reference to the accompanying drawings, the present invention is further detailed explanation, wherein below
Fig. 1 is the structural representation of translation mechanism of the present invention.
Fig. 2 is that Fig. 1 removes the structural representation after front cover shell and motor case.
Fig. 3 is the left view of Fig. 2.
Fig. 4 is the upward view of Fig. 2.
Fig. 5 is that Fig. 2 removes the right elevation after actuating device, electrical controller, pillar and panel beating support.
Fig. 6 is the path of motion schematic diagram of the performance element of translation mechanism of the present invention.
Fig. 7 is the schematic diagram of control mechanism of the present invention.
Fig. 8 is the schematic diagram during by group net operation of the present invention.
Label in accompanying drawing is:
Initial station a, absorption station b, release station c;
Main control module 21, sensing module 22, driver module 23, output module 24, communication module 25, upper computer 26.
The specific embodiment
(embodiment 1)
The translation system of the present embodiment comprises translation mechanism and control mechanism.
See Fig. 1 to Fig. 5, translation mechanism comprises substrate 1, the first rotating shaft 2, the second rotating shaft 3, first connecting rod 4, second connecting rod 5, fork 6, driving device, actuating device 10, pinch device 12, electrical controller 13, spacing double-screw bolt 14, photoelectric switch 15, photoelectricity catch 16, front cover shell 17, pillar 18, panel beating support 19, motor case 20 and performance element.
The first rotating shaft 2 and the second rotating shaft 3 are passed substrate 1 and are rotationally connected with substrate 1.
First connecting rod 4, second connecting rod 5 and fork 6 are positioned at the front side of substrate 1.First connecting rod 4 and second connecting rod 5 be arranged in parallel.One end of one end of first connecting rod 4 and second connecting rod 5 is fixedly connected with the second rotating shaft 3 with the first rotating shaft 2 respectively, and the other end of the other end of first connecting rod 4 and second connecting rod 5 is all hinged with middle part and the afterbody of fork 6.Performance element is arranged on fork 6 heads.Spacing double-screw bolt 14 is provided with two.Two spacing double-screw bolts 14 are fixed on substrate 1 front side, and are positioned at the outside of first connecting rod 4.The rotational travel of two spacing double-screw bolt 14 restriction first connecting rod 4 both directions.Photoelectric switch 15 is fixed on substrate 1 front side, and photoelectricity catch 16 is fixed on fork 6.Photoelectric switch 15 and photoelectricity catch 16 are all positioned at the inner side of first connecting rod 4.Front cover shell 17 is fixed on the front side of substrate 1.
Driving device, actuating device 10, pinch device 12 and electrical controller 13 are positioned at the rear side of substrate 1.Driving device comprises the first belt wheel 7, the second belt wheel 8, the 3rd belt wheel 9 and Timing Belt 11.Actuating device 10 comprises motor 10-1 and electric machine support 10-2.Electric machine support 10-2 is fixed on substrate 1, and motor 10-1 is fixed on electric machine support 10-2.The first belt wheel 7 and the second belt wheel 8 are separately fixed in the first rotating shaft 2 and the second rotating shaft 3.The 3rd belt wheel 9 is fixed on the output shaft of motor 10-1.Timing Belt 11 is around the first belt wheel 7, the second belt wheel 8 and the 3rd belt wheel 9.Pinch device 12 comprises axle 12-1 and bearing 12-2.Axle 12-1 is arranged on substrate 1.It is upper that bearing 12-2 is arranged on axle 12-1, and compress Timing Belt 11, makes Timing Belt 11 tightly around the first belt wheel 7, the second belt wheel 8 and the 3rd belt wheel 9.Electrical controller 13 comprises electric-controlled plate 13-1 and electric-controlled plate support 13-2.Electric-controlled plate support 13-2 is fixed on substrate 1, and electric-controlled plate 13-1 is fixed on electric-controlled plate support 13-2.Performance element is vacuum cups or Pneumatic clamping jaw.The motor 10-1 of actuating device 10, photoelectric switch 15 and performance element are all electrically connected to electric-controlled plate 13-1.Pillar 18 is fixed on actuating device 10, and panel beating support 19 is fixed on pillar 18, and motor case 20 is fixed on panel beating support 19.Motor case 20 is provided with louvre 20-1.
See Fig. 6, the motion flow of translation mechanism is: vacuum cups rests on initial station a → material detected to put in place (without material signal, at initial station a, wait for) → vacuum cups moves to and draws station b absorbing material (if material is not drawn, or drop and will again draw while drawing) → get back to initial station a, wait for and discharge station c signal, detect and can move to the signal (signal of nothing release station c that discharges station c, at initial station a, wait for) → vacuum cups moves to and discharges station c and discharge the initial station a of the material drawn → get back to, wait for next circulation.
See Fig. 7, control mechanism comprises pcb board and is arranged on main control module 21, sensing module 22, driver module 23, output module 24 and the communication module 25 on pcb board.Main control module 21Wei mechanism core, the task of responsible Coordination Treatment modules.The sensor input connection of sensing module 22, mouth connects the input end of main control module 21, is responsible for conversion sensor incoming signal.The input end of driver module 23 connects the mouth of main control module 21, the mouth of driver module 23 is electrically connected to the electric-controlled plate 13-1 of the electrical controller of translation mechanism 13, driver module 23 is responsible for the control signal of master control system to be converted into the driving signal of motor, this module has interchangeability, can select driver module according to the parameter of real electrical machinery.The input end of output module 24 connects the mouth of main control module 1, is responsible for general purpose I/O driver output.Communication module 25 and upper computer 26 communication connections, transmit data command.
This translation system can have two kinds of mode of operation.The first: automatically control.Main control module 21 can carry out automatic start up system operation task by the incoming signal of judgement sensing module 22; The second: networking is controlled.As shown in Figure 8, upper computer 26 can directly be controlled a plurality of translation systems by industrial bus to the many translation systems that form when networking is controlled, and industrial bus comprises RS485 bus or CAN bus.
Translation system, comprises the following steps:
1. translation system initialization; After translation system powers on, carry out initialization, comprise and read the pre-deposit data of flash.
2. enter uC-OS major cycle, for realizing control system real-time Communication for Power, and can move by multi-task parallel, increase real time operating system (RTOS) uC-OS II, carry out task management;
3. create translation system main task and each parallel electric machine control task; Communication task is translation system main task, and each parallel electric machine control task receives relevant instruction by main task and starts;
4. receive the order from upper computer 26, resolve, resolve into various instruction tasks; The instruction task here comprises all kinds of conventional instructions, such as read coil instruction, write coil instruction, read single or multiple register instructions, write single register instruction, broadcasting instructions, query statement, illegal command and fault instruction etc.
5. translation system is carried out instruction task and each parallel electric machine control task;
6., after complete, translation system standby, waits for that next communication instruction arrives.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a translation system, is characterized in that: comprise translation mechanism and control mechanism; Described translation mechanism comprises substrate (1), the first rotating shaft (2) and second rotating shaft (3) of passing substrate (1) and being rotationally connected with substrate (1), be positioned at first connecting rod (4), second connecting rod (5) and the fork (6) of substrate (1) front side, be arranged on the performance element of fork (6) head, and the driving device, actuating device (10) and the electrical controller (13) that are positioned at substrate (1) rear side; Described first connecting rod (4) and second connecting rod (5) be arranged in parallel; One end of one end of described first connecting rod (4) and second connecting rod (5) is fixedly connected with the second rotating shaft (3) with the first rotating shaft (2) respectively, and the other end of the other end of first connecting rod (4) and second connecting rod (5) is all hinged with middle part and the afterbody of fork (6); Described actuating device (10) drive transmission drives the first rotating shaft (2) and the second rotating shaft (3) synchronously to rotate; Described actuating device (10) and electrical controller (13) are installed on substrate (1); Described actuating device (10) and performance element are all electrically connected to electrical controller (13); Described control mechanism comprises pcb board and is arranged on main control module (21), sensing module (22), driver module (23), output module (24) and the communication module (25) on pcb board; Described main control module (21) is mechanism's core; The sensor input connection of described sensing module (22), mouth connects the input end of main control module (21); The input end of described driver module (23) connects the mouth of main control module (21), and the mouth of driver module (23) is electrically connected to the electrical controller (13) of translation mechanism; The input end of described output module (24) connects the mouth of main control module (21); Described communication module (25) communicates to connect by industrial bus with upper computer (26).
2. translation system according to claim 1, is characterized in that: the actuating device of described translation mechanism (10) comprises motor (10-1) and electric machine support (10-2); It is upper that described electric machine support (10-2) is fixed on substrate (1), and motor (10-1) is fixed on electric machine support (10-2); Described driving device comprises the first belt wheel (7), the second belt wheel (8), the 3rd belt wheel (9) and Timing Belt (11); Described the 3rd belt wheel (9) is fixed on the output shaft of motor (10-1); Described Timing Belt (11) is around the first belt wheel (7), the second belt wheel (8) and the 3rd belt wheel (9); Described motor (10-1) is electrically connected to electrical controller (13); The industrial bus that communication module in described control mechanism (25) is communicated by letter with upper computer (26) comprises RS485 bus or CAN bus.
3. translation system according to claim 2, is characterized in that: described translation mechanism also comprises the pinch device (12) that is arranged on substrate (1) rear side; Described pinch device (12) compresses Timing Belt (11), makes Timing Belt (11) tightly around the first belt wheel (7), the second belt wheel (8) and the 3rd belt wheel (9).
4. translation system according to claim 3, is characterized in that: the pinch device of described translation mechanism (12) comprises axle (12-1) and bearing (12-2); Described axle (12-1) is arranged on substrate (1); It is upper that described bearing (12-2) is arranged on axle (12-1), and compress Timing Belt (11).
5. translation system according to claim 1, is characterized in that: the electrical controller of described translation mechanism (13) comprises electric-controlled plate (13-1) and electric-controlled plate support (13-2); It is upper that described electric-controlled plate support (13-2) is fixed on substrate (1), and electric-controlled plate (13-1) is fixed on electric-controlled plate support (13-2); Described actuating device (10) and performance element are all electrically connected to electric-controlled plate (13-1); The driver module of described control mechanism (23) is electrically connected to electric-controlled plate (13-1).
6. translation system according to claim 1, is characterized in that: the performance element of described translation mechanism comprises vacuum cups or Pneumatic clamping jaw.
7. translation system according to claim 1, is characterized in that: described translation mechanism also comprises two the spacing double-screw bolts (14) that are fixed on substrate (1) front side; Described two spacing double-screw bolts (14) are all positioned at the outside of first connecting rod (4); The rotational travel of described two spacing double-screw bolts (14) restriction first connecting rod (4) both direction.
8. translation system according to claim 1, is characterized in that: described translation mechanism also comprises and is fixed on the photoelectric switch (15) of substrate (1) front side and is fixed on the photoelectricity catch (16) on fork (6); Described photoelectric switch (15) and photoelectricity catch (16) are all positioned at the inner side of first connecting rod (4); Described photoelectric switch (15) is electrically connected to electrical controller (13).
9. translation system according to claim 1, is characterized in that: described translation mechanism also comprises front cover shell (17), pillar (18), panel beating support (19) and motor case (20); Described front cover shell (17) is fixed on the front side of substrate (1); It is upper that described pillar (18) is fixed on actuating device (10), and it is upper that panel beating support (19) is fixed on pillar (18), and motor case (20) is fixed on panel beating support (19); Described motor case (20) is provided with louvre (20-1).
10. a method of work for translation system, is characterized in that: adopt the translation system as described in one of claim 1 to 9, comprise the following steps:
1. translation system initialization;
2. enter uC-OS major cycle, increase real time operating system (RTOS) uC-OS II, carry out task management;
3. create translation system main task and each parallel electric machine control task; Communication task is translation system main task, and each parallel electric machine control task receives relevant instruction by main task and starts;
4. receive the order from upper computer (26), resolve, resolve into various instruction tasks;
5. translation system is carried out instruction task and each parallel electric machine control task;
6., after complete, translation system standby, waits for that next communication instruction arrives.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210343869.7A CN103662822B (en) | 2012-09-17 | 2012-09-17 | A kind of translation system and method for work thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210343869.7A CN103662822B (en) | 2012-09-17 | 2012-09-17 | A kind of translation system and method for work thereof |
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| Publication Number | Publication Date |
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| CN103662822A true CN103662822A (en) | 2014-03-26 |
| CN103662822B CN103662822B (en) | 2016-01-13 |
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| CN201210343869.7A Active CN103662822B (en) | 2012-09-17 | 2012-09-17 | A kind of translation system and method for work thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107562028A (en) * | 2017-08-26 | 2018-01-09 | 贵州义龙万丰生态肥业有限公司 | A kind of urea production tests rainer control system |
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| US5536135A (en) * | 1995-04-19 | 1996-07-16 | Valley Equipment Company | Material transfer apparatus |
| CN2902981Y (en) * | 2006-03-08 | 2007-05-23 | 张锦然 | Mechanical handling device of object stacking machine |
| CN102632425A (en) * | 2012-04-26 | 2012-08-15 | 深圳市神拓机电设备有限公司 | Feeding and discharging manipulator |
| CN202846241U (en) * | 2012-09-17 | 2013-04-03 | 常州铭赛机器人科技有限公司 | Translational system |
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2012
- 2012-09-17 CN CN201210343869.7A patent/CN103662822B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4400985A (en) * | 1981-04-22 | 1983-08-30 | Bond Irvin D | Straight line link mechanism |
| US5536135A (en) * | 1995-04-19 | 1996-07-16 | Valley Equipment Company | Material transfer apparatus |
| CN2902981Y (en) * | 2006-03-08 | 2007-05-23 | 张锦然 | Mechanical handling device of object stacking machine |
| CN102632425A (en) * | 2012-04-26 | 2012-08-15 | 深圳市神拓机电设备有限公司 | Feeding and discharging manipulator |
| CN202846241U (en) * | 2012-09-17 | 2013-04-03 | 常州铭赛机器人科技有限公司 | Translational system |
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| CN107562028A (en) * | 2017-08-26 | 2018-01-09 | 贵州义龙万丰生态肥业有限公司 | A kind of urea production tests rainer control system |
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| CN103662822B (en) | 2016-01-13 |
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Address after: 213164 Jiangsu science and Technology City, Changzhou Science Park, building No. 2, North building, building 4 Applicant after: Changzhou Science and Technology Co., Ltd. of Ming Sai robot Address before: 213164 Jiangsu science and Technology City, Changzhou Science Park, building No. 2, North building, building 4 Applicant before: Changzhou Mingseal Robotic Technology Co., Ltd. |
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Denomination of invention: Translational system and working method thereof Effective date of registration: 20160531 Granted publication date: 20160113 Pledgee: Changzhou bell tower, Changjiang village bank, Limited by Share Ltd Pledgor: Changzhou Science and Technology Co., Ltd. of Ming Sai robot Registration number: 2016990000457 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20170601 Granted publication date: 20160113 Pledgee: Changzhou bell tower, Changjiang village bank, Limited by Share Ltd Pledgor: Changzhou Science and Technology Co., Ltd. of Ming Sai robot Registration number: 2016990000457 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |