CN104002955A - Driving mechanism for tiller handle - Google Patents
Driving mechanism for tiller handle Download PDFInfo
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- CN104002955A CN104002955A CN201410216900.XA CN201410216900A CN104002955A CN 104002955 A CN104002955 A CN 104002955A CN 201410216900 A CN201410216900 A CN 201410216900A CN 104002955 A CN104002955 A CN 104002955A
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- handle
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Abstract
The invention discloses a driving mechanism for a tiller handle. The driving mechanism comprises a handle end executing device, a power driving device and a power transmission device. The handle end executing device is located on the front portion of the driving mechanism, fixedly installed on the tiller handle and used for controlling the tiller handle to rotate so as to control the angle of a rudder. The power driving device is located on the rear portion of the driving mechanism and used for providing power for the handle end executing device. The power transmission device is located in the middle of the driving mechanism, connected with the power driving device and the handle end executing device and used for transmitting power for the handle end executing device. According to the driving mechanism for the tiller handle, the installation performance is good, the power driving device and the handle end executing devices are used for transmitting power and movement between the power driving device and the handle end executing device through a rope, all power utilization elements are arranged in a waterproof sealing box in an airtight mode, other pure mechanical structures are exposed in the environment, and the driving mechanism can resist invasion of sea waves, sea breeze, sunlight, rain and snow.
Description
[technical field]
The invention belongs to boats and ships autonomous driving technical field, particularly relate to a kind of control that is applicable to use in sailing boat autonomous driving system come about handle rotate driver train.
[background technology]
Autonomous driving sailing boat can be by the basis of traditional sailing boat, and a set of servomechanism of design and installation is realized the automatic Pilot of sailing boat.Autonomous driving sailing boat can carry out guard's patrol, scientific investigation, the environmental inspection of large marine site or large watershed for a long time, and even (as tsunami, storm, strong snowfall etc.) execute the task under for the extremely dangerous adverse weather condition of the mankind.
Itself has following features sailing boat: (1) considers principle of human engineering, the rudder angle control handle of sailing boat and the rudder angle of required control have a segment distance, and rudder angle control handle is installed on the position that navigating mate is easy to touch, and the installation that such layout is carried out autonomous driving device to us is often very unfavorable.(2) sailing boat is for higher sport efficiency, and hull is generally designed to stream line pattern, and the accurate dimension data that such profile makes to be difficult to allow the designer of servomechanism grasp sailing boat body design.(3) sailing boat is for the consideration of water-proff packing, and its hull does not often allow to punch at an arbitrary position and increases installation site.(4) sailing boat is in water when quick sailing, the rudder of deflection, and the huge antagonistic force of the seawater being arrived, needs the actuating device of rudder angle handle to have auto-lock function.(5) sailing boat is in marine navigation, and the actuating device of rudder angle handle need to strictly meet water-proff packing requirement.Above feature, repacks autonomous driving sailing boat into common sailing boat and has brought difficulty and challenge.
At sailing boat in master control, by controlling sailing boat rudder angle (being the deflection angle of rudder) thus controlling the navigation direction of sailing boat is the basis of whole autonomous navigation.Existing common sailing boat is realized sailing boat and is turned to by the manual operations handle of coming about by navigating mate, does not realize Function for Automatic Pilot.Now publication is all that motor by being directly connected with rudder for ship drives, need to carry out unit design with rudder for ship system or rudder for ship system is modified after just can use, design complexity, change amount is large, cost is high.
[summary of the invention]
The present invention is intended to address the above problem and a kind of driver train that can automatically realize the handle of coming about sailing a ship is provided.
For achieving the above object, the invention provides a kind of driver train of the handle of coming about, the driver train of this handle of coming about comprises:
Handle end executive device, this handle end executive device is positioned at the anterior of described driver train and is fixedly mounted on comes about on handle, thereby rotates for the handle of coming about described in controlling the angle of controlling rudder for ship;
Power Drive Unit, this Power Drive Unit is positioned at the rear portion of described driver train, is used to described handle end executive device that power is provided;
Power drive, this power drive is positioned at the middle part of described driver train, and it connects described Power Drive Unit and handle end executive device, is used to described handle end executive device transferring power.
Described Power Drive Unit comprises seal box, be arranged on the motor in described seal box, retarder, coupler, detecting device, drive end output shaft, bracing or strutting arrangement, be arranged on the drive end reel outside described seal box, described motor provides power for described retarder, described retarder is provided with reducer output shaft, this reducer output shaft one end connects described coupler, its other end connects described detecting device, described coupler connects described drive end output shaft, this drive end output shaft other end stretches out described seal box outside and is fixedly connected with described drive end reel, described bracing or strutting arrangement is arranged on described coupler one side, for supporting the drive end output shaft that is positioned at described seal box.
Described detecting device comprises rotary encoder and the mount pad of described rotary encoder is installed, and the center shaft of described rotary encoder and described reducer output shaft are on same axis.
Described retarder is worm type of reduction gearing.
Described bracing or strutting arrangement comprises the first backup bearing, the second backup bearing, bearing seat and lining, described drive end output shaft is arranged on described bearing seat by described the first backup bearing and the second backup bearing, and described lining is set on described drive end output shaft and is arranged between described the second backup bearing and described coupler.
Described handle end executive device comprises handle end reel, handle gripping piece and mounting screw, and described handle end reel and handle gripping piece are fixed by described mounting screw.
Described in described handle gripping piece is fixed by screws in, come about on handle, the center shaft of described handle end reel with described in come about the rotating shaft of handle on same axis.
Described power drive is rope and is arranged on the pulley system that at least two pulleys on described Power Drive Unit or hull form, described Power Drive Unit comprises drive end reel, described handle end executive device comprises handle end reel, and described rope, at least two pulleys, drive end reel and handle end reels form closed path.
Described rope is nylon rope or seizing wire.
Drive end reel and at least one circle of handle end reel half described in described rope winding.
The present invention adopts the driver train of handle of coming about, and completely adopts and opens one's minds, and is arranged in the cabin of hull or on deck.
(1) installation property is good, and Power Drive Unit and handle end executive device locus are independent, power and motion between transmitting by flexible rope.Specifically, handle end executive device is positioned at the front portion of driver train, thereby rotates for controlling the handle of coming about the angle of controlling rudder for ship, and handle end executive device weight is lighter, can be fixed on easily on handle.Power Drive Unit is positioned at the rear portion of driver train, be used to handle end executive device for power, Power Drive Unit weight is heavier, can be installed on any applicable position of sailing boat (as cabin), motion and power are propagated by rope and relaying pulley, have avoided limiting its installability because of the volume and weight of whole device.
(2) applicability is strong, is applicable to sailing boat and difform handle that different structure is arranged.Handle end executive device need only ensure that handle end reel is approximate coaxial with the turning cylinder of the handle of coming about, the motion of handle end reel can be passed to the handle of coming about, and irrelevant with the concrete dimensional structure of handle and the concrete installation method (as clamped or screw threads for fastening) of operating part.
(3) protective is good.All with electrical component in Power Drive Unit, as drive motor, coder, control circuit etc. are all enclosed within water-proff packing box, the bracing or strutting arrangement of retarder, coupler, detecting device and support drive end output shaft in Power Drive Unit is enclosed within water-proff packing box equally, prevents marine corrosion.Water-proff packing box is realized static seal by use O shape circle or rubber cradle, and by using mechanical sealing member and oil sealing to realize the sealing of turning cylinder.Drive end reel in Power Drive Unit, running part are all, operating part is all pure physical construction, even if be exposed in environment, also can tolerate the invasion and attack of wave, sea wind, sunlight, sleet outward.
[brief description of the drawings]
Fig. 1 is that the present invention is arranged on the schematic diagram on hull.
Fig. 2 is Power Drive Unit schematic diagram of the present invention.
Fig. 3 is power drive schematic diagram of the present invention.
Fig. 4 is handle end executive device schematic diagram of the present invention.
[detailed description of the invention]
The following example is further explanation of the present invention, and the present invention is not constituted any limitation.
As shown in Figure 1, the present invention includes and be positioned at the Power Drive Unit 10 at this driver train rear portion, power drive 20 and the anterior handle end executive device 30 at middle part.The base portion that wherein Power Drive Unit 10 is driver train, it is the driver module being protected by water-proff packing box, its volume and quality are all relatively large, are installed in the cabin of hull or on deck.The motion that Power Drive Unit 10 is exported and power pass to handle end executive device 30 by middle power drive 20.Handle end executive device 30 structures are relatively simple, are directly installed on the handle 40 of coming about.The motion of handle end executive device 30 directly drives the handle 40 of coming about, the corner of handle 40 by sailing boat self transmission mechanism control rudder for ship 50 of coming about.Power drive 20 is pulley systems, at least two pulleys are installed on Power Drive Unit 10 or on hull, according to the relative position relation between Power Drive Unit 10 and handle end executive device 30, form a spatial form fitfull cord drive loop.
As shown in Figure 2, Power Drive Unit 10 comprise can waterproof seal box 11, be arranged on motor 12, retarder 13, coupler 15, detecting device 16, drive end output shaft 17, the bracing or strutting arrangement 18 in seal box 11 and be arranged on the drive end reel 19 outside seal box 11.The driving signal control that motor 12 is produced by control circuit, for Power Drive Unit 10 provides power.Retarder 13 is known worm type of reduction gearing, worm type of reduction gearing 13 output movements and power, worm type of reduction gearing 13 can provide larger reduction ratio, and output motor torque is amplified, and can realize motion self-locking, be conducive to the stable of rudder angle in sailing boat driving process.Worm type of reduction gearing 13 is provided with reducer output shaft 14, by reducer output shaft 14, motion and power is outputed to coupler 15 one end, simultaneously also output movement to detecting device 16 one end.Reducer output shaft 14 is realized the transmission of motion and power by coupler 15 and drive end output shaft 17, drive end output shaft 17 one end are stretched out seal box 11 outsides and realized and being connected by key with drive end reel 19, moves and power is output on drive end reel 19.Because drive end output shaft 17 is longer, easily swing, in seal box 11, being provided with bracing or strutting arrangement 18 radially fixes drive end output shaft 17, bracing or strutting arrangement 18 comprises the first backup bearing 181, the second backup bearing 182, bearing seat 183 and lining 184, drive end output shaft 17 is provided support by the first backup bearing 181 and the second backup bearing 182 that are installed in bearing seat 183, lining 184 is set on drive end output shaft 17, and be arranged between the second backup bearing 182 and coupler 15, prevent that the second backup bearing 182 and coupler 15 from producing friction mutually.
As shown in Figure 2, detecting device 16 comprises the mount pad 162 of rotary encoder 161 and installation rotary encoder 161.Rotary encoder 161 is absolute rotary encoder 161, this absolute rotary encoder 161 is installed on worm type of reduction gearing 13 by coder mount pad 162, need to ensure between absolute rotary encoder 161 and worm type of reduction gearing 13 coaxial when installation.What reducer output shaft 14 was exported worm type of reduction gearing 13 rotatablely move passes to absolute rotary encoder 161.By the information that rotatablely moves of output on the real-time detection worm type of reduction gearing 13 of absolute rotary encoder 161, the information that rotatablely moves that drive end reel 19 is exported, comprises rotational angle, rotational angular velocity etc.The measured movable information of absolute rotary encoder 161 directly feeds back to kinetic control system (not shown), for the motion control of driver train.
As shown in Figure 2, motor 12, absolute rotary encoder 161 and corresponding Drive and Control Circuit that Power Drive Unit 10 comprises, have the requirement of water-proff packing.In Power Drive Unit 10, except drive end reel 19, seal cover cap 111, drive end output shaft 17, other parts are all placed in water-proff packing box 11.Drive end output shaft 17 is stuck in outside seal box by the one end, hole on water-proff packing box 11 walls, and this hole place seals by seal cover cap 111.
As shown in Figure 4, handle end executive device 30 is made up of handle end reel 31 and handle gripping piece 32, and handle end reel 31 and handle gripping piece 32 connect as one by reel mounting screw 33.Handle end executive device 30 is installed on securely comes about on handle 40, handle gripping piece 32 can be fixedly connected with the handle 40 of coming about by variety of way, comprises two kinds of methods shown in Fig. 4: (1) utilizes the tapped bore 41 of coming about on handle 40 to be realized with handle gripping piece 32 and being fastenedly connected by attaching screw 42 with the through hole 321 on handle gripping piece 32; (2) utilize the two side 322 of handle gripping piece 32 and multiple tightening screw 43 to realize and being fastenedly connected with the handle 40 of coming about.When handle gripping piece 32 is installed on the handle 40 of coming about, need to allow the center shaft of handle end reel 31 and the turning cylinder of the handle 40 of coming about keep coaxial, good right alignment can allow the driving arm of force of handle 40 while rotating and reverse of coming about identical, makes motion even.After installation, handle end executive device 30 and the handle 40 of coming about are integrated, because the rotating shaft of handle end reel 31 center shafts and the handle 40 of coming about keeps coaxial, so handle end executive device 30 and the handle 40 of coming about can be regarded a rigidity bent axle as.The motion that power drive 20 is passed over and power are converted into 40 rotation of the handle of coming about, and allow the handle 40 of coming about remove to control the rudder angle of sailing boat.In the time acting on effectively handle end reel 31 on power drive 20, generate drive torque, drive turning handle 40 to rotate.The oad of handle 40 of coming about is varied, only need to ensure that the center shaft of handle end executive device 30 left-hand seat pommel reels 31 is coaxial with the rotating shaft of the handle 40 of coming about, and just can realize driving function.
As shown in Figure 3, Figure 4, drive end reel 19 equals the inverse of the ratio of the diameter of drive end reel 19 and the diameter of handle end reel 31 to the transmitting ratio of handle end reel 31, and the handle 40 of coming about is determined by sailing boat itself to the transmitting ratio of rudder for ship 50, the rudder angle of sailing boat can calculate by the anglec of rotation of drive end reel 19, and the present invention can realize the control of rudder angle.
As shown in Figure 3, the pulley system that power drive 20 is made up of the first relaying pulley 22, the second relaying pulley 23, the 3rd relaying pulley 24, the 4th relaying pulley 25 and driving rope 21.Pulley system is flexible motion and power delivery system, and concrete form is determined by the relative position between Power Drive Unit 10, handle end executive device 30, hull.Power drive 20 comprises at least two relaying pulleys 22,23, and the number of relaying pulley is not limited to four, need to be according to the concrete form of intermediate transmission part and determining positions.The motion that drive end reel 19 is exported and power are delivered to handle end reel 31 via driving rope 21, then drive the handle 40 of coming about to rotate by handle end reel 31.Drive general nylon rope or the seizing wire selected of rope 21 to make.
As shown in Figure 3, in order to realize the two-way control of rudder angle, the handle 40 of coming about also needs bi-directional drive, so drive the path of rope 21, drive end reel 19, handle end reel 31 and a sealing of at least two the pulley pattern of wants.The path of so-called sealing refers to, or is that driving rope 21 is end to end ropes; Be to drive rope 21 to be formed by two ropes, but two ropes are all one end is fixed on drive end reel 19 and the other end is fixed on handle end reel 31, forms an end to end path.In order to prevent driving rope 21 to skid on drive end reel 19 and handle end reel 31, drive the each circle of rope 21 palpus coiling drive end reels 19 and handle end reel 31 more than half; In addition, in order to prevent driving rope 21 to depart from the groove of each relaying pulley, must ensure to drive the motion path of rope 21 in the longitudinal plane of symmetry of pulley groove.Each relaying pulley is for limiting and guiding the path that drives rope, and each relaying pulley can be installed on Power Drive Unit 10 or hull.
The present invention's installation property is good, and Power Drive Unit and handle end executive device locus are independent, power and motion between transmitting by flexible rope.Specifically, handle end executive device is positioned at the front portion of driver train, thereby rotates for controlling the handle of coming about the angle of controlling rudder for ship, and handle end executive device weight is lighter, can be fixed on easily on handle.Power Drive Unit is positioned at the rear portion of driver train, be used to handle end executive device for power, Power Drive Unit weight is heavier, can be installed on any applicable position of sailing boat (as cabin), motion and power are propagated by rope and relaying pulley, have avoided limiting its installability because of the volume and weight of whole device.Ground is installed firmly for drive end, also drive end can be fixed on the structure member (as metal whippletree) of sailing boat.
Applicability is strong, is applicable to sailing boat and difform handle that different structure is arranged.Handle end executive device need only ensure that handle end reel is approximate coaxial with the turning cylinder of the handle of coming about, the motion of handle end reel can be passed to the handle of coming about, and irrelevant with the concrete dimensional structure of handle and the concrete installation method (as clamped or screw threads for fastening) of operating part.In addition, sailing boat structure itself is because the difference of different vendor or different model has huge difference, and can not add installation position in the punching of hull of yacht optional position, so the relative position of handle and whole actuating device changes because of different structure size.And cord drive itself can highly adapt to different dimensional parameters, unlike other driver trains (as connecting rod mechanism, cam mechanism, gear mechanism, band wheel mechanism, chain-wheel mechanism etc.) to actuating device and very sensitive by the relative space position size between driven object.Can realize thus remote, the motion of drive end and power are transferred to the handle of coming about high-adaptability.
Protective is good.All with electrical component in Power Drive Unit, as drive motor, coder, control circuit etc. are all enclosed within water-proff packing box, the bracing or strutting arrangement of retarder, coupler, detecting device and support drive end output shaft in Power Drive Unit is enclosed within water-proff packing box equally, prevents marine corrosion.Water-proff packing box is realized static seal by use O shape circle or rubber cradle, and by using mechanical sealing member and oil sealing to realize the sealing of turning cylinder.Drive end reel in Power Drive Unit, running part are all, operating part is all pure physical construction, even if be exposed in environment, also can tolerate the invasion and attack of wave, sea wind, sunlight, sleet outward.
Principle of work of the present invention:
The driving signal that control circuit produces is to control drive motor 12, drive motor 12 output shafts drive worm type of reduction gearing 13, worm type of reduction gearing 13 drives coupler 15, thereby driving drive end output shaft 17 to rotate rotates drive end reel 19, this drive end reel 19 pulls and drives rope 21, drive rope 21 through four relaying pulley 22-25, motion and power to be delivered to and to be fixed on the handle end reel 31 of coming about on handle 40, handle end reel 31 drives the handle 40 of coming about, and then controls the rudder angle of sailing boat.
Although the present invention is disclosed by above embodiment, protection scope of the present invention is not limited to this, is not departing under the condition of the present invention's design, and distortion, the replacement etc. that above each member is done all will fall within the scope of claim of the present invention.
Claims (10)
1. the come about driver train of handle, is characterized in that, this driver train comprises:
Handle end executive device (30), this handle end executive device (30) is positioned at the anterior of described driver train and is fixedly mounted on the handle of coming about (40) upper, for come about described in controlling handle (40) thus rotate the angle of controlling rudder for ship;
Power Drive Unit (10), this Power Drive Unit (10) is positioned at the rear portion of described driver train, is used to described handle end executive device (30) that power is provided;
Power drive (20), this power drive (20) is positioned at the middle part of described driver train, it connects described Power Drive Unit (10) and handle end executive device (30), is used to described handle end executive device (30) transferring power.
2. come about the as claimed in claim 1 driver train of handle, it is characterized in that, described Power Drive Unit (10) comprises seal box (11), be arranged on the motor (12) in described seal box (11), retarder (13), coupler (15), detecting device (16), drive end output shaft (17), bracing or strutting arrangement (18), be arranged on the outer drive end reel (19) of described seal box (11), described motor (12) provides power for described retarder (13), described retarder (13) is provided with reducer output shaft (14), this reducer output shaft (14) one end connects described coupler (15), its other end connects described detecting device (16), described coupler (15) connects described drive end output shaft (17), this drive end output shaft (17) other end stretches out described seal box (11) outside and is fixedly connected with described drive end reel (19), described bracing or strutting arrangement (18) is arranged on described coupler (15) one sides, for supporting the drive end output shaft (17) that is positioned at described seal box (11).
3. come about the as claimed in claim 2 driver train of handle, it is characterized in that, described detecting device (16) comprises rotary encoder (161) and the mount pad (162) of described rotary encoder (161) is installed, and the center shaft of described rotary encoder (161) and described reducer output shaft (14) are on same axis.
4. come about the as claimed in claim 2 driver train of handle, is characterized in that, described retarder (13) is worm type of reduction gearing.
5. come about the as claimed in claim 2 driver train of handle, it is characterized in that, described bracing or strutting arrangement (18) comprises the first backup bearing (181), the second backup bearing (182), bearing seat (183) and lining (184), described drive end output shaft (17) is arranged on described bearing seat (183) by described the first backup bearing (181) and the second backup bearing (182), described lining (184) is set in described drive end output shaft (17) and goes up and be arranged between described the second backup bearing (182) and described coupler (15).
6. come about the as claimed in claim 1 driver train of handle, it is characterized in that, described handle end executive device (30) comprises handle end reel (31), handle gripping piece (32) and mounting screw (33), and described handle end reel (31) is fixing by described mounting screw (33) with handle gripping piece (32).
7. come about the as claimed in claim 6 driver train of handle, it is characterized in that, the handle (40) of coming about described in described handle gripping piece (32) is fixed by screws in is upper, the center shaft of described handle end reel (31) with described in come about the rotating shaft of handle (40) on same axis.
8. come about the as claimed in claim 1 driver train of handle, it is characterized in that, described power drive (20) is for rope (21) and be arranged on the pulley system that at least two pulleys on described Power Drive Unit (10) or hull form, described Power Drive Unit (10) comprises drive end reel (19), described handle end executive device (30) comprises handle end reel (31), and described rope (21), at least two pulleys, drive end reel (19) and handle end reels (31) form closed path.
9. come about the as claimed in claim 8 driver train of handle, is characterized in that, described rope (21) is nylon rope or seizing wire.
10. come about the as claimed in claim 8 driver train of handle, is characterized in that, described rope (21) reel described drive end reel (19) and at least one circle of handle end reel (31) half.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410216900.XA CN104002955B (en) | 2014-05-21 | 2014-05-21 | Driving mechanism for tiller handle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410216900.XA CN104002955B (en) | 2014-05-21 | 2014-05-21 | Driving mechanism for tiller handle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104002955A true CN104002955A (en) | 2014-08-27 |
| CN104002955B CN104002955B (en) | 2017-05-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410216900.XA Active CN104002955B (en) | 2014-05-21 | 2014-05-21 | Driving mechanism for tiller handle |
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| Country | Link |
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| CN (1) | CN104002955B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB190220383A (en) * | 1902-09-18 | 1903-08-20 | Herbert Percy Saunderson | Improvements in Shallow Draft Boats or Launches, to be Propelled by Steam, Oil, Petrol Spirit, or by any other Power. |
| GB190806392A (en) * | 1908-03-23 | 1908-11-26 | Percy Milner Lee | Improved Steering Gear and Actuating Appliance for Reversing Apparatus in Motor and other Boats. |
| JPS58170694A (en) * | 1982-04-01 | 1983-10-07 | Kure Dia:Kk | Tiller with vertically movable shaft |
| CN202783756U (en) * | 2012-06-25 | 2013-03-13 | 江南光 | Ship heading control device |
-
2014
- 2014-05-21 CN CN201410216900.XA patent/CN104002955B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB190220383A (en) * | 1902-09-18 | 1903-08-20 | Herbert Percy Saunderson | Improvements in Shallow Draft Boats or Launches, to be Propelled by Steam, Oil, Petrol Spirit, or by any other Power. |
| GB190806392A (en) * | 1908-03-23 | 1908-11-26 | Percy Milner Lee | Improved Steering Gear and Actuating Appliance for Reversing Apparatus in Motor and other Boats. |
| JPS58170694A (en) * | 1982-04-01 | 1983-10-07 | Kure Dia:Kk | Tiller with vertically movable shaft |
| CN202783756U (en) * | 2012-06-25 | 2013-03-13 | 江南光 | Ship heading control device |
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| Publication number | Publication date |
|---|---|
| CN104002955B (en) | 2017-05-17 |
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Effective date of registration: 20160414 Address after: 518000 Guangdong province Shenzhen City Guangming Street million Daiheng high tech Industrial Park No. 5 Building 5 floor Applicant after: Shenzhen City Zhongzhi Kechuang Robot Co., Ltd. Address before: 518000 Guangdong city of Shenzhen province Nanshan District Hing Road two No. 6 Wuhan University B815 Shenzhen research building room Applicant before: Wisdom city system service (China) company limited |
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Address after: 518000 Guangdong province Shenzhen City Guangming Street million Daiheng high tech Industrial Park No. 5 Building 5 floor Applicant after: CIIC Kechuang robot Co Ltd Address before: 518000 Guangdong province Shenzhen City Guangming Street million Daiheng high tech Industrial Park No. 5 Building 5 floor Applicant before: Shenzhen City Zhongzhi Kechuang Robot Co., Ltd. |
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