CN104084724B - The method of visual micro spot welding robot and automatic grinding spot welding head thereof - Google Patents
The method of visual micro spot welding robot and automatic grinding spot welding head thereof Download PDFInfo
- Publication number
- CN104084724B CN104084724B CN201410313621.5A CN201410313621A CN104084724B CN 104084724 B CN104084724 B CN 104084724B CN 201410313621 A CN201410313621 A CN 201410313621A CN 104084724 B CN104084724 B CN 104084724B
- Authority
- CN
- China
- Prior art keywords
- spot welding
- welding head
- reconditioning
- automatic grinding
- switch sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003466 welding Methods 0.000 title claims abstract description 128
- 230000000007 visual effect Effects 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007423 decrease Effects 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000005476 soldering Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 2
- 239000002184 metal Substances 0.000 description 6
- 229910000679 solder Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/3063—Electrode maintenance, e.g. cleaning, grinding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of method of visual micro spot welding robot and automatic grinding spot welding head thereof, visual micro spot welding robot comprises head, support board, motion platform and spot welding head, spot welding head is connected with head, support board is driven by motion platform, also comprise automatic grinding spot welding head system, described automatic grinding spot welding head system comprises reconditioning sheet and switch sensor, and reconditioning sheet is arranged on described support board, and switch sensor is arranged on described head; Whether the break-make of switch sensor, to spot welding head with to repair blade contact relevant.The micro-spot welding robot of view-based access control model arranges automatic grinding spot welding head system, improves utilization rate of equipment and installations, reduces equipment cost; Automatic grinding spot welding head system solves visual micro spot welding robot cannot the difficult problem of automatic grinding, and improve the life-span of spot welding head, thus reduce use cost, reconditioning is respond well.
Description
Technical field
The present invention relates to a kind of method of visual micro spot welding robot and automatic grinding spot welding head thereof.
Background technology
How long or weld reconditioning spot welding head after how many solder joints spot welding head in current visual micro spot welding robot all relies on reconditioning manually, does not realize intelligent completely, also have no idea standardization.The clear-cut just not reconditioning spot welding head of the factory even had, this just causes general very low phenomenon in the service life of spot welding head, adds cost to a great extent.This annoyings the manufacturer of electron trade always.
Summary of the invention
The technical problem to be solved in the present invention is: in order to cannot the deficiency of automatic grinding spot welding head in prior art, the invention provides a kind of method of visual micro spot welding robot and automatic grinding spot welding head thereof, visual micro spot welding robot is with automatic grinding spot welding head system, solving visual micro spot welding robot cannot the difficult problem of automatic grinding, and reconditioning is respond well.
The technical solution adopted for the present invention to solve the technical problems is: a kind of visual micro spot welding robot, comprise head, support board, motion platform and spot welding head, described spot welding head is connected with described head, described support board is driven by motion platform, also comprise automatic grinding spot welding head system, described automatic grinding spot welding head system comprises reconditioning sheet and switch sensor, and described reconditioning sheet is arranged on described support board, and described switch sensor is arranged on described head; Whether the break-make of described switch sensor, to described spot welding head with described to repair blade contact relevant.
Concrete, a kind of embodiment is, described head comprises welding head holder, guide pillar, geometrical clamp and axis, described spot welding head is fixed on welding head holder, described welding head holder is connected on guide pillar, described guide pillar is connected by described geometrical clamp with axis, and geometrical clamp is connected with axis elasticity, and geometrical clamp is fixedly connected with guide pillar; Switch sensor is fixed on axis, and described switch sensor is the mechanical switch sensor with spring leaf, described geometrical clamp is fixed with a briquetting, and free end and the described briquetting of the spring leaf of described switch sensor are oppositely arranged; The break-make of described switch sensor is relevant to the contact relation of the spring leaf on switch sensor and briquetting., there are four kinds of different combined situation from the position relationship between its spring leaf and briquetting, contact relation in the on off operating mode of switch sensor.
Spring leaf on switch sensor and between briquetting exist two kinds of position relationships: the free end of the spring leaf of described switch sensor is arranged on the lower end of described briquetting, or the free end of the spring leaf of described switch sensor is arranged on the upper end of described briquetting.
The on off operating mode of switch sensor can be following two kinds of situations with the contact relation of the spring leaf on switch sensor and briquetting:
A, when spot welding head does not contact with reconditioning sheet, the spring leaf on described sensor and briquetting are in contact condition always, and switch sensor is normally open; Spot welding head with repair blade contact after, the spring leaf on sensor is separated with briquetting, switch sensor close.
B, when spot welding head does not contact with reconditioning sheet, the spring leaf on described sensor and briquetting are in released state always, and switch sensor is normally open; Spot welding head with repair blade contact after, the spring leaf on sensor contacts with briquetting, and switch sensor is closed.
Described reconditioning sheet and the parallel or substantially parallel setting of described support board.Now, the blade of reconditioning sheet, perpendicular to spot welding head, is conducive to the carrying out of reconditioning.
In order to not affect the normal use of support board, described reconditioning sheet is arranged on a lateral edges of described support board.
Also comprise gauge tap and control circuit, described gauge tap controls the opening and closing of reconditioning, and described control circuit controls the motion of described motion platform.
A method for automatic grinding spot welding head, adopts visual micro spot welding robot of the present invention, comprises the following steps:
Whether interval or the Non-follow control of a, artificial setting beginning automatic grinding start automatic grinding;
B, automatic grinding start:
1. motion platform drives support board motion, makes reconditioning sheet move to the below of spot welding head;
2. spot welding head declines, and after spot welding head encounters reconditioning sheet, reconditioning sheet stops spot welding head to continue to decline, and described switch sensor generation break-make change stops driving described spot welding head to decline;
3. spot welding head starts reconditioning according to projected path on reconditioning sheet, and spot welding head runs once or repeatedly, completes reconditioning on reconditioning sheet.
For the embodiment adopted with the mechanical switch sensor of spring leaf, step 2. in, spot welding head declines, after spot welding head encounters reconditioning sheet, reconditioning sheet stops spot welding head to continue to decline, and axis and geometrical clamp generation relative displacement, make the contact relation of spring leaf and briquetting change, switch sensor generation break-make changes, and stops driving described spot welding head to decline.
In order to prevent spot welding head from pressing reconditioning sheet tension, spot failure soldering tip, after the change of switch sensor generation break-make, in described, axially lift a segment distance.
Step 3. in, described reconditioning track can be multiple figure, such as line segment, rectangle or triangle.
In order to avoid a local reconditioning only at reconditioning sheet, the reconditioning track of next time moves a segment distance relative to this reconditioning track.
As preferably, reconditioning track this reconditioning trajectory-offset 1mm relatively of next time.
In order to not affect the normal operation of visual micro spot welding robot, also comprising step 4., automatically reseting after reconditioning is complete.
The invention has the beneficial effects as follows, the micro-spot welding robot of view-based access control model arranges automatic grinding spot welding head system, improves utilization rate of equipment and installations, reduces equipment cost; Automatic grinding spot welding head system solves visual micro spot welding robot cannot the difficult problem of automatic grinding, and improve the life-span of spot welding head, thus reduce use cost, reconditioning is respond well.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the structure chart of head and switch sensor relation.
Fig. 2 is switch sensor closure state structure chart.
Fig. 3 is switch sensor off-state structure chart.
The top view of the automatic Regrinding System part of Tu4Shi visual micro spot welding robot.
The front view of the automatic Regrinding System part of Tu5Shi visual micro spot welding robot.
The right view of the automatic Regrinding System part of Tu6Shi visual micro spot welding robot.
The stereogram of the automatic Regrinding System part of Tu7Shi visual micro spot welding robot.
Wherein: 1, reconditioning sheet, 2, spot welding head, 3, motion platform, 4, head, 5, support board, 6, switch sensor, 7, welding head holder, 8, guide pillar, 9, geometrical clamp, 10, spring leaf, 11, briquetting, 12, axis.
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, only basic structure of the present invention are described in a schematic way, and therefore it only shows the formation relevant with the present invention.
As shown in Fig. 1 ~ 7, a kind of visual micro spot welding robot of the present invention, comprise head 4, support board 5, motion platform 3, spot welding head 2 and automatic grinding spot welding head system, described spot welding head 2 is connected with described head 4, described support board 5 is driven by motion platform 3, and the motion platform 3 in the present embodiment is XY axle motion platform; Automatic grinding spot welding head system comprises reconditioning sheet 1 and switch sensor 6, and described reconditioning sheet 1 is arranged on a lateral edges of described support board 5, and reconditioning sheet 1 and support board 5 be arranged in parallel.Head 4 comprises welding head holder 7, guide pillar 8, geometrical clamp 9 and axis 12, described spot welding head 2 is fixed on welding head holder 7, described welding head holder 7 is connected on guide pillar 8, described guide pillar 8 is connected by described geometrical clamp 9 with axis 12, wherein, geometrical clamp 9 is connected with axis 12 elasticity, and geometrical clamp 9 is fixedly connected with spot welding head 2 with guide pillar 8, welding head holder 7.Described switch sensor 6 is microswitch sensor, is fixed on axis 12; Described switch sensor 6 is the mechanical switch sensor with spring leaf 10.Described geometrical clamp 9 is fixed with a briquetting 11, free end and the described briquetting 11 of the spring leaf 10 of described switch sensor 6 are oppositely arranged, and the free end of the spring leaf 10 of switch sensor 6 is arranged on the lower end of described briquetting 11.The free end of the spring leaf 10 of switch sensor 6 is arranged on the lower end of briquetting 11, and when spot welding head 2 does not contact with reconditioning sheet 1, the spring leaf 10 on switch sensor 6 is in contact condition with briquetting 11 always, and switch sensor 6 is normally open; After spot welding head 2 contacts with reconditioning sheet 1, the spring leaf 10 on switch sensor 6 is separated with briquetting 11, and switch sensor 6 closes.
Also comprise gauge tap and control circuit, described gauge tap controls the opening and closing of reconditioning, described control electricity
Road controls the motion of described motion platform 3, and described gauge tap is metal keyboard.
The method of the automatic grinding spot welding head of visual micro spot welding robot of the present invention is:
(1) when metal keyboard has button to press, the control circuit be connected to metal keyboard can detect the change of corresponding level, the key assignments of the button that then goes to read to be pressed.The key-value pair of metal keyboard has answered corresponding function, such as, can set manually opened by metal keyboard and close the function of automatic grinding spot welding head, or setting user can run automatic grinding spot welding head after how many solder joints by metal keyboard sets itself.
(2) process of action realization:
1. XY axle motion platform 3 moves, and makes reconditioning sheet 1 move to the below of spot welding head 2;
2. control circuit controls the umber of pulse of each shaft step motor, thus controls the motion of each axle, and spot welding head 2 is declined automatically.
When spot welding head 2 contacts reconditioning sheet 1, due to the resistance of reconditioning sheet 1, spot welding head 2 is forced to stop declining.Now, because geometrical clamp 9 and spot welding head 2 are rigidly connected, geometrical clamp 9 also stops moving downward, and axis 12 and geometrical clamp 9 are that elasticity is connected, therefore, axis 12 also can move downward a bit of distance, makes axis 12 and geometrical clamp 9 that relative displacement occur, the spring leaf 10 of microswitch sensor 6 is separated with briquetting 11, and switch sensor 6 closes.In order to prevent spot welding head 2 from pressing reconditioning sheet 1 tension, spot failure soldering tip 2, after switch sensor 6 is closed, axis 12 also can upwards lift a segment distance, such as 0 ~ 2mm.
Until after reconditioning terminates, control circuit has a settling signal makes axis 12 drive spot welding head 2 to move up.
In the process of reconditioning, the spring leaf 10 of microswitch sensor 6 maintains off-state with briquetting 11 always.A break-make is welded once in pinpoint welding procedure.
3. spot welding head 2 starts reconditioning according to projected path on reconditioning sheet 1, and track can be multiple figure, and as figures such as line segment, rectangle, triangles, spot welding head 2 runs once or repeatedly, automatically resets after reconditioning is complete on reconditioning sheet 1;
4. in order to avoid a local reconditioning only at reconditioning sheet 1, reconditioning track this trajectory-offset 1mm relatively of next time can be set, altogether repeatedly, so circulate.
With above-mentioned according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on description, must determine its technical scope according to right.
Claims (10)
1. a visual micro spot welding robot, comprise head (4), support board (5), motion platform (3) and spot welding head (2), described spot welding head (2) is connected with described head (4), described support board (5) is driven by motion platform (3), it is characterized in that: also comprise automatic grinding spot welding head system, described automatic grinding spot welding head system comprises reconditioning sheet (1) and switch sensor (6), described reconditioning sheet (1) is arranged on described support board (5), described switch sensor (6) is arranged on described head (4), whether the break-make of described switch sensor (6), contact relevant with described spot welding head (2) with described reconditioning sheet (1).
2. visual micro spot welding robot as claimed in claim 1, it is characterized in that: described head (4) comprises welding head holder (7), guide pillar (8), geometrical clamp (9) and axis (12), described spot welding head (2) is fixed on welding head holder (7), described welding head holder (7) is connected on guide pillar (8), described guide pillar (8) is connected by described geometrical clamp (9) with axis (12), geometrical clamp (9) is connected with axis (12) elasticity, and geometrical clamp (9) is fixedly connected with guide pillar (8); Switch sensor (6) is fixed on axis (12), described switch sensor (6) is the mechanical switch sensor with spring leaf (10), described geometrical clamp (9) is fixed with a briquetting (11), free end and the described briquetting (11) of the spring leaf (10) of described switch sensor (6) are oppositely arranged; The break-make of described switch sensor (6) is relevant with the contact relation of briquetting (11) to the spring leaf (10) on switch sensor (6).
3. visual micro spot welding robot as claimed in claim 1, is characterized in that: described reconditioning sheet (1) and described support board (5) parallel or substantially parallel setting.
4. visual micro spot welding robot as claimed in claim 1, is characterized in that: also comprise gauge tap and control circuit, and described gauge tap controls the opening and closing of reconditioning, and described control circuit controls the motion of described motion platform (3).
5. a method for automatic grinding spot welding head, is characterized in that: adopt the visual micro spot welding robot according to any one of claim 1-4, comprise the following steps:
Whether interval or the Non-follow control of a, artificial setting beginning automatic grinding start automatic grinding;
B, automatic grinding start:
1. motion platform (3) drives support board (5) motion, makes reconditioning sheet (1) move to the below of spot welding head (2);
2. drive point soldering tip (2) declines, after spot welding head (2) encounters reconditioning sheet (1), reconditioning sheet (1) stops spot welding head (2) to continue to decline, there is break-make change in described switch sensor (6), stops driving described spot welding head (2) to decline;
3. spot welding head (2) starts reconditioning according to projected path on reconditioning sheet (1), and spot welding head (2) above runs once at reconditioning sheet (1) or repeatedly, completes reconditioning.
6. the method for automatic grinding spot welding head as claimed in claim 5, it is characterized in that: step 2. in, spot welding head (2) declines, after spot welding head (2) encounters reconditioning sheet (1), reconditioning sheet (1) stops spot welding head (2) to continue to decline, there is relative displacement in axis (12) and geometrical clamp (9), spring leaf (10) is changed with the contact relation of briquetting (11), there is break-make change in switch sensor (6), stops driving described spot welding head (2) to decline.
7. the method for automatic grinding spot welding head as claimed in claim 6, is characterized in that: after break-make change occurs switch sensor (6), described axis (12) upwards lifts a segment distance.
8. the method for automatic grinding spot welding head as claimed in claim 5, is characterized in that: step 3. in, described reconditioning track is line segment, rectangle or triangle.
9. the method for automatic grinding spot welding head as claimed in claim 5, is characterized in that: the reconditioning track of next time moves a segment distance relative to this reconditioning track.
10. the method for automatic grinding spot welding head as claimed in claim 9, is characterized in that: reconditioning track this reconditioning trajectory-offset 1mm relatively of next time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410313621.5A CN104084724B (en) | 2014-07-02 | 2014-07-02 | The method of visual micro spot welding robot and automatic grinding spot welding head thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410313621.5A CN104084724B (en) | 2014-07-02 | 2014-07-02 | The method of visual micro spot welding robot and automatic grinding spot welding head thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104084724A CN104084724A (en) | 2014-10-08 |
| CN104084724B true CN104084724B (en) | 2016-03-30 |
Family
ID=51632541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410313621.5A Active CN104084724B (en) | 2014-07-02 | 2014-07-02 | The method of visual micro spot welding robot and automatic grinding spot welding head thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104084724B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6937020B2 (en) | 2017-11-20 | 2021-09-22 | 株式会社キョクトー | Chip shatterproof cover |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2754811Y (en) * | 2004-12-15 | 2006-02-01 | 上海永新彩色显像管股份有限公司 | Welding head sander of explosive-proof point welder |
| CN203156216U (en) * | 2013-02-27 | 2013-08-28 | 姚莉娟 | Intelligent spot welder |
| CN103537847A (en) * | 2013-10-22 | 2014-01-29 | 长城汽车股份有限公司 | Electrode cap grinding device and automatic welding system |
| CN203918280U (en) * | 2014-07-02 | 2014-11-05 | 常州铭赛机器人科技有限公司 | Visual micro spot welding robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61123483A (en) * | 1984-11-19 | 1986-06-11 | Fujitsu Ltd | Spot welding device |
| JPS6261780A (en) * | 1985-09-10 | 1987-03-18 | Fujitsu Ltd | Spot welding equipment |
| JPH0780659A (en) * | 1993-09-10 | 1995-03-28 | Hitachi Ltd | Method and device for grinding spot welding electrode |
-
2014
- 2014-07-02 CN CN201410313621.5A patent/CN104084724B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2754811Y (en) * | 2004-12-15 | 2006-02-01 | 上海永新彩色显像管股份有限公司 | Welding head sander of explosive-proof point welder |
| CN203156216U (en) * | 2013-02-27 | 2013-08-28 | 姚莉娟 | Intelligent spot welder |
| CN103537847A (en) * | 2013-10-22 | 2014-01-29 | 长城汽车股份有限公司 | Electrode cap grinding device and automatic welding system |
| CN203918280U (en) * | 2014-07-02 | 2014-11-05 | 常州铭赛机器人科技有限公司 | Visual micro spot welding robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104084724A (en) | 2014-10-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103144814B (en) | Automatic pressing nameplate equipment and control method thereof | |
| CN104084724B (en) | The method of visual micro spot welding robot and automatic grinding spot welding head thereof | |
| CN206405459U (en) | A kind of metal windshield wiper joint making punch device | |
| CN203918280U (en) | Visual micro spot welding robot | |
| CN204516624U (en) | The indicating device of three position automatic transfer switching electric appliances | |
| CN204545639U (en) | Automatic spot head | |
| CN203109428U (en) | Welding tongs | |
| CN105170405B (en) | Point gum machine for PCB | |
| CN206405551U (en) | Portable electric spark puncher | |
| CN204784957U (en) | A stop gear for keeping straight on journey electric actuator | |
| CN108296313A (en) | A kind of device for restoring automobile metal plate recess | |
| CN2728700Y (en) | Automatic centring regulating device for storage tank welding | |
| CN103474612A (en) | Pole ear encapsulation device | |
| CN209598402U (en) | A kind of butt-joint equipment | |
| CN113070690A (en) | Automatic change five metals tubular product burnishing device for welding point processing | |
| CN112866824A (en) | Higher intelligent cloud platform fixing device for router of practicality | |
| CN208707004U (en) | A kind of lossless electronic charging unit | |
| CN205587801U (en) | Energy -efficient spot welder | |
| CN220278514U (en) | Semi-automatic laser welding equipment | |
| CN204189377U (en) | A kind of teaching bonding machine | |
| CN109326435A (en) | A kind of transformer core automatic overlapping and assembling production line positioning and recognizing device | |
| CN108246836A (en) | A kind of plates of automobile recess restoring device | |
| CN208929613U (en) | A kind of offline automatic rotating disk tooling of finished product | |
| CN2864270Y (en) | On-off apparatus for liquid level autonomous pipeline | |
| CN203725975U (en) | Feeding device for spot-welding electrode life test |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C53 | Correction of patent for invention or patent application | ||
| CB02 | Change of applicant information |
Address after: Wujin District of Jiangsu city in Changzhou province 213164 Chang Wu Road No. 18, Changzhou science city Harbin mingseal science and Technology Building Applicant after: Changzhou Science and Technology Co., Ltd. of Ming Sai robot Address before: 213164, Jiangsu Changzhou science and Technology City, Changzhou City, Harbin Science and technology, Ming Ming race building Applicant before: Changzhou Mingseal Robotic Technology Co., Ltd. |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: APPLICANT; FROM: CHANGZHOU MINGSEAL ROBOTIC TECHNOLOGY CO., LTD. TO: CHANGZHOU MINGSEAL ROBOT TECHNOLOGY CO., LTD. |
|
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Vision micro spot welding robot and automatic spot welding head polishing method thereof Effective date of registration: 20170322 Granted publication date: 20160330 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd Pledgor: Changzhou Science and Technology Co., Ltd. of Ming Sai robot Registration number: 2017990000222 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20180411 Granted publication date: 20160330 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd Pledgor: Changzhou Science and Technology Co., Ltd. of Ming Sai robot Registration number: 2017990000222 |