CN104786206B - Compliant mechanism precisely locating platform - Google Patents
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- CN104786206B CN104786206B CN201510164404.9A CN201510164404A CN104786206B CN 104786206 B CN104786206 B CN 104786206B CN 201510164404 A CN201510164404 A CN 201510164404A CN 104786206 B CN104786206 B CN 104786206B
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Abstract
The present invention relates to the technical field of precisely locating platform, disclose compliant mechanism precisely locating platform, including micro-grabbe, compliant mechanism and drive mechanism；Micro-grabbe includes right clamping limb and left clamping limb, has clamping gap, have interval region between right clamping limb bottom and left clamping limb bottom between right clamping limb and left clamping limb, the unsettled layout in lower end of left clamping limb；Compliant mechanism inner side with the inner side of right clamping limb and left clamping limb respectively is connected；Drive mechanism includes that the Pneumatic top bar being respectively used to drive compliant mechanism and piezoelectric ceramics, Pneumatic top bar and piezoelectric ceramics press on compliant mechanism respectively.Compliant mechanism precisely locating platform realizes Pneumatic top bar and two kinds of different drivings inputs of piezoelectric ceramics drive compliant mechanism, by the transmission of compliant mechanism, realize micro-grabbe to the crawl of object or release, make compliant mechanism precisely locating platform applied widely, the utilization of piezoelectric ceramics can be reduced, be substantially reduced cost.
Description
Technical field
The present invention relates to the technical field of precisely locating platform, particularly relate to compliant mechanism precisely locating platform.
Background technology
Along with microscopic fields research is goed deep into by people, towards the application fast development of micro/nano level object.?
The every field such as the assembling of miniature MEMS part, fiber alignment and biological cell operation are in the urgent need to completing
The micro-manipulating robot system of subtle operation, micro-grabbe is the key components of micro-manipulating robot,
The gripping to small items or release can be completed with higher precision.
Flexible hinge has without friction, gapless, autokinesis advantages of higher, and therefore, general employing is soft
Property hinge composition compliant mechanism as the transmission mechanism of precise motion.
Compliant mechanism precisely locating platform includes drive mechanism, compliant mechanism and micro-grabbe, drives machine
Structure on compliant mechanism, utilizes the transmission of compliant mechanism by applying driving force, it is achieved micro-grabbe captures
Or release object.
In prior art, drive mechanism typically uses single driving input mode, and typically utilizes piezoelectric ceramics to make
For driving source, so, the type of drive of compliant mechanism precisely locating platform is the most single, its scope of application mistake
Little, it is difficult to be useful in various industrial applicability, and piezoelectric ceramics price is higher, is greatly increased cost.
Summary of the invention
It is an object of the invention to provide compliant mechanism precisely locating platform, it is intended to solve in prior art, soft
Use along mechanism precisely locating platform and single drive input mode, have that the scope of application is too small, be difficult to be applicable to each
Kind of industrial applicability and the high problem of cost.
The present invention is achieved in that compliant mechanism precisely locating platform, including micro-grabbe, submissive machine
Structure and drive mechanism；Described micro-grabbe includes right clamping limb and left clamping limb, described right clamping limb
There is between top and left clamping limb top the clamping gap for clamping object, described right clamping limb bottom with
There is between left clamping limb bottom interval region, and the unsettled layout in lower end of described left clamping limb；
Described compliant mechanism is located at described interval region, and described compliant mechanism respectively with described right clamping limb
The inner side of inner side and left clamping limb connects；
Described drive mechanism includes Pneumatic top bar and the piezoelectric ceramics being respectively used to drive described compliant mechanism,
Described Pneumatic top bar and piezoelectric ceramics press on described compliant mechanism respectively.
Further, in being mutually perpendicular to shape layout between described Pneumatic top bar and described piezoelectric ceramics.
Further, the inner side on described right clamping limb top is provided with right arcuate groove, described left clamping limb top
Inner side is provided with left arcuate groove, and described clamping gap is between described right arcuate groove and left arcuate groove and described
Left arcuate groove and right arcuate groove, just to layout, are formed for clamping object and the arcuate socket of middle part disconnection.
Further, the top of described left clamping limb is formed with clearance gap, and described upper clearance gap runs through described
The side of left clamping limb and run through the upper surface of described left clamping limb, and described upper clearance gap and described clamping
Gap is arranged in parallel.
Further, the top of described left clamping limb is formed with lower clearance gap, and described lower clearance gap runs through described
The side of left clamping limb and run through the lower surface on described left clamping limb top, described lower clearance gap and described folder
Hold gap to be arranged in parallel, and described lower clearance gap and described upper clearance gap in the most just to and arrange separately.
Further, the inner side on described right clamping limb top and the inner side on left clamping limb top are respectively formed with
The breach arranged in opposite directions, described breach is positioned at the lower section in described clamping gap.
Further, described compliant mechanism include the first shaft flexible hinge, the second shaft flexible hinge and
Blade profile flexible hinge, described first shaft flexible hinge, the second shaft flexible hinge and blade profile flexible hinge
Respectively in lateral arrangement；The two ends of described first shaft flexible hinge and the two ends of blade profile flexible hinge are respectively
It is connected to bottom and the bottom of left clamping limb of described right clamping limb；Described second shaft flexible hinge interior
End is connected to the right edge of described blade profile flexible hinge, and described piezoelectric ceramics is pressed on described second shaft flexible
The outer end of hinge.
Further, described blade profile flexible hinge is roundabout bending, is formed with multiple being spaced from each other cloth
The spaced apart regions put.
Further, at least one described spaced apart regions is closed annular shape.
Further, separating of the side that described blade profile flexible hinge abuts with described second shaft flexible hinge
Region is closed annular shape.
Compared with prior art, in the compliant mechanism precisely locating platform that the present invention provides, right clamping limb upper
Forming clamping gap between the top of portion and left clamping limb, this clamping gap may be used for clamping object, Zuo Jia
The unsettled layout in lower end of gripping arm, utilizes Piezoelectric Ceramic or Pneumatic top bar to drive, or piezoelectric ceramics and gas
Dynamic push rod simultaneously drives compliant mechanism, transfers a driving force to left clamping limb and right clamping limb by compliant mechanism
On, it is achieved move relatively or contrarily between right clamping limb and left clamping limb, namely realize micro-grabbe pair
The crawl of object or release；Compliant mechanism precisely locating platform realizes Pneumatic top bar and two kinds of differences of piezoelectric ceramics
Driving input, so so that the variation of the type of drive of compliant mechanism precisely locating platform, the scope of application
Extensively, can be used in the industrial applicability of various sampling pneumatic actuation input, and it is possible to reduce piezoelectricity pottery
The utilization of porcelain, is substantially reduced cost.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view one of the compliant mechanism precisely locating platform that the embodiment of the present invention one provides；
Fig. 2 is the schematic perspective view two of the compliant mechanism precisely locating platform that the embodiment of the present invention one provides；
Fig. 3 is the schematic perspective view of the compliant mechanism precisely locating platform that the embodiment of the present invention two provides；
Fig. 4 is the schematic perspective view of the compliant mechanism precisely locating platform that the embodiment of the present invention three provides；
Fig. 5 is the schematic perspective view of the compliant mechanism precisely locating platform that the embodiment of the present invention four provides；
Fig. 6 is the schematic perspective view of the compliant mechanism precisely locating platform that the embodiment of the present invention one provides.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and reality
Execute example, the present invention is further elaborated.Only should be appreciated that specific embodiment described herein
Only in order to explain the present invention, it is not intended to limit the present invention.
Below in conjunction with concrete accompanying drawing, the realization of the present invention is described in detail.
Referring to figs. 1 through shown in 6, for the preferred embodiment of present invention offer.
Compliant mechanism precisely locating platform includes drive mechanism, micro-grabbe and compliant mechanism, wherein,
Micro-grabbe includes right clamping limb 12 and left clamping limb 11, wherein, right clamping limb 12 and left clamping limb
11 arrange separately, are formed for clamping between top and the top of left clamping limb 11 of right clamping limb 12
The clamping gap 13 of object, is formed with interval between bottom and the bottom of left clamping limb 11 of right clamping limb 12
Region, and the unsettled layout in lower end of left clamping limb 11；Compliant mechanism is formed at right clamping limb 12 and left clamping
In the interval region of arm 11, and it is connected with the inner side of right clamping limb 12 and the inner side of left clamping limb 11 respectively；
Compliant mechanism includes multiple flexible hinge, and compliant mechanism is placed between right clamping limb 12 and left clamping limb 11
In territory, septal area, and it is connected with the inner side of right clamping limb 12 and the inner side of left clamping limb 11 respectively；Drive mechanism
Including piezoelectric ceramics 162 and Pneumatic top bar 161, this piezoelectric ceramics 162 and Pneumatic top bar 161 support respectively
It is connected on compliant mechanism, for providing driving force to compliant mechanism, thus utilizes multiple flexibilities of compliant mechanism
The transmission of hinge, it is achieved relative movement between left clamping limb 11 with right clamping limb 12 or from movement, also
It is exactly to realize the crawl to object or release.
In compliant mechanism precisely locating platform, the top of the top of right clamping limb 12 and left clamping limb 11 it
Between form clamping gap 13, and the unsettled layout in lower end of left clamping limb 11, utilize piezoelectric ceramics 162 to drive
Or Pneumatic top bar 161 drives, or piezoelectric ceramics 162 simultaneously drives compliant mechanism with Pneumatic top bar 161
Flexible hinge, thus transfer a driving force on left clamping limb 11 and right clamping limb 12 by flexible hinge,
Realize moving relatively or contrarily between right clamping limb 12 and left clamping limb 11, namely realize micro-grabbe
Crawl or release to object；Whole compliant mechanism precisely locating platform can individually assemble also and between robot arm
Realize point-to-point accurate operation, it is possible to be arranged on the arm end of robot as actuator and with it for ginseng
According to thing, it is achieved hi-Fix..
The compliant mechanism precisely locating platform of above-mentioned offer, it is possible to achieve Pneumatic top bar 161 and piezoelectric ceramics 162
Two kinds of different drivings inputs, so so that the type of drive variation of compliant mechanism precisely locating platform,
Applied widely, can be used in the industrial applicability of various sampling pneumatic actuation input, and it is possible to subtract
The utilization of few piezoelectric ceramics 162, is substantially reduced cost.
This compliant mechanism precisely locating platform is mainly used in high-end intelligence equipment, it is contemplated that can be on a large scale
Motion carries out the industrial application of precise operation, can be using the higher industrial robot of choice accuracy as grand
Mobile robot, selects work space at the compliant mechanism precisely locating platform of cu μ m level as fine motion machine
People, so, compliant mechanism precisely locating platform can realize micron order even nanometer on a large scale in work space
The precise operation of level.
In the present embodiment, between Pneumatic top bar 161 and piezoelectric ceramics 162, the input of perpendicular shape is arranged, certainly,
Can also arrange in other angle between the two, be not limited to vertical configuration and arrange.
For the ease of the clamping to object, in the present embodiment, the inner side on right clamping limb 12 top and left clamping limb
Above-mentioned clamping gap 13 is formed between the inner side on 11 tops；Further, the inner side on right clamping limb 12 top is recessed
Falling into and be formed with right arcuate groove 123, the inner side depression on left clamping limb 11 top is formed with left arcuate groove 113, right
Arcuate groove 123 and left arcuate groove 113 just to layout, the arcuate socket of breach in the middle part of formation.So, when right folder
Relative movement or when mobile between gripping arm 12 with left clamping limb 11, right arcuate groove 123 and left arcuate groove
Also relative movement or from movement between 113, so, then can utilize right arcuate groove 123 and left arcuate groove
113 pairs of objects clamp, it is simple to the clamping to object, and are easy to the location of object.
Shift under the transmission of compliant mechanism drives to strengthen left clamping limb 11, in the present embodiment, left
The top of clamping limb 11 is formed with clearance gap 111, and on this, clearance gap 111 runs through the side of left clamping limb 11
Limit, and run through the upper surface of left clamping limb 11, on this, clearance gap 111 is parallel with above-mentioned clamping gap 13
Arrange.
Further, it is also formed with lower clearance gap 112 on the top of left clamping limb 11, this lower clearance gap 112
Run through the side of left clamping limb 11, run through the lower end on left clamping limb 11 top, and this lower clearance gap 112 with
Clamping gap 13 is in being arranged in parallel.
Upper clearance gap 111 and lower clearance gap 112 are in the most just to layout, and are spaced from each other layout between the two.
In the present embodiment, right arcuate groove 123 runs through upper end and lower end, the left arcuate groove on right clamping limb 12 top
113 upper end running through left clamping limb 11 and lower ends, in order to realize location, this reality up and down to held object
Executing in example, the top of left clamping limb 11 is provided with located lateral hole 121, and left folder is run through in this located lateral hole 121
The both sides on gripping arm 11 top, and with the left perpendicular layout of arcuate groove 113.Located lateral hole 121 connects and has
Transverse screw, the inner of this transverse screw is positioned at the lower section of left arcuate groove 113, and the inner of transverse screw sets
There is termination, location, the periphery of this termination, location circumferentially curved.
So, after held object is placed in left arcuate groove 113 and right arcuate groove 123, lower end is supported
It is connected on the termination, location that transverse screw is inner, along with the rotation of transverse screw, owing to positioning the periphery of termination
Circumferentially curved, then can adjust held object and move up and down, namely realize held object
Position adjustment.
Being additionally provided with longitudinal register hole 122 in the upper end of right clamping limb 12, right folder is run through in this longitudinal register hole 122
The upper end on gripping arm 12 top and lower end, be equipped with longitudinal screw in this longitudinal register hole 122, so, work as profit
After held object being had good positioning with transverse screw, then longitudinal screw can be utilized to be pressed on transverse screw,
Realize transverse screw is fixed, keep location preferable to held object to fix.
In the present embodiment, the inner side on right clamping limb 12 top and the inner side on left clamping limb 11 top shape respectively
Becoming to have the breach 115 arranged in opposite directions, this breach 115 is positioned at the lower section in clamping gap 13, so, is conducive to
Relative movement between right clamping limb 12 and left clamping limb 11 clamps object or from mobile release object.
Specifically, the breach 115 of right clamping limb 12 runs through the both sides on right clamping limb 12 top and right clamping
The lower end on arm 12 top, accordingly, the breach 115 of left clamping limb 11 runs through left clamping limb 11 top
Both sides and the lower end on left clamping limb 11 top.Or, as other embodiments, the formation knot of breach 115
Structure can also is that other version, the structure being not limited in the present embodiment.
In the present embodiment, multiple flexible hinges of compliant mechanism include the first shaft flexible hinge 152, blade profile
Flexible hinge 151 and the second shaft flexible hinge 153, wherein, the first shaft flexible hinge 152, blade profile
Flexible hinge 151 and the second shaft flexible hinge 153 respectively in lateral arrangement, the first shaft flexible hinge
The two ends of 152 and the two ends of blade profile flexible hinge 151 are connected to the bottom of right clamping limb 12 and left folder
The bottom of gripping arm 11, the inner of the second shaft flexible hinge 153 is connected to the right side of blade profile flexible hinge 151
Limit, the outer end of the second shaft flexible hinge 153 abuts with the drive end of piezoelectric ceramics 162；Pneumatic top bar 161
Drive end be pressed on the lower end of blade profile flexible hinge 151 left side, so, Pneumatic top bar 161 and piezoelectricity
Pottery 162 the most perpendicular shapes are extremely.
When piezoelectric ceramics 162 is energized, dilatation, thus piezoelectric ceramics 162 drives the second shaft flexible hinge
Chain 153 deforms, it is achieved the first order of displacement is amplified；And then, the second shaft flexible hinge 153 drives blade profile
Flexible hinge 151 completes the second layer of displacement and amplifies, and, Pneumatic top bar 161 is by driving blade profile flexible
Hinge 151, and drive the first shaft flexible hinge 152 so that between left clamping limb 11 and right clamping limb 12
Relative movement, it is achieved grasping movement；
Certainly, when needing to realize the release of crawled object, accordingly, remove Pneumatic top bar 161 with
And the driving force of piezoelectric ceramics 162 then may be used.
Referring to figs. 1 through shown in Fig. 5, blade profile flexible hinge 151, in roundabout bending, is formed with multiple
Being spaced from each other the spaced apart regions of layout, in the present embodiment, at least one spaced apart regions is closed annular shape, shape
Become closed hoop spaced apart regions 1151, so, by the opening of spaced apart regions or Guan Bi are arranged, can adjust
The displacement transfer performance of whole blade profile flexible hinge 151, according to different demands, can arrange multi-form
Spaced apart regions；Further, by arranging closed hoop spaced apart regions 1151, so that blade profile flexible hinge 151
Biasing displacement is bigger.
Specifically, the spaced regions of the side that blade profile flexible hinge 151 abuts with the second shaft flexible hinge 153
Territory is closed annular shape, certainly, according to the actual requirements, it is also possible to be the spaced apart regions of other position be Guan Bi
Ring-shaped, depending on concrete visual actual demand.
Shown in reference Fig. 6, or, multiple spaced apart regions of blade profile flexible hinge 151 can also all become out
Choma shape, and it is only restricted in the shape of the present embodiment.
In the present embodiment, right clamping limb 12 bottom is provided with cross through hole, and the drive end of piezoelectric ceramics 162 passes
This cross through hole, is pressed on the second shaft flexible hinge 153.
In the present embodiment, it is circular that the first shaft flexible hinge 152 and the second shaft flexible hinge 153 are angle
Shaft flexible hinge, it includes pars intermedia and two ends head, and the two ends of pars intermedia are connected to two ends
On head；The middle part of pars intermedia is strip, forms vertical bar section, the rounded shape in two ends of pars intermedia, is formed
Fillet section, so, pars intermedia utilizes two fillet sections to be connected with two end head respectively, and, and vertical bar
The outside of section and the tangent layout in outside of fillet section.So, the first shaft flexible hinge 152 and the second twin shaft
Flexible hinge 153 then can offset in multiple directions, namely ensures the skew of multiple degree of freedom, the most partially
Depending on shifting direction can be with the driving direction of drive mechanism.
Referring to figs. 1 through shown in Fig. 3, compliant mechanism precisely locating platform includes supporting seat 10, right in order to realize
The support of piezoelectric ceramics 162 and fixing, in the present embodiment, piezoelectric ceramics 162 is arranged on support seat 10.
Further, in the outer end of piezoelectric ceramics 162, connection has the first fine setting micrometer 17, for different piezoelectric ceramics
162 and the clamping demand of different displacements, the first fine setting micrometer 17 for piezoelectric ceramics 162 is finely adjusted,
Thus realize holding action the most accurately.
Being provided with briquetting 19 on piezoelectric ceramics 162, this briquetting 19 is pressed on piezoelectric ceramics 162, and
Two ends are connected with supporting seat 10 by connector respectively, thus rely on support seat 10 and briquetting 19 phase interworking
Cooperation is used, it is achieved fixing of piezoelectric ceramics 162.
Specifically, with reference to shown in Fig. 1 and Fig. 2, connector is the second fine setting micrometer 181, or, ginseng
According to shown in Fig. 3 to Fig. 5, it is also possible to for connecting bolt 182 etc..
The version supporting seat 10 can be varied, but as long as it can play support piezoelectric ceramics
162 can；Or, with reference to shown in Fig. 6, can also need not arrange briquetting 19 etc. on seat 10 supporting,
Directly utilize support the structure of seat 10 itself piezoelectric ceramics 162 is fixed also can, concrete arranging is visual
Depending on being actually needed.
In the present embodiment, it is to be easy to explanation about left and right, upper and lower description, according to compliant mechanism essence
The concrete placement of close locating platform and different, the location arrangements that is not limited in the present embodiment.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all at this
Any amendment, equivalent and the improvement etc. made within bright spirit and principle, should be included in the present invention
Protection domain within.
Claims (10)
1. compliant mechanism precisely locating platform, it is characterised in that include micro-grabbe, compliant mechanism and
Drive mechanism；Described micro-grabbe includes right clamping limb and left clamping limb, described right clamping limb top with
There is between left clamping limb top the clamping gap for clamping object, described right clamping limb bottom and left clamping
There is between arm bottom interval region, and the unsettled layout in lower end of described left clamping limb；
Described compliant mechanism is located at described interval region, and described compliant mechanism respectively with described right clamping limb
The inner side of inner side and left clamping limb connects；
Described drive mechanism includes Pneumatic top bar and the piezoelectric ceramics being respectively used to drive described compliant mechanism,
Described Pneumatic top bar and piezoelectric ceramics press on described compliant mechanism respectively.
2. compliant mechanism precisely locating platform as claimed in claim 1, it is characterised in that described pneumatic top
In being mutually perpendicular to shape layout between bar and described piezoelectric ceramics.
3. compliant mechanism precisely locating platform as claimed in claim 1, it is characterised in that described right clamping
The inner side on arm top is provided with right arcuate groove, and the inner side on described left clamping limb top is provided with left arcuate groove, described folder
Hold gap between described right arcuate groove and left arcuate groove, and described left arcuate groove with right arcuate groove just to cloth
Put, formed for clamping object and the arcuate socket of middle part disconnection.
4. compliant mechanism precisely locating platform as claimed in claim 1, it is characterised in that described left clamping
The top of arm is formed with clearance gap, and described upper clearance gap runs through the side of described left clamping limb and runs through institute
State the upper surface of left clamping limb, and described upper clearance gap is arranged in parallel with described clamping gap.
5. compliant mechanism precisely locating platform as claimed in claim 4, it is characterised in that described left clamping
The top of arm is formed with lower clearance gap, and described lower clearance gap runs through the side of described left clamping limb and runs through institute
Stating the lower surface on left clamping limb top, described lower clearance gap is arranged in parallel with described clamping gap, and described under
Clearance gap and described upper clearance gap in the most just to and arrange separately.
6. compliant mechanism precisely locating platform as claimed in claim 1, it is characterised in that described right clamping
The inner side on arm top and the inner side on left clamping limb top are respectively formed with the breach arranged in opposite directions, described breach
It is positioned at the lower section in described clamping gap.
7. the compliant mechanism precisely locating platform as described in any one of claim 1 to 6, it is characterised in that
Described compliant mechanism includes the first shaft flexible hinge, the second shaft flexible hinge and blade profile flexible hinge,
Described first shaft flexible hinge, the second shaft flexible hinge and blade profile flexible hinge are respectively in lateral arrangement；
The described two ends of the first shaft flexible hinge and the two ends of blade profile flexible hinge are connected to described right clamping
The bottom of arm and the bottom of left clamping limb；The inner of described second shaft flexible hinge is connected to described blade profile
The right edge of flexible hinge, described piezoelectric ceramics is pressed on the outer end of described second shaft flexible hinge.
8. compliant mechanism precisely locating platform as claimed in claim 7, it is characterised in that described blade profile is soft
Property hinge is roundabout bending, is formed with multiple spaced apart regions being spaced from each other layout.
9. compliant mechanism precisely locating platform as claimed in claim 8, it is characterised in that at least one institute
Stating spaced apart regions is closed annular shape.
10. compliant mechanism precisely locating platform as claimed in claim 9, it is characterised in that described blade profile
Flexible hinge is closed annular shape with the spaced apart regions of the side that described second shaft flexible hinge abuts.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164404.9A CN104786206B (en) | 2015-04-07 | 2015-04-07 | Compliant mechanism precisely locating platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164404.9A CN104786206B (en) | 2015-04-07 | 2015-04-07 | Compliant mechanism precisely locating platform |
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| CN104786206A CN104786206A (en) | 2015-07-22 |
| CN104786206B true CN104786206B (en) | 2016-10-26 |
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| CN111015625A (en) * | 2019-12-31 | 2020-04-17 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Micro gripper with twisting function and control method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19729942A1 (en) * | 1997-07-12 | 1999-01-14 | Schunk Fritz Gmbh | Gripping device |
| CN102501227B (en) * | 2011-12-01 | 2014-01-22 | 哈尔滨工业大学 | Flexible hinge positioning device based on differential motion lever principle |
| CN103331748B (en) * | 2013-06-09 | 2015-01-07 | 北京航空航天大学 | Miniaturized flexible micro clamp based on piezoelectric driving |
| CN204640210U (en) * | 2015-04-07 | 2015-09-16 | 广州番禺职业技术学院 | Compliant mechanism precisely locating platform |
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Effective date of registration: 20210308 Address after: 518000 floor 1-7, labor complex building (Dexin business center), intersection of Bao'an Avenue and Haicheng Road, Bao'an District, Shenzhen City, Guangdong Province (f7-22) Patentee after: SHENZHEN SUNYILG INTELLIGENT EQUIPMENT Co.,Ltd. Address before: No. 1342, Shiliang Road, Panyu District, Guangzhou, Guangdong 511483 Patentee before: GUANGZHOU PANYU POLYTECHNIC |