CN103949839A - Universal type follow-up clamping thin plate welding head device - Google Patents
Universal type follow-up clamping thin plate welding head device Download PDFInfo
- Publication number
- CN103949839A CN103949839A CN201410131454.2A CN201410131454A CN103949839A CN 103949839 A CN103949839 A CN 103949839A CN 201410131454 A CN201410131454 A CN 201410131454A CN 103949839 A CN103949839 A CN 103949839A
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- CN
- China
- Prior art keywords
- welding
- clamping
- axis
- clamping disk
- installing plate
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
Abstract
The invention discloses a universal type follow-up clamping thin plate welding head device. The device comprises a transplanting mechanism and a welding handpiece, wherein the welding handpiece comprises a mounting substrate, a welding gun and a clamping assembly which is used for clamping a workpiece to be welded; the clamping assembly comprises two clamping discs which are symmetrically arranged on the outer side of the welding gun, form a certain included angle and can freely rotate; an annular convex end which is outwards protruded is arranged at the circumferential outer edge of each clamping disc; the two convex ends which are located at the front end of the welding gun are always parallel; the transplanting mechanism is connected with a control system which is provided with a locus interpolation function. After the structure is adopted, the clamping discs are always in a clamping state during the welding process; in the moving process of the transplanting mechanism, the movement and the clamping are synchronously carried out by own rotation of the clamping discs under the effect of the friction, and the welding consistency is good; in addition, the transplanting mechanism can carry out locus interpolation under the effect of the control system, the welding of workpieces to be welded of different shapes is adapted to, and the universality is strong.
Description
Technical field
The present invention relates to a kind of slim sheet material automatic welding device, particularly a kind of universal servo-actuated clamped-in style plate sheet welding frame head apparatus.
Background technology
At present in the time carrying out the weldering of thin plate end, all to adopt fixed fixture, in welding process, weld jig and workpiece to be welded are fixed together, do not move together with welding gun, fixture is just fixed several points on path of welding, and now, on the path of welding in welding process, workpiece to be welded is all different at clamping force and the clamped condition of difference, thereby cause welded condition unstable, homogeneity of product is difficult to ensure.Simultaneously at present a kind of fixed fixture can only adapt to the welding of a kind of or limited several workpiece shapes, and fixture can not be changed, and can not exchange use, and carrying out when product is remodeled re-designing fixture, cost is higher.
Summary of the invention
The technical problem to be solved in the present invention is for above-mentioned the deficiencies in the prior art, and provide a kind of workpiece to be welded clamping force and clamped condition in whole welding process stable, the universal servo-actuated clamped-in style plate sheet welding frame head apparatus of welding high conformity and highly versatile.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
A kind of universal servo-actuated clamped-in style plate sheet welding frame head apparatus, comprises transplanting mechanism and the welding head being fixedly connected with transplanting mechanism; Welding head comprises the mounting base being fixedly connected with transplanting mechanism, the welding gun being fixedly connected with mounting base and for by the clamp assembly of Workpiece clamping to be welded; Clamp assembly comprises and is symmetricly set in welding gun outside and two clamping disk(-sc)s in a certain angle, and each clamping disk(-sc) is all rotatably connected on corresponding clamping disk(-sc) mount pad, and each clamping disk(-sc) mount pad is all slidably connected on mounting base; The circumferential outer edge of each clamping disk(-sc) is respectively provided with an annular nose of outwards giving prominence to, and two noses that are positioned at welding gun front end can parallel all the time.
Described transplanting mechanism is connected with the control system that is provided with locus interpolation function.
Described welding head also comprises the Y-axis floating clamping mechanism assembly for regulating welding head Y-direction error.
Described Y-axis floating clamping mechanism assembly comprises horizontally disposed Y-axis installing plate, one end of this Y-axis installing plate is connected with mounting base by Y-axis guide rail, the other end of Y-axis installing plate is directly or indirectly connected with each clamping disk(-sc) mount pad, and the top of Y-axis installing plate is vertically installed with Y-axis floating clamping mechanism spring.
Described welding head also comprises for regulating the X-axis floating clamping mechanism assembly of welding head X to error.
Described X-axis floating clamping mechanism assembly comprises horizontally disposed X-axis installing plate, and one end of this X-axis installing plate is directly or indirectly fixedly connected with each clamping disk(-sc) mount pad, and the other end of X-axis installing plate is connected with X-axis floating clamping mechanism spring by X-axis guide rail.
Described welding gun is detachable.
Described clamp assembly is fixed on mounting base by clamp assembly installing plate, and each clamping disk(-sc) mount pad is all slidably connected on clamp assembly installing plate.
The angle being between described two clamping disk(-sc)s is not less than 20 °.
The width of the nose of described each clamping disk(-sc) is not less than 10mm.
The present invention adopts after said structure, above-mentioned clamping disk(-sc) in welding process all the time in clamped condition, in transfer mechanism moving process, clamping disk(-sc) is ensured to move and is clamped by the rotation of self and synchronously carries out under the effect of frictional force, thereby makes the high conformity of welding.In addition, transplanting mechanism can carry out locus interpolation under the effect of control system, can adapt to the welding of the workpiece to be welded of various shapes, thus highly versatile.Further, welding gun is detachable, and clamping disk(-sc) mount pad can slide up and down, and can facilitate replacing and the rapid-maintenance of different model welding, meanwhile, also can clamp adjusting to the workpiece to be welded of different-thickness size.
Brief description of the drawings
Fig. 1 is the structural representation of welding head in the present invention;
Fig. 2 is the three-dimensional structure schematic diagram of welding head in the present invention;
Fig. 3 is the structural representation that in the present invention, welding head is connected with transplanting mechanism;
Fig. 4 is the structural representation of Y-axis floating clamping mechanism assembly in the present invention;
Fig. 5 is the structural representation of X-axis floating clamping mechanism assembly in the present invention;
Fig. 6 is the structural representation of clamp assembly in the present invention;
Fig. 7 is that in the present invention, welding head and clamping workpiece to be welded are related to schematic diagram.
Wherein have: 1. mounting base; 2.Y axle floating clamping mechanism assembly; 3.X axle floating clamping mechanism assembly; 4. welding gun; 5. clamp assembly; 6.Y axle floating clamping mechanism spring; 7.Y axle installing plate; 8.Y axis rail; 9.X axis rail; 10.X axle floating clamping mechanism spring; 11.X axle installing plate; 12. clamping guide-rails; 13. drive units; 14. clamping disk(-sc) mount pads; 15. clamping disk(-sc)s; 16. transplanting mechanisms; 17. welding heads; 18. workpiece to be welded; 19. noses; 20. clamp assembly installing plates; 21. welding gun installing plates; 22. welding gun assemblies; 23. steps; 24. bearing blocks.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further detailed explanation with concrete preferred embodiments.
As shown in Figure 3, a kind of universal servo-actuated clamped-in style plate sheet welding frame head apparatus, comprises transplanting mechanism 16 and the welding head 17 being fixedly connected with transplanting mechanism 16.Transplanting mechanism 16 can be one or more dimensions mobile platform or mechanical arm etc. conventional in existing automatic technology.As depicted in figs. 1 and 2, welding head 17 comprise the mounting base 1 that is fixedly connected with transplanting mechanism 16, welding gun 4, for clamp assembly 5 that workpiece 18 to be welded is clamped, for regulate welding head 17 the Y-axis floating clamping mechanism assembly 2 of Y-direction error and for regulate welding head 17 at X the X-axis floating clamping mechanism assembly 3 to error.Clamp assembly 5 is preferably fixed on mounting base 1 by clamp assembly installing plate 20.Like this, clamp assembly 5 can be used as an entirety and changes or keep in repair, and will save and install or the replacing time, clamp assembly 5 directly can certainly be fixed on mounting base 1.
As shown in Figure 6, above-mentioned clamp assembly 5 comprises and is symmetricly set in welding gun 4 outsides and two clamping disk(-sc)s 15 and two clamping disk(-sc) mount pads 14 in a certain angle.Shape similar inverted " 7 " font of each clamping disk(-sc) mount pad 14, is symmetricly set on the outside of welding gun 4.One end of each clamping disk(-sc) mount pad 14 is connected with clamp assembly installing plate 20 or mounting base 1 by clamping guide-rail 12, under the effect of drive unit 13 separately, can slide up and down along clamp assembly installing plate 20 or mounting base 1, to realize the clamping of the workpiece to be welded 18 to different-thickness and to facilitate replacing or the maintenance of welding gun 4.The other end of each clamping disk(-sc) mount pad 14 is respectively provided with a bearing block 24, each bearing block 24 is respectively connected with a clamping disk(-sc) 15 by a rotating shaft, under the drive of the bearing of each like this clamping disk(-sc) 15 in corresponding bearing block 24, all can realize free rotation, and each clamping disk(-sc) 15 is all detachable, can, according to the size of workpiece 18 to be welded or thickness requirement, select suitable clamping disk(-sc) 15.Simultaneously, as shown in Figure 7, the circumferential outer edge of each clamping disk(-sc) 15 is respectively provided with an annular nose 19 of outwards giving prominence to, and two noses 19 that are positioned at welding gun 4 front ends can parallel all the time, and these two noses 19 that are positioned at welding gun 4 front ends just in time can compress the step of workpiece 18 to be welded 23.
Between above-mentioned two clamping disk(-sc)s 15, be angle less, the width dimensions of the nose 19 of clamping disk(-sc) 15 is just less, and accessibility when welding is just better, can in small space, weld.But two 15 of clamping disk(-sc)s must leave the installing space of welding gun 4, so under the enough prerequisite of welding gun 4 installing spaces, the angle that two clamping disk(-sc)s 15 are is the smaller the better, for ensureing safety, angle between welding gun 4 and clamping disk(-sc) 15 is not less than 10 °, and the angle being also between two clamping disk(-sc)s 15 is not less than 20 °.The width dimensions of the nose 19 of above-mentioned each clamping disk(-sc) 15 can design according to the requirement of concrete workpiece to be welded 18, but clamps quality for ensureing, the width dimensions minimum of nose 19 must not be lower than 10mm.
As shown in Figure 5, above-mentioned X-axis floating clamping mechanism assembly 3 comprises horizontally disposed X-axis installing plate 11, one end of this X-axis installing plate 11 is fixedly connected with dismountable welding gun 4 by welding gun installing plate 21, the other end of X-axis installing plate 11 is connected with X-axis floating clamping mechanism spring 10 by X-axis guide rail 9, and X-axis floating clamping mechanism spring 10 can be along X-axis guide rail 9 way movings.
Above-mentioned each clamping disk(-sc) mount pad 14 connects one end of clamping guide-rail 12, is fixedly connected with welding gun installing plate 21 simultaneously.Like this, welding gun 4, welding gun installing plate 21, two clamping disk(-sc) mount pads 14 and X-axis installing plate 11 will become as a whole, also be that X-axis installing plate 11 is fixedly connected with two clamping disk(-sc) mount pads 14 indirectly, float in the left and right of X-axis floating clamping mechanism spring 10, by moving left and right of drive and X-axis installing plate 11 shape all-in-one-piece clamping disk(-sc) mount pads 14, finally drive moving left and right of two clamping disk(-sc)s 15, thereby be convenient to the elimination of follow-up X axis error.As an alternative, X-axis installing plate 11, away from one end of X-axis floating clamping mechanism spring 10, also can directly be fixedly connected with two clamping disk(-sc) mount pads 14, floats and directly drive moving left and right of two clamping disk(-sc) mount pad 14 entirety in the left and right of X-axis floating clamping mechanism spring 10.
As shown in Figure 4, above-mentioned Y-axis floating clamping mechanism assembly 2 comprises horizontally disposed Y-axis installing plate 7, one end of this Y-axis installing plate 7 is connected with mounting base 1 by Y-axis guide rail 8, on the other end suit X-axis floating clamping mechanism spring 10 of Y-axis installing plate 7, be also indirectly fixedly connected with each clamping disk(-sc) mount pad 14.Certainly, also can directly Y-axis installing plate 7 be fixedly connected with each clamping disk(-sc) mount pad 14.The top of Y-axis installing plate 7 is vertically installed with Y-axis floating clamping mechanism spring 6, and this Y-axis floating clamping mechanism spring 6 just in time can pass mounting base 1.Like this, Y-axis floating clamping mechanism spring 6 can carry out way moving along Y-axis guide rail 8.
Above-mentioned X-axis guide rail 9 is preferably fixed on the bottom of Y-axis installing plate 7, and the welding gun assembly 22 that the tail end of welding gun 4 connects is arranged on the below of X-axis installing plate 11.
As an alternative, above-mentioned X-axis floating clamping mechanism assembly 3 and Y-axis floating clamping mechanism assembly 2, also can adopt elastic caoutchouc or polyurethane etc., also belongs to protection scope of the present invention.
In addition, above-mentioned transplanting mechanism 16 is preferably connected with the control system that is provided with locus interpolation function.Like this, transplanting mechanism 16 can carry out locus interpolation under the effect of control system, if workpiece 18 to be welded is circular, the control system with locus interpolation is also comparatively ripe prior art at present, only need in control system, carry out after relative set, transplanting mechanism 16 will drive welding head 17 to carry out the welding of respective circular track.When workpiece 18 to be welded is oval or square etc., also only need to change the relevant parameter in control system, do not need to change clamp assembly 5, thus can adapt to the welding of the workpiece to be welded 18 of various shapes, thus highly versatile.
The workflow of welding head device of the present invention is as follows:
The first step, welding track setting: according to the shape of workpiece 18 to be welded, the relevant parameter in control system is set, makes the motion track of transplanting mechanism 16 consistent with the shape of workpiece 18 to be welded.
Second step, welding front clamp: workpiece 18 to be welded is positioned and fixed, and as shown in Figure 7, welding head 17 is moved to weld start position in the effect of transplanting mechanism 16, makes the position to be welded of workpiece 18 to be welded corresponding with welding gun 4.Then, drive unit 13 is started working, and clamping disk(-sc) mount pad 14 can, according to the thickness of workpiece 18 to be welded, be slided up and down, and makes clamping disk(-sc) 15 be clamped on the up/down steps 23 of workpiece 18 to be welded or position to be welded.
The 3rd step, welding is synchronizeed with clamping: after second step completes, the source of welding current starting the arc in weld assembly 22, starts welding.According to the requirement of the welding track arranging in the first step, transfer mechanism 16 carries out locus interpolation under control system effect, drives welding head 17 orbiting motion on request.In moving process, clamping disk(-sc) 15 is all the time in clamped condition, in addition, clamping disk(-sc) 15 rotates under the effect of frictional force, by rotation, guarantee clamping disk(-sc) 15 is followed the synchronization-moving while of welding gun 4, and makes workpiece 18 to be welded all keep identical at clamping force and the clamped condition of difference, thereby make welded condition keep stable, Product jointing uniformity is ensured.
The 4th step, error concealment: welding head 17 in motion process, because workpiece 18 to be welded itself has size shape error, transplanting mechanism has position error etc., thus in welding process, be ensure welding quality, need to be by these error concealments.Have the workpiece to be welded 18 of step 23 for position to be welded, the step 23 of workpiece 18 to be welded by clamping disk(-sc) 15 is produced X to and the active force of Y-direction both direction, thereby to clamping and welding exerts an influence.When the horizontal existence of the step 23 of workpiece 18 to be welded raises up (being Y-direction projection) not at ordinary times, when being soldered to this and raising up position, workpiece 18 to be welded produces power upwards to clamping disk(-sc) 15, Y-axis floating clamping mechanism spring 6 is started working, clamping disk(-sc) 15 entirety are moved up, carry out adaptive tracing.Equally, when the vertical existence of the step 23 of workpiece 18 to be welded to the right (be X to) projection is not at ordinary times, be soldered to this to the right when boss, workpiece 18 to be welded produces power to the right to clamping disk(-sc) 15, X-axis floating clamping mechanism spring 10 is started working, clamping disk(-sc) 15 entirety are moved right, carry out adaptive tracing.Workpiece 18 to be welded fits tightly together under the acting in conjunction of drive unit 13, X-axis floating clamping mechanism spring 10 and Y-axis floating clamping mechanism spring 6, thereby has ensured welding quality.Other is projection downwards or left, therewith roughly the same.
Workpiece to be welded 18 for position to be welded without step 23, clamping disk(-sc) 15 will only bear the power of a direction, and relocation mechanism also only has a job.According to user's needs, a relocation mechanism also can be only set, as X-axis floating clamping mechanism assembly 3 being only set or Y-axis floating clamping mechanism assembly 2 being only set.
In addition to the implementation, the present invention can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of requirement of the present invention.
Claims (10)
1. a universal servo-actuated clamped-in style plate sheet welding frame head apparatus, is characterized in that: comprise transplanting mechanism (16) and the welding head (17) being fixedly connected with transplanting mechanism (16); Welding head (17) comprises the mounting base (1) being fixedly connected with transplanting mechanism (16), the welding gun (4) being fixedly connected with mounting base (1) and the clamp assembly (5) for workpiece to be welded (18) is clamped; Clamp assembly (5) comprises and is symmetricly set in welding gun (4) outside and two clamping disk(-sc)s (15) in a certain angle, it is upper that each clamping disk(-sc) (15) is all rotatably connected to corresponding clamping disk(-sc) mount pad (14), and each clamping disk(-sc) mount pad (14) is all slidably connected on mounting base (1); The circumferential outer edge of each clamping disk(-sc) (15) is respectively provided with an annular nose (19) of outwards giving prominence to, and two noses (19) that are positioned at welding gun (4) front end can parallel all the time.
2. universal servo-actuated clamped-in style plate sheet welding frame head apparatus according to claim 1, is characterized in that: described transplanting mechanism (16) is connected with the control system that is provided with locus interpolation function.
3. universal servo-actuated clamped-in style plate sheet welding frame head apparatus according to claim 1, is characterized in that: described welding head (17) also comprises the Y-axis floating clamping mechanism assembly (2) for regulating welding head (17) Y-direction error.
4. universal servo-actuated clamped-in style plate sheet welding frame head apparatus according to claim 3, it is characterized in that: described Y-axis floating clamping mechanism assembly (2) comprises horizontally disposed Y-axis installing plate (7), one end of this Y-axis installing plate (7) is connected with mounting base (1) by Y-axis guide rail (8), the other end of Y-axis installing plate (7) is directly or indirectly fixedly connected with each clamping disk(-sc) mount pad (14), and the top of Y-axis installing plate (7) is vertically installed with Y-axis floating clamping mechanism spring (6).
5. according to the universal servo-actuated clamped-in style plate sheet welding frame head apparatus described in claim 1 or 3, it is characterized in that: described welding head (17) also comprises for regulating the X-axis floating clamping mechanism assembly (3) of welding head (17) X to error.
6. universal servo-actuated clamped-in style plate sheet welding frame head apparatus according to claim 5, it is characterized in that: described X-axis floating clamping mechanism assembly (3) comprises horizontally disposed X-axis installing plate (11), one end of this X-axis installing plate (11) is directly or indirectly fixedly connected with each clamping disk(-sc) mount pad (14), and the other end of X-axis installing plate (11) is connected with X-axis floating clamping mechanism spring (10) by X-axis guide rail (9).
7. universal servo-actuated clamped-in style plate sheet welding frame head apparatus according to claim 1, is characterized in that: described welding gun (4) is detachable.
8. universal servo-actuated clamped-in style plate sheet welding frame head apparatus according to claim 1, it is characterized in that: it is upper that described clamp assembly (5) is fixed on mounting base (1) by clamp assembly installing plate (20), and each clamping disk(-sc) mount pad (14) is all slidably connected on clamp assembly installing plate (20).
9. universal servo-actuated clamped-in style plate sheet welding frame head apparatus according to claim 1, is characterized in that: the angle being between described two clamping disk(-sc)s (15) is not less than 20 °.
10. according to the universal servo-actuated clamped-in style plate sheet welding frame head apparatus described in claim 1 or 9, it is characterized in that: the width of the nose (19) of described each clamping disk(-sc) (15) is not less than 10mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410131454.2A CN103949839B (en) | 2014-04-03 | 2014-04-03 | Universal type follow-up clamping thin plate welding head device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410131454.2A CN103949839B (en) | 2014-04-03 | 2014-04-03 | Universal type follow-up clamping thin plate welding head device |
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| Publication Number | Publication Date |
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| CN103949839A true CN103949839A (en) | 2014-07-30 |
| CN103949839B CN103949839B (en) | 2015-07-22 |
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| CN201410131454.2A Active CN103949839B (en) | 2014-04-03 | 2014-04-03 | Universal type follow-up clamping thin plate welding head device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104923903A (en) * | 2015-07-08 | 2015-09-23 | 宁波敏实汽车零部件技术研发有限公司 | Large-angle turnover single-point puppet welding mechanism |
| CN106112965A (en) * | 2016-07-01 | 2016-11-16 | 无锡耐博机器人科技有限公司 | Robot device |
| CN108127255A (en) * | 2017-12-29 | 2018-06-08 | 东莞市恒丰换热器有限公司 | Full-automatic heat exchange device bonding machine |
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| CN201988884U (en) * | 2011-03-28 | 2011-09-28 | 江苏金方圆数控机床有限公司 | Rotating working platform of laser welding machine |
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| JPH0952174A (en) * | 1995-08-10 | 1997-02-25 | Mitsubishi Heavy Ind Ltd | Method and equipment for cladding by welding inside elbow |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104923903A (en) * | 2015-07-08 | 2015-09-23 | 宁波敏实汽车零部件技术研发有限公司 | Large-angle turnover single-point puppet welding mechanism |
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| CN106112965A (en) * | 2016-07-01 | 2016-11-16 | 无锡耐博机器人科技有限公司 | Robot device |
| CN108127255A (en) * | 2017-12-29 | 2018-06-08 | 东莞市恒丰换热器有限公司 | Full-automatic heat exchange device bonding machine |
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| Publication number | Publication date |
|---|---|
| CN103949839B (en) | 2015-07-22 |
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Address after: 211153 No. 32 Changqing street, Jiangning District, Jiangsu, Nanjing Applicant after: China Shipbuilding Heavy Industry (Nanjing) Intelligent Equipment Co., Ltd. Address before: Jiangning District of Nanjing City, Jiangsu province 211106 Evergreen Street No. 32 Applicant before: Nanjing Pride Technology Co., Ltd. |
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| COR | Change of bibliographic data |
Free format text: CORRECT: APPLICANT; FROM: NANJING PRIDE TECHNOLOGY CO., LTD. TO: CHINA SHIPBUILDING INDUSTRY PENGLI(NANJING) INTELLIGENT EQUIPMENT SYSTEM CO., LTD. Free format text: CORRECT: ADDRESS; FROM: 211106 NANJING, JIANGSU PROVINCE TO: 211153 NANJING, JIANGSU PROVINCE |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |