CN105689198B - The automatic double surface gluer of vehicle body parts - Google Patents
The automatic double surface gluer of vehicle body parts Download PDFInfo
- Publication number
- CN105689198B CN105689198B CN201610260497.XA CN201610260497A CN105689198B CN 105689198 B CN105689198 B CN 105689198B CN 201610260497 A CN201610260497 A CN 201610260497A CN 105689198 B CN105689198 B CN 105689198B
- Authority
- CN
- China
- Prior art keywords
- material platform
- vehicle body
- body parts
- sliding rail
- automatic double
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/002—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the work consisting of separate articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
Landscapes
- Application Of Or Painting With Fluid Materials (AREA)
- Coating Apparatus (AREA)
Abstract
The present invention provides a kind of automatic double surface gluer of vehicle body parts, including the board with support base, the material platform, the rubber-coated mechanism that are set in support base, the automatic double surface gluer further includes sliding track mechanism, the driving mechanism for driving rubber-coated mechanism to move along corresponding sliding track mechanism and the positioning and clamping mechanism for vehicle body parts to be positioned to the material platform for carrying out gluing in the material platform for realizing rubber-coated mechanism.The automatic double surface gluer of the vehicle body parts can realize that entire gluing process is automatically performed, and activity duration and operating personnel is greatly decreased, and gluing is high-quality, safety coefficient is high.
Description
Technical field
The present invention relates to a kind of automatic double surface gluers of vehicle body parts.
Background technique
With the performance requirement of development and its continuous improvement of auto manufacturing technology, adhesive sealant is as automobile production
The necessary important auxiliary material of one kind, application are more and more extensive.Application of the adhesive technology in automobile manufacture, can not only rise
To the effect for enhancing vehicle structure, fastening antirust, heat-insulated vibration damping and internal and external ornament, additionally it is possible to instead of the welding of certain components, riveting
It the traditional handicrafts such as connects, realizes the connection between identical or different material, simplify production process, optimize product structure.Automobile to
Lightweight, high-speed and energy-saving extend the service life and improve on the road that performance direction is developed, and adhesive sealant plays increasingly heavier
The effect wanted.
In vehicle body parts welding production, first has to carry out gluing to workpiece, be then input to robot welding station.
Since hand spray seal operation is uneven, gluing is of poor quality, and a large amount of repetitive operation increases labor intensity, reduces
Working efficiency, there is great security risks, have a direct influence to subsequent welding.
Therefore, it is necessary to provide a kind of automatic double surface gluer of improved vehicle body parts to overcome the above problem.
Summary of the invention
The purpose of the present invention is to provide a kind of high-performance, the automatic double surface gluer of the vehicle body parts of high automation.
For achieving the above object, the present invention provides a kind of automatic double surface gluers of vehicle body parts, including have support
The board of pedestal, material platform, the rubber-coated mechanism being set in support base, the automatic double surface gluer further includes for realizing rubber-coated mechanism
The material platform carry out the sliding track mechanism of gluing, the driving mechanism for driving rubber-coated mechanism to move along corresponding sliding track mechanism with
And the positioning and clamping mechanism for vehicle body parts to be positioned to the material platform, the material platform include horizontally extending
First material platform and the second material platform, the rubber-coated mechanism move under the drive of the sliding track mechanism, with to being placed in the first material platform
And/or the second vehicle body parts on material platform successively gluing, wherein the first material platform is extended in a first direction with the second material platform, and
It being arranged side by side in the second direction vertical with the first direction, the first direction is the transverse direction of automatic double surface gluer, the
Two directions are the front-rear direction of automatic double surface gluer, and each material platform can separately or concurrently be placed several along first according to use demand
The vehicle body parts of direction arrangement, each material platform are provided with a set of by several vehicle body parts on the material platform
The fixed positioning and clamping mechanism, the board also have the shield in the support base, the gluing simultaneously
Equipment also has the peripheral security device for being set to board, and the peripheral security device is relatively arranged on anti-face-to-face including a pair
The safe light curtain of the front part sides of shield.
As a further improvement of the present invention, the sliding track mechanism includes first stroke sliding rail, second stroke sliding rail and
Triple-travel sliding rail, the first stroke sliding rail and second stroke sliding rail are horizontally extending, wherein first stroke sliding rail edge
The first direction extends, and second stroke sliding rail extends along the second direction, and the third trip sliding rail prolongs along third direction
It stretches, the third direction and first, second direction are vertical, and the third direction is the short transverse of automatic double surface gluer.
As a further improvement of the present invention, the driving mechanism includes for driving the first stroke sliding rail to move
First servo motor, the second servo motor for realizing second stroke sliding rail movement and the control third trip sliding rail
The control cylinder of movement.
As a further improvement of the present invention, a set of positioning and clamping mechanism includes being located on rear side of the corresponding material platform
Several positioning cylinders and positioned at the material platform along a pair of of rotation clamping cylinder at first direction both ends.
As a further improvement of the present invention, the positioning cylinder includes link pin positioning cylinder and round pin positioning cylinder again,
The link pin positioning cylinder and round pin positioning cylinder are by the same solenoid valve control, and the pair of rotation clamping cylinder is simultaneously by another
One solenoid valve control.
As a further improvement of the present invention, when the vehicle body parts are not placed on the first material platform, i.e. initial shape
Under state, the rotation clamping cylinder at the first material platform both ends is below position, in opened condition；It is put into when vehicle body parts
When on the corresponding position on the first material platform, the positioning cylinder on rear side of the first material platform stretches out, while the institute at the first material platform both ends
Rotation clamping cylinder is stated to be lifted up and rotate to complete the positioning of vehicle body parts and clamping jointly.
As a further improvement of the present invention, the vehicle body parts on the first material platform are carried out in the rubber-coated mechanism
When gluing, first stroke sliding rail is moved along first direction, and second stroke sliding rail does experiencing small oscillating movements in a second direction.
As a further improvement of the present invention, it is provided with an arrangement for detecting on each material platform, when first material
When not placing vehicle body parts after the vehicle body parts completion gluing on platform or on the first material platform, the second material platform
Arrangement for detecting detects whether be placed with vehicle body parts on the second material platform, is placed with vehicle body on the second material platform when detecting
When components, the rubber-coated mechanism goes to the second material platform, and third trip sliding rail moves upwards at this time, drive the rubber-coated mechanism to
Upper movement, the second stroke sliding rail slide into the second material platform and carry out gluing.
As a further improvement of the present invention, after the vehicle body parts on the material platform complete gluing, the glue spreader
Structure returns to initial position, and the positioning cylinder retracts, and vehicle body parts is removed, when arrangement for detecting can't detect vehicle body parts
And the positioning cylinder stretches out after timing five seconds.
The beneficial effects of the present invention are: the automatic double surface gluer of vehicle body parts can realize that entire gluing process is automatic in the present invention
It completes, activity duration and operating personnel is greatly decreased, and gluing is high-quality, safety coefficient is high.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the automatic double surface gluer of vehicle body parts of the present invention.
Fig. 2 is the main view of the automatic double surface gluer of vehicle body parts shown in Fig. 1.
Fig. 3 is the top view of the automatic double surface gluer of vehicle body parts shown in Fig. 1.
Fig. 4 is that the rubber-coated mechanism of the automatic double surface gluer of vehicle body parts shown in Fig. 1 is moved to material platform middle position progress gluing
When stereoscopic schematic diagram.
Fig. 5 is the main view of the automatic double surface gluer of vehicle body parts shown in Fig. 4.
Fig. 6 is the top view of the automatic double surface gluer of vehicle body parts shown in Fig. 4.
Specific embodiment
Hereinafter, the present invention will be described in detail with reference to various embodiments shown in the accompanying drawings.But these embodiments are not
The limitation present invention, structure that those skilled in the art are made according to these embodiments, method or change functionally
It changes and is included within the scope of protection of the present invention.
It please refers to shown in Fig. 1 to Fig. 6, the present invention provides a kind of automatic double surface gluers 100 of vehicle body parts comprising board
1, it is set on board 1 and expects platform 2, rubber-coated mechanism 3, carries out the sliding rail machine of gluing in accordingly material platform for realizing rubber-coated mechanism 3
Structure 4, the driving mechanism 5 for driving the rubber-coated mechanism 3 to move along corresponding sliding track mechanism 4, by vehicle body parts (namely work
Part) it is positioned at the positioning and clamping mechanism 6 of the material platform 2.
The board 1 has support base 11 and the shield 12 in support base, wherein the support base 11
For holding material carrier platform 2, rubber-coated mechanism 3, sliding track mechanism 4, driving mechanism 5 and positioning and clamping mechanism 6, and it has and driving mechanism
5, the electrical cabinet 13 that rubber-coated mechanism 3, sliding track mechanism 4 and positioning and clamping mechanism 6 are electrical connected.
The material platform 2 includes horizontally extending the first material platform 21 and the second material platform 22, wherein the first material platform 21
It extends in a first direction with the second material platform 22, and is arranged side by side in the second direction vertical with the first direction, at this
In embodiment, the first direction is the transverse direction of automatic double surface gluer 100, and second direction is the front and back of automatic double surface gluer 100
To.Each material platform can separately or concurrently place several workpiece according to use demand.
The rubber-coated mechanism 3 can carry out gluing to the workpiece for being placed in the first and/or second material platform, in present embodiment
In, the rubber-coated mechanism 3 have a gluing head 31 and above the gluing head 31 for colloid system.Of the invention
In embodiment, shown in the motion profile simulation Shenfu figure of gluing head 31.
The sliding track mechanism 4 includes first stroke sliding rail 41, second stroke sliding rail 42 and third trip sliding rail 43, and described the
One stroke sliding rail 41 is horizontally extending with second stroke sliding rail 42, and wherein first stroke sliding rail 41 is along the first direction
Extend, second stroke sliding rail 42 extends along the second direction.The third trip sliding rail 43 extends along third direction, namely applies
The short transverse of gluing equipment 100 extends, and the third direction and first, second direction are vertical.
The driving mechanism 5 include for drive first stroke sliding rail 41 move first servo motor 51, for realizing
The control cylinder 53 that the second servo motor 52 and control third trip sliding rail 43 that second stroke sliding rail 42 moves move.
Each material platform 2 is provided with a set of positioning and clamping mechanism 6, to realize that workpiece is determined on accordingly material platform
Position.A set of positioning and clamping mechanism 6 includes several positioning cylinders 61 on rear side of corresponding material platform and is located at material platform along the
A pair of of rotation clamping cylinder 62 in one direction both ends, wherein positioning cylinder 61 includes that link pin positioning cylinder 611 and round pin position again
Cylinder 612, the link pin positioning cylinder 611 is with round pin positioning cylinder 612 by the same solenoid valve control, the pair of rotating clamp
Tightly cylinder 62 is simultaneously by another solenoid valve control.
An arrangement for detecting 7 is provided on each material platform, in the present embodiment, which is a close sensing
Device, the arrangement for detecting 7 can sense whether square stock platform disposed thereon is placed with vehicle body parts.
The automatic double surface gluer 100 also has the peripheral security device 8 for being set to board 1, and the peripheral security device 8 includes
A pair of of safe light curtain 81 and an emergency stop switch (not shown), wherein the pair of safe light curtain 81 be relatively arranged on face-to-face it is anti-
The two sides of the front of shield 12.
By taking the first material platform 21 as an example, when workpiece is not placed on the first material platform, i.e., under original state, the first 21 liang of material platform
The rotation clamping cylinder 62 at end is below position, in opened condition；When on corresponding position workpiece being put on the first material platform
When, link pin positioning cylinder 611 and round pin positioning cylinder 612 on rear side of the first material platform stretch out, while the rotation at the first material platform both ends
Clamping cylinder 62 is lifted up and is rotated to complete the positioning of workpiece and clamping jointly.In rubber-coated mechanism on the first material platform
When workpiece carries out gluing, first stroke sliding rail 41 is moved along first direction, and second stroke sliding rail 42 is done by a small margin in a second direction
Movement.
When not placing workpiece after the workpiece on the first material platform completes gluing or on the first material platform, the second material platform 22 is detectd
It surveys device 7 and detects whether be placed with workpiece on the second material platform, when being placed with workpiece on the second material platform, rubber-coated mechanism 3 goes to the
Two material platforms 22, third trip sliding rail 43 moves upwards at this time, and rubber-coated mechanism 3 is driven to move upwards, and second stroke sliding rail 42 slides
Gluing is carried out to the second material platform 22.
After the completion of gluing, rubber-coated mechanism 3 returns to initial position, and link pin positioning cylinder 611 and round pin positioning cylinder 612 contract
It returns, manually removes workpiece.When arrangement for detecting 7 can't detect workpiece, positioning cylinder 61 stretches out after timing five seconds.
The present invention incorporates all operations, one-stop to be automatically performed, and artificial gluing is changed to numerical control automatic glue application, entire gluing
Process is automatically performed, and activity duration and operating personnel is greatly reduced, and gluing is high-quality, safety coefficient is high.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiments of understanding.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention
Or change should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of automatic double surface gluer of vehicle body parts, including with support base board, be set in support base material platform,
Rubber-coated mechanism, it is characterised in that: the automatic double surface gluer further includes the cunning for carrying out gluing in the material platform for realizing rubber-coated mechanism
Rail mechanism, the driving mechanism for driving rubber-coated mechanism to move along corresponding sliding track mechanism and for positioning vehicle body parts
In the positioning and clamping mechanism of the material platform, the material platform includes horizontally extending the first material platform and the second material platform, institute
It states rubber-coated mechanism to move under the drive of the sliding track mechanism, to the vehicle body being placed on the first material platform and/or the second material platform
Components successively gluing, wherein the first material platform is extended in a first direction with the second material platform, and vertical with the first direction
Second direction on be arranged side by side, the first direction be automatic double surface gluer transverse direction, second direction be automatic double surface gluer before
Rear direction, each material platform can separately or concurrently place several vehicle body zero along first direction arrangement according to use demand
Part, each material platform are provided with a set of positioning that will be located at several vehicle body parts on the material platform while fixing
Clamp system, the board also have the shield in the support base, and the automatic double surface gluer also has the machine of being set to
The peripheral security device of platform, the peripheral security device include the peace of a pair of front part sides for being relatively arranged on shield face-to-face
Full light curtain.
2. the automatic double surface gluer of vehicle body parts as described in claim 1, it is characterised in that: the sliding track mechanism includes the first row
Journey sliding rail, second stroke sliding rail and third trip sliding rail, the first stroke sliding rail and second stroke sliding rail are in the horizontal direction
Extend, wherein first stroke sliding rail extends along the first direction, and second stroke sliding rail extends along the second direction, and described the
Triple-travel sliding rail extends along third direction, and the third direction and first, second direction are vertical, and the third direction
For the short transverse of automatic double surface gluer.
3. the automatic double surface gluer of vehicle body parts as claimed in claim 2, it is characterised in that: the driving mechanism includes for driving
The first servo motor for moving the first stroke sliding rail movement, the second servo electricity moved for realizing the second stroke sliding rail
Machine and the control cylinder of the control third trip sliding rail movement.
4. the automatic double surface gluer of vehicle body parts as claimed in claim 3, it is characterised in that: a set of positioning and clamping mechanism packet
Include several positioning cylinders being located on rear side of the corresponding material platform and a pair of rotation positioned at the material platform along first direction both ends
Clamping cylinder.
5. the automatic double surface gluer of vehicle body parts as claimed in claim 4, it is characterised in that: the positioning cylinder includes link pin again
Positioning cylinder and round pin positioning cylinder, the link pin positioning cylinder and round pin positioning cylinder are described by the same solenoid valve control
A pair of rotation clamping cylinder is simultaneously by another solenoid valve control.
6. the automatic double surface gluer of vehicle body parts as described in claim 4 or 5, it is characterised in that: when the vehicle body parts not
When being placed on the first material platform, i.e., under original state, the rotation clamping cylinder at the first material platform both ends is below position, is in
Opening state；Positioning gas when on corresponding position vehicle body parts being put on the first material platform, on rear side of the first material platform
Cylinder stretches out, while the rotation clamping cylinder at the first material platform both ends is lifted up and is rotated to complete vehicle body parts jointly
Positioning and clamping.
7. the automatic double surface gluer of vehicle body parts as claimed in claim 6, it is characterised in that: in the rubber-coated mechanism to described
When vehicle body parts on one material platform carry out gluing, first stroke sliding rail is moved along first direction, and second stroke sliding rail is along second
Do experiencing small oscillating movements in direction.
8. the automatic double surface gluer of vehicle body parts as claimed in claim 7, it is characterised in that: be provided on each material platform
One arrangement for detecting does not place vehicle body after the vehicle body parts on the first material platform complete gluing or on the first material platform
When components, the arrangement for detecting of the second material platform detects whether be placed with vehicle body parts on the second material platform, when detecting
When being placed with vehicle body parts on the second material platform, the rubber-coated mechanism goes to the second material platform, at this time third trip sliding rail to
Upper movement drives the rubber-coated mechanism to move upwards, and the second stroke sliding rail slides into the second material platform and carries out gluing.
9. the automatic double surface gluer of vehicle body parts as claimed in claim 8, it is characterised in that: as vehicle body zero on the material platform
After part completes gluing, the rubber-coated mechanism returns to initial position, and the positioning cylinder retracts, and removes vehicle body parts, when detecing
Surveying device can't detect vehicle body parts and the positioning cylinder stretching after timing five seconds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610260497.XA CN105689198B (en) | 2016-04-25 | 2016-04-25 | The automatic double surface gluer of vehicle body parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610260497.XA CN105689198B (en) | 2016-04-25 | 2016-04-25 | The automatic double surface gluer of vehicle body parts |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105689198A CN105689198A (en) | 2016-06-22 |
| CN105689198B true CN105689198B (en) | 2019-03-19 |
Family
ID=56217529
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610260497.XA Active CN105689198B (en) | 2016-04-25 | 2016-04-25 | The automatic double surface gluer of vehicle body parts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105689198B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004087798A (en) * | 2002-08-27 | 2004-03-18 | Dainippon Screen Mfg Co Ltd | Substrate treating device |
| CN102716843A (en) * | 2012-06-15 | 2012-10-10 | 上海电机学院 | Sliding working table type dispenser |
| CN102847646A (en) * | 2012-08-15 | 2013-01-02 | 吴江市博众精工科技有限公司 | Dispensing and curing device |
| CN202877036U (en) * | 2012-10-31 | 2013-04-17 | 苏州市星光精密机械有限公司 | Novel dispenser |
| CN204933879U (en) * | 2015-08-25 | 2016-01-06 | 郑国义 | Servo-actuated contact point gum machine |
| CN205570694U (en) * | 2016-04-25 | 2016-09-14 | 江苏北人机器人系统股份有限公司 | Automobile body part's rubber coating equipment |
-
2016
- 2016-04-25 CN CN201610260497.XA patent/CN105689198B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004087798A (en) * | 2002-08-27 | 2004-03-18 | Dainippon Screen Mfg Co Ltd | Substrate treating device |
| CN102716843A (en) * | 2012-06-15 | 2012-10-10 | 上海电机学院 | Sliding working table type dispenser |
| CN102847646A (en) * | 2012-08-15 | 2013-01-02 | 吴江市博众精工科技有限公司 | Dispensing and curing device |
| CN202877036U (en) * | 2012-10-31 | 2013-04-17 | 苏州市星光精密机械有限公司 | Novel dispenser |
| CN204933879U (en) * | 2015-08-25 | 2016-01-06 | 郑国义 | Servo-actuated contact point gum machine |
| CN205570694U (en) * | 2016-04-25 | 2016-09-14 | 江苏北人机器人系统股份有限公司 | Automobile body part's rubber coating equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105689198A (en) | 2016-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105880401A (en) | Efficient and flexible robot edge-rolling island for door panel | |
| CN203330331U (en) | Automobile seat sliding rail continuous riveting special machine | |
| CN105799302B (en) | A kind of glass closes piece frock and lamination process | |
| CN107877021B (en) | Flexible total-splicing workstation for multiple vehicle types of vehicle bodies in white | |
| CN105855765B (en) | The positioning switching platform of fine positioning handgrip | |
| CN109573608A (en) | Light guide plate inclined in type assembly equipment | |
| CN204807664U (en) | Withstand voltage seasoned accredited testing organization of relay | |
| CN102814984A (en) | Three-station ultrasonic welding machine for front bumper | |
| KR101414587B1 (en) | Hybrid Hemming Device with Robot Roller and Blade of table top | |
| CN209396564U (en) | Light guide plate inclined in type assembly equipment | |
| CN105689198B (en) | The automatic double surface gluer of vehicle body parts | |
| CN103451325B (en) | Dual-worktable position interchanging mechanism and leather cutting machine tool containing dual-worktable position interchanging mechanism | |
| CN102699896A (en) | Material separating rotating mechanical hand | |
| CN206169591U (en) | Pressure equipment device of magnetic catch, magnetic shoe and stator shell | |
| CN104842106B (en) | The total assembly of body side wall is put and body side wall always spells system, method | |
| CN205488184U (en) | Frame component kludge | |
| CN205570694U (en) | Automobile body part's rubber coating equipment | |
| CN202447250U (en) | Automobile lamp gluing device | |
| CN102553777B (en) | Gluing system | |
| CN209698381U (en) | Automotive air-conditioning condenser partition automatic assembling component | |
| CN205166209U (en) | Flexible automation of multi -vehicle type side wall tetrahedron is welding assembly line in batches | |
| CN104399642B (en) | Automobile lamp body annular gluing bench with tools | |
| CN208321174U (en) | A kind of pipeline of metal plate spraying | |
| CN203062645U (en) | Flexible automobile auxiliary frame assembly fixture | |
| CN203509393U (en) | Sliding table for jig |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215021 building B, zone 4, Zhongke nano Industrial Park, No. 128, Fangzhou Road, Suzhou Industrial Park, Jiangsu Province Patentee after: Jiangsu beiren Intelligent Manufacturing Technology Co.,Ltd. Address before: 215021 building B, zone 4, Zhongke nano Industrial Park, No. 128, Fangzhou Road, Suzhou Industrial Park, Jiangsu Province Patentee before: JIANGSU BEIREN ROBOT SYSTEM Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |