CN105459115B - A kind of industrial robot - Google Patents
A kind of industrial robot Download PDFInfo
- Publication number
- CN105459115B CN105459115B CN201510948593.9A CN201510948593A CN105459115B CN 105459115 B CN105459115 B CN 105459115B CN 201510948593 A CN201510948593 A CN 201510948593A CN 105459115 B CN105459115 B CN 105459115B
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- 238000012546 transfer Methods 0.000 claims abstract description 72
- 230000008707 rearrangement Effects 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000002776 aggregation Effects 0.000 claims description 2
- 238000004220 aggregation Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000011144 upstream manufacturing Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of industrial robot, including：Pallet, it is divided into first interval and second interval, places the workpiece for needing transfer；First manipulator, it is used for the workpiece transfer on pallet to Transfer pipe；State of section indicating member, it is used to indicate with the presence or absence of the workpiece for allowing to be removed in first interval and second interval, and indicates current just in the unit of pickup；Interval determination unit, according to the switching determining unit and the information of the state of section indicating member, it is determined that entering interval and its operation of rearrangement or transfer.
Description
Technical field
The present invention relates to a kind of robot with manipulator, the especially robot of control machinery hand.
Background technology
With the development of science and technology, robot is more and more must to apply industrial automation production field.Current existing profit
The technique and device that operation is carried out with Industrial Robot Technology have many kinds：Carried out in the production line Deng Shangshi robots of processed goods
The predetermined processing operation for being processed product carried out by people, so as to realize the efficient activity of production line.
In robot, the especially production system of industrial robot has been used, robot is used for the grasping of workpiece, is removed
The operation such as fortune.In the purposes of such robot, workpiece picking up system is used for from being placed in storage box or pallet in a jumble
On state workpiece in carry out each workpiece taking-up, workpiece picking up system is surveyed by with two dimensional measuring instrument or three-dimensional measurement instrument
Each position of workpiece is measured to determine next work treated clamped workpiece and indicate multi-axis robot clamping to be determined
Part.Then, be sent to clamped workpiece on conveyer by multi-axis robot, by each work set along conveyer
Industrial robot in standing etc. performs predetermined work.
In the prior art, most of pipeline machine people use the industrial robot system of so operation.In conventional skill
In art, when the image of the workpiece loaded on based on pallet cannot detect the workpiece to be removed, workpiece or pallet are shaken,
So as to detection allows the workpiece being removed again.But, if repeated detection allows the workpiece being removed to fail, it will increase
The take-off time of workpiece, so as to the conveyer for causing downstream lacks enough workpiece, so that the operating efficiency drop of entirety
It is low.
Used as the improvement of prior art, An Chuan Electric Co., Ltd proposes one kind in the patent of invention of CN102785238B
Industrial robot system, when it has enough workpiece on Transfer pipe, carries out reordering operations, so as to reduce for pallet
Workpiece cannot be allowed to the probability for taking out in pallet, shorten total pick-up time of the workpiece on pallet.But, work as Transfer pipe
When above having enough multi-work pieces, the workpiece in pallet is likely to be the state in that can be removed, and now enters rearrangement not
The number of the workpiece that can be taken out can necessarily be increased；And reordering operations can not necessarily be completely successful, it is possible to after rearrangement due to
Transfer of workpiece etc., causing to belong to originally can take out the workpiece of state and become to take out, and the pick-up time is increased on the contrary.
The content of the invention
The invention provides a kind of industrial robot, the above mentioned problem of prior art is can solve the problem that.
As one aspect of the present invention, there is provided a kind of industrial robot, including：Pallet, it is placed needs transfer
Workpiece；First manipulator, it is used for the workpiece transfer on pallet to Transfer pipe；Transfer pipe, it is used to that work will to be transmitted
Part；Second manipulator, it is used to that workpiece will to be obtained from the downstream of Transfer pipe；Indicating member is reset, it can indicate described the
One manipulator enters rearrangement for the workpiece in pallet；Switching determining unit, it can be based on the poly- of the workpiece on Transfer pipe
Collection degree, determines that the first manipulator performs transfer workpiece or resets the operation of workpiece；It is characterized in that：The pallet includes setting
Dividing plate between being placed in one；The pallet is separated into first interval and second interval by the dividing plate, and upstream is equipped identical
Workpiece places first interval and second interval；During pickup, first manipulator every time only can be from first interval or second
Single interval in interval carries out pickup；During rearrangement, first manipulator only can be for first interval or second interval
Single interval enter rearrangement；State of section indicating member, its be used to indicating in the first interval and second interval whether
In the presence of the workpiece for allowing to be removed, and indicate current just in the unit of pickup；Interval determination unit, determines according to the switching
The information of unit and the state of section indicating member, it is determined that entering interval and its operation of rearrangement or transfer.
Preferably, also including image acquisition unit, described image acquiring unit can obtain first interval or the secondth area
Between image in multiple regions for being divided into regional；Transfer candidate unit, the transfer candidate unit being capable of root
According to the image in the regional, determine in the first interval or second interval next workpiece that can be shifted or
Person is determined in the first interval or second interval in the absence of the workpiece for allowing to be removed；The transfer candidate unit determines knot
Fruit sends the state of section indicating member to.
Preferably, the switching determining unit is based on the number of workpiece on the Transfer pipe, determines that the first manipulator is held
The operation of row transfer workpiece or rearrangement workpiece.
Preferably, the interval determination unit it is determined that reset or transmission it is interval when：1）Interval determination unit is obtained
The information of the switching determining unit, 1.1）When the switching determining unit determines to carry out the operation of transfer workpiece, the interval
Determining unit obtains the information of the state of section indicating member；1.1.1) if current just have permission quilt in the interval of pickup
The workpiece of taking-up, then carry out the transfer work piece operations in the interval；1.1.2) if current just do not exist permission in the interval of pickup
The workpiece being removed, then check in another interval with the presence or absence of permission by the work of pickup；If another interval is deposited
Allowing by the workpiece of pickup, then carrying out the transfer work piece operations in another interval；If another interval is not also deposited
Allowing by the workpiece of pickup, then to enter the operation of rearrangement workpiece for currently interval interval；1.2) when the switching
When determining unit determines the operation into rearrangement workpiece, the interval determination unit obtains the letter of the state of section indicating member
Breath；1.2.1) if current just do not exist the workpiece for allowing to be removed in the interval of pickup, carry out current just in the area of pickup
Between reordering operations；1.2.2) if current just in the interval in the presence of the workpiece for allowing to be removed of pickup, another is checked
Interval is with the presence or absence of the workpiece for allowing to be removed；If another interval is carried out in the absence of the workpiece for allowing to be removed
Another interval reordering operations；If another interval has the workpiece for allowing to be removed, this is not carried out
Reset the operation of workpiece；1.3）According to the state of section reset after workpiece, unit in renewal state of section indicating member
State.
Preferably, the first interval and second interval are respectively provided with weight sensor, can respectively detect described first
The quality of workpiece in interval and second interval；When the workpiece quality of the first interval and second interval is more than specific threshold,
The information of state of section indicating member described in the interval determination unit, when the light interval of wherein workpiece quality is taken in the presence of permission
During the workpiece for going out, the interval determination unit determines that the light interval of the workpiece quality shift the operation of workpiece.
Brief description of the drawings
Fig. 1 is the block diagram of embodiment of the present invention industrial robot system's control structure.
Specific embodiment
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
Other accompanying drawings are obtained with according to these accompanying drawings.
The industrial robot system of the embodiment of the present invention, including：Pallet, it places the workpiece for needing transfer；First machinery
Hand, it is used for the workpiece transfer on pallet to Transfer pipe；Transfer pipe, it is used for conveying work pieces；Second manipulator,
It is used to that workpiece will to be obtained from the downstream of Transfer pipe；Repeat the water operation of workpiece by the system, until all works
Part operation terminates.Wherein, sensor is provided with Transfer pipe, is able to detect that the number of workpiece on Transfer pipe, control system
System can carry out the operation of pallet according to the number of workpiece on Transfer pipe.
Pallet includes the dividing plate between being disposed therein, and pallet is separated into first interval and second interval by it.Upstream is equipped
The workpiece for conveying same shape is distributed in the first interval and second interval.During pickup, the first manipulator only can every time
Pickup is carried out from the single interval in first interval or second interval；During rearrangement, the first manipulator only can be for the firstth area
Between or the single interval of second interval enter rearrangement.Control system can control the first manipulator, be carried out for single interval
Reset or transfer work piece operations.
The control system of robot system of the present invention is as shown in figure 1, robot control system 20 includes the He of communication unit 21
Controller 28.Controller 28 carries out data interaction by communication unit 21 with the sensor 31 being arranged on Transfer pipe 30, together
When by communication unit 21 receive Work piece transfer system 10 on camera shoot first interval and second interval image, pass through
Communication unit 21 indicates the first manipulator to carry out transfer workpiece or resets the operation of workpiece.Wherein, workpiece or rearrangement are shifted
The operation of workpiece can use mode of operation well known in the prior art.
Controller 28 also includes Transfer pipe detection unit 22, switching determining unit 23, interval determination unit 24, interval shape
State indicating member 25, transfer candidate unit 26, image acquisition unit 27.Wherein, Transfer pipe detection unit 22 is from being arranged on
Sensor 31 on Transfer pipe 30 receives the detection information by the workpiece of Transfer pipe 30, and based on detection information inspection
Survey accumulates in the number of the workpiece in the downstream of Transfer pipe 30.Switching determining unit 23, it can be based on the work on Transfer pipe 30
The aggregation extent of part, determines that the first manipulator performs transfer workpiece or resets the operation of workpiece；Switching determining unit 23 is really
Determine result and be sent to interval determination unit 24.
First interval or second interval can be divided into multiple regions by image acquisition unit 27, and obtain each area
Image in domain.Transfer candidate unit 26, the first interval and second interval that can be obtained according to image acquisition unit 27
Image in interior regional, determines that the first interval or second interval are present or in the absence of the workpiece that can be removed；
When the workpiece that first interval or second interval presence can be removed, transfer candidate unit 26 determine first interval or
The next workpiece that can be accessed of second interval；The determination result of transfer candidate unit 26 is sent to state of section and indicates list
Unit 25.Any means known of the prior art can be used, such as CN102785238B determines whether are first interval and second interval
In the presence of the workpiece that can be removed.State of section indicating member 25 receives the determination result of transfer candidate unit 26, while its
Also indicate current just in the unit information of pickup.
Interval determination unit 24 receives the determination information of switching determining unit 23 and state of section indicating member 25, makes
Following operation：1）Interval determination unit 24 obtains the information of switching determining unit 23,1.1）When switching determining unit 23 determine into
The operation of row transfer workpiece, interval determination unit 24 obtains the information of state of section indicating member 25；1.1.1) if currently just
In the interval in the presence of the workpiece for allowing to be removed of pickup, then the transfer work piece operations in the interval are carried out；1.1.2) if currently just
Do not exist the workpiece for allowing to be removed in the interval of pickup, then check in another interval with the presence or absence of permission by the work of pickup
Make；If another interval is present allowed by the workpiece of pickup, the transfer work piece operations in another interval are carried out；Such as
Really rearrangement workpiece is then entered in another interval also in the absence of permission by the workpiece of pickup for currently interval interval
Operation；1.2) when switching determining unit 23 and determining the operation into rearrangement workpiece, interval determination unit 24 obtains state of section
The information of indicating member 25；1.2.1) if current just do not exist the workpiece for allowing to be removed in the interval of pickup, the trade is entered
It is preceding just in the interval reordering operations of pickup；1.2.2) if current just in the interval in the presence of the workpiece for allowing to be removed of pickup,
Then check another interval with the presence or absence of the workpiece for allowing to be removed；If another interval does not exist to allow to be removed
Workpiece, then carry out another interval reordering operations；If there is the workpiece for allowing to be removed in another interval,
This operation for resetting workpiece is not carried out then；1.3）According to the state of section reset after workpiece, state of section indicating member is updated
The state of middle unit.
By the setting of above-mentioned technical proposal of the present invention, the workpiece on Transfer pipe reaches threshold value, but currently carries out
When need not enter the operation of rearrangement work in the operating range for shifting workpiece, the weight of workpiece in another interval can be carried out
Row, so as to avoid the loss of overall time caused by unnecessary rearrangement.
Preferably, in order to avoid always carrying out pickup in single interval, cause the single interval workpiece number very few and need
Overlong time when resetting, can be respectively provided with weight sensor in first interval and second interval, can respectively detect described
The quality of workpiece in first interval and second interval；When the workpiece quality of the first interval and second interval is more than specific threshold
When, the information of state of section indicating member described in the interval determination unit is allowed when the light interval of wherein workpiece quality is present
During the workpiece being removed, the interval determination unit determines that the light interval of the workpiece quality shift the operation of workpiece.
The control method of the robot of the embodiment of the present invention：Comprise the following steps：1）Upstream equipment puts identical workpiece
Tray first interval and second interval；2）Image acquisition unit is obtained in first interval and second interval regional
Image；3）Transfer candidate unit determines next in the first interval or second interval according to the image in regional
The workpiece that can be shifted is determined in the first interval or second interval in the absence of the workpiece for allowing to be removed；Will be true
Determine result and send the state of section indicating member to；4）Interval determination unit is according to state of section indicating member information：If
In the presence of the interval that can carry out workpiece transfer, the transfer of workpiece is carried out by the first manipulator, into step 5）；If interval shape
State indicating member information indicates there is currently no the interval that can carry out workpiece transfer, then interval determination unit indicates the first machinery
After hand carries out the rearrangement of first interval and second interval, repeat step 1-4；5）The number of workpiece on monitor in real time Transfer pipe：
5.1）When the number of workpiece on the Transfer pipe is less than specific threshold, switching determining unit determines the behaviour for carrying out shifting workpiece
Make, into step 4；5.2) when the number of workpiece on the Transfer pipe is more than specific threshold, the switching determining unit determines
Enter the operation of rearrangement workpiece, the interval determination unit obtains the information of the state of section indicating member；5.2.1) if
It is current just not exist the workpiece for allowing to be removed in the interval of pickup, then carry out current just in the interval reordering operations of pickup；
5.2.2) if current just in the interval in the presence of the workpiece for allowing to be removed of pickup, check that another interval whether there is and permit
Permitted the workpiece being removed；If in the absence of the workpiece for allowing to be removed, another is interval to carry out this in another interval
Reordering operations；If another interval has the workpiece for allowing to be removed, this operation for resetting workpiece is not carried out；
Into step 4）；6）Repeat the above steps, until the operation of all workpiece transfers terminates.
The all documents referred in the present invention all incorporated by reference in this application, are individually recited just as each document
As with reference to such.In addition, it is to be understood that after above disclosure of the invention has been read, protection scope of the present invention is not
Above-described embodiment is limited only to, those skilled in the art can make various changes or modifications to the present invention, not depart from the present invention
Under the premise of principle, these equivalent form of values equally fall within the application appended claims limited range.
Claims (4)
1. a kind of industrial robot, including：Pallet, it places the workpiece for needing transfer；First manipulator, it is used for pallet
Workpiece transfer on Transfer pipe；Transfer pipe, it is used for conveying work pieces；Second manipulator, it is used for will be logical from transmission
The downstream in road obtains workpiece；Switching determining unit, its aggregation extent that can be based on the workpiece on Transfer pipe determines the first machine
Tool hand performs transfer workpiece or resets the operation of workpiece；It is characterized in that：The pallet includes the dividing plate between being disposed therein；
The pallet is separated into first interval and second interval by the dividing plate, and the workpiece is distributed in the first interval and the secondth area
It is interior；During pickup, first manipulator can only be taken from the single interval in first interval or second interval every time
Part；During rearrangement, first manipulator only can enter rearrangement for the single interval of first interval or second interval；It is interval
State indication unit, it is used to indicate in the first interval and second interval with the presence or absence of the workpiece for allowing to be removed, with
And indicate current just in the unit of pickup；Interval determination unit, refers to according to the switching determining unit and the state of section
Show the information of unit, it is determined that entering interval and its operation of rearrangement or transfer;The first interval and second interval set respectively
Weight sensor is put, the quality of workpiece in the first interval and second interval can be respectively detected；When the first interval and
When the workpiece quality of second interval is more than specific threshold, the information of state of section indicating member described in the interval determination unit,
When the light interval of wherein workpiece quality is present allows the workpiece being removed, the interval determination unit determines that the workpiece quality is light
Interval carry out shift workpiece operation.
2. industrial robot according to claim 1, it is characterised in that：Also include image acquisition unit, described image is obtained
Taking unit can be divided into multiple regions by first interval or second interval, and obtain the image in regional；Transfer
Thing candidate unit, the transfer candidate unit can according to the image in the regional, determine the first interval or
Next workpiece that can be shifted or determine in the first interval or second interval in the absence of allowing in second interval
The workpiece being removed；The transfer candidate unit determines that result sends the state of section indicating member to.
3. industrial robot according to claim 2, it is characterised in that：The switching determining unit is based on the transmission
The number of workpiece on passage, determines that the first manipulator performs transfer workpiece or resets the operation of workpiece.
4. industrial robot according to claim 3, it is characterised in that：The interval determination unit it is determined that reset or
Transmission it is interval when：1）Interval determination unit obtains the information of the switching determining unit, 1.1）When the switching determining unit
It is determined that shift the operation of workpiece, the interval determination unit obtains the information of the state of section indicating member；1.1.1)
If current just in the interval in the presence of the workpiece for allowing to be removed of pickup, the transfer work piece operations in the interval are carried out；1.1.2)
If current just do not exist the workpiece for allowing to be removed in the interval of pickup, check in another interval with the presence or absence of permission
By the work of pickup；If another interval is present allowed by the workpiece of pickup, the transfer in another interval is carried out
Work piece operations；If another interval is also in the absence of allowing by the workpiece of pickup, for currently the interval in interval is entered
The operation of rearrangement workpiece；1.2) it is described interval to determine when the switching determining unit determines the operation into rearrangement workpiece
Unit obtains the information of the state of section indicating member；1.2.1) if current just taken in the interval of pickup in the absence of permission
The workpiece for going out, then carried out current just in the interval reordering operations of pickup；1.2.2) if current just exist in the interval of pickup
The workpiece being removed is allowed, then checks another interval with the presence or absence of the workpiece for allowing to be removed；If another area
Between in the absence of the workpiece that is removed is allowed, then carry out another interval reordering operations；If another interval is deposited
In the workpiece for allowing to be removed, then this operation for resetting workpiece is not carried out；1.3）According to reset workpiece after state of section, more
Between new district in state indication unit unit state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510948593.9A CN105459115B (en) | 2015-12-17 | 2015-12-17 | A kind of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510948593.9A CN105459115B (en) | 2015-12-17 | 2015-12-17 | A kind of industrial robot |
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| Publication Number | Publication Date |
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| CN105459115A CN105459115A (en) | 2016-04-06 |
| CN105459115B true CN105459115B (en) | 2017-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510948593.9A Active CN105459115B (en) | 2015-12-17 | 2015-12-17 | A kind of industrial robot |
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| CN (1) | CN105459115B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666494B (en) * | 2016-04-09 | 2017-07-14 | 福州环亚众志计算机有限公司 | Robot control method and robot system |
| CN105619414B (en) * | 2016-04-09 | 2017-07-07 | 浙江智昌实业有限公司 | A kind of programmable robot's system |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA1184273A (en) * | 1982-09-23 | 1985-03-19 | Kazuyoshi Yasukawa | Robot control apparatus |
| JPH11300670A (en) * | 1998-04-21 | 1999-11-02 | Fanuc Ltd | Article picking-up device |
| JP2004160567A (en) * | 2002-11-11 | 2004-06-10 | Fanuc Ltd | Article taking-out device |
| JP4199264B2 (en) * | 2006-05-29 | 2008-12-17 | ファナック株式会社 | Work picking apparatus and method |
| CN201329585Y (en) * | 2008-11-21 | 2009-10-21 | 深圳市大族激光科技股份有限公司 | Feeding-blanking manipulator system |
| JP5316580B2 (en) * | 2011-05-17 | 2013-10-16 | 株式会社安川電機 | Robot system |
| JP5641084B2 (en) * | 2013-03-18 | 2014-12-17 | 株式会社安川電機 | Robot system and method of manufacturing workpiece |
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2015
- 2015-12-17 CN CN201510948593.9A patent/CN105459115B/en active Active
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Inventor after: Chi Yonglin Inventor before: Wang Wei |
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| CB03 | Change of inventor or designer information | ||
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Effective date of registration: 20170612 Address after: Yuyao City, Zhejiang province 315400 Ningbo City Economic Development Zone Applicant after: Zhejiang wisdom industry Co., Ltd. Address before: 100039 Beijing City, Fengtai District San Huan new town, building 8, building 1730, No. 18 Applicant before: Wang Wei |
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Address after: 315400 Zhejiang Yuyao Ningbo Economic Development Zone East New District Patentee after: Zhejiang Zhi Chang Robot Technology Co., Ltd. Address before: 315400 Zhejiang Yuyao Ningbo Economic Development Zone East New District Patentee before: Zhejiang wisdom industry Co., Ltd. |
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| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 315400 Zhejiang Yuyao Ningbo Economic Development Zone East New District Patentee after: Zhichang Technology Group Co.,Ltd. Address before: 315400 Zhejiang Yuyao Ningbo Economic Development Zone East New District Patentee before: ZHEJIANG EMERGEN ROBOT TECHNOLOGY Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |