CN105799894B - Pendulum guide rod type cycloid thruster with enlarger - Google Patents
Pendulum guide rod type cycloid thruster with enlarger Download PDFInfo
- Publication number
- CN105799894B CN105799894B CN201610165317.XA CN201610165317A CN105799894B CN 105799894 B CN105799894 B CN 105799894B CN 201610165317 A CN201610165317 A CN 201610165317A CN 105799894 B CN105799894 B CN 105799894B
- Authority
- CN
- China
- Prior art keywords
- guide rod
- rod
- revolution case
- blade
- connecting rod
- 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
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/04—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transmission Devices (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of pendulum guide rod type cycloid thruster with enlarger, including motor, turn round case, blade and at least one steering wheel, the motor drives the revolution case to turn round by main shaft and connecting shaft, the upper end of the blade has a sharf, the sharf is connected by bearing with the revolution case, guide rod slide block mechanism is provided with the revolution case, the guide rod slide block mechanism includes star connecting rod, sliding block axle and guide rod, the star connecting rod includes central shaft and some poles, the pole, sliding block axle, the quantity of guide rod is consistent with the quantity of the blade respectively, it is corresponding, the sliding block axle is fixed on the end of the pole, the guide rod is provided with the slide rail for being available for the sliding block axle sliding, one end of the guide rod is fixed with the sharf；The cycloid thruster also includes the star connecting rod translation mechanism by the servo driving.The swaying movement regularity of the blade of the achievable cycloid thruster of the present invention, while can realize that, in electrodeless change interior in a big way, the electrodeless change of propulsive force direction of propulsion and size in the range of 360 ° can be achieved, with excellent maneuvering performance in eccentricity.
Description
Technical field
The invention belongs to special boat propeller manufacturing technology field, and in particular to a kind of pendulum guide rod with enlarger
Formula cycloid thruster.
Background technology
Cycloid thruster (Cycloidal Propeller), it by one group from hull vertically stretch to water in the straight leaf of sizing
Piece is constituted, and blade is circled around the central axis of hull, and according to certain rules around the axis oscillating of itself.Its characteristics of motion
Control point N is intersected at all the time for the vertical line of the blade string of a musical instrument, by the position for changing control point N, you can change the swing of blade
Rule, can be achieved the electrodeless change of direction of propulsion and size in the range of 360 °.Therefore it has excellent maneuvering performance, can be significantly
Improve the flexibility of ship.
Cycloid thruster has many kinds to realize mechanism, is broadly divided into adjustable two class of the irreconcilable eccentricity of eccentricity.Partially
The displacement at the control point of the nonadjustable cycloid thruster of heart rate can not change, therefore maneuvering performance is poor.Eccentricity is adjustable
Cycloid thruster eccentricity can electrodeless change within the specific limits, can by change eccentricity size or propeller rotating speed come
Change thrust size, so as to obtain excellent maneuvering performance.Cycloid thruster designed by the past, to realize that eccentricity is adjustable,
Its structure is often complex, reduces reliability.The relatively simple cycloid thruster eccentricity of structure is non-adjustable, it is impossible to fully
Play its maneuvering performance.Therefore, design that a kind of eccentricity is adjustable and reliable New-type cycloidal propeller is significant.
The content of the invention
The problem to be solved in the present invention is to provide a kind of adjustable eccentricity, efficiency high, reliable pendulum guide rod type cycloid and pushed away
Enter device.
In order to solve the above-mentioned technical problem, the present invention is adopted the following technical scheme that：Pendulum guide rod type pendulum with enlarger
Line propeller, including motor, revolution case, blade and at least one steering wheel, the motor is driven described by main shaft and connecting shaft
Case revolution is turned round, the upper end of the blade has a sharf, and the sharf is connected by bearing with the revolution case, institute
State and guide rod slide block mechanism is provided with revolution case, the guide rod slide block mechanism includes star connecting rod, sliding block axle and guide rod, the star
Connecting rod include central shaft and some poles, the pole, sliding block axle, guide rod quantity it is consistent with the quantity of the blade respectively,
Corresponding, the sliding block axle is fixed on the end of the pole, and the guide rod is provided with the slide rail for being available for the sliding block axle sliding,
One end of the guide rod is fixed with the sharf；The cycloid thruster also includes being translated by the star connecting rod of the servo driving
Mechanism.
The star connecting rod translation mechanism includes control-rod, and the main shaft has centre bore, the control-rod it is upper
End is pushed directly on by the steering wheel, and the middle part of the control-rod passes through the centre bore of the main shaft, the lower end of the control-rod with
The central shaft connection of the star connecting rod.
The plain radial bearing with matching in the middle part of the control-rod is provided with the centre bore of the main shaft.
The central shaft of the star connecting rod is provided with a groove, and the interior lower end provided with the control-rod of the groove matches
Spherical plain bearing rod end.
The guide rod slide block mechanism is connected by a lazy-tongs with the revolution case.
The lazy-tongs include revolution case guide rail and crosshead shoe, and the top surface of the crosshead shoe and bottom surface are respectively equipped with
Groove and boss, the groove and boss of the crosshead shoe are mutually perpendicular to, and the revolution case guide rail is fixed on the revolution case
On bottom plate, the boss of the crosshead shoe matches with the revolution case guide rail, and the bottom surface of the central shaft is provided with boss, described
The groove match of the boss of central shaft and the crosshead shoe.
The revolution case guide rail is located on the diameter line of the revolution case.
The effective length of the revolution case guide rail is more than the difference of the blade radius of gyration and single pole effective length.
The steering wheel has two, and two steering wheels are in two mutually orthogonal directions.
The slide rail is the through hole of bar shaped.
The invention provides a kind of pendulum guide rod type cycloid thruster with enlarger, its can perfection realize that cycloid is promoted
The swaying movement regularity of the blade of device, while eccentricity can be realized in electrodeless change interior in a big way, can be achieved propulsive force at 360 °
In the range of direction of propulsion and size electrodeless change, with excellent maneuvering performance.Meanwhile, its is simple in construction, reliable, can meet
Practical implementation requirement.
Brief description of the drawings
The embodiment to the present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is the structural representation of pendulum guide rod type cycloid thruster one embodiment of the present invention；
Fig. 2 is the internal structure schematic diagram of revolution case in Fig. 1 embodiments；
Fig. 3 is that pendulum guide rod realizes mechanical work principle figure；
Fig. 4 is that eccentric throw amplification realizes that mechanism realizes mechanical work principle figure with synchronous revolving.
Embodiment
As depicted in figs. 1 and 2, the pendulum guide rod type cycloid thruster with enlarger, including motor 1, revolution case 2, leaf
Piece 6 and at least one steering wheel 3, the motor are driven by the driving gear being sequentially connected, driven gear, main shaft 4 and connecting shaft 5
The revolution case 2 is turned round, and the upper end of the blade 6 has a sharf 61, and the sharf 61 passes through bearing and described time
Turnning box 2 is connected, and revolution case 2 drives blade 6 to turn round.
As shown in Fig. 2 being provided with guide rod slide block mechanism in the revolution case, the guide rod slide block mechanism includes star connecting rod
21st, sliding block axle 22 and guide rod 23, the star connecting rod include central shaft 211 and some poles 212, the pole 212, sliding block axle
22nd, the quantity of guide rod 23 is consistent with the quantity of the blade 6 respectively, and corresponding, the sliding block axle is fixed on the end of the pole
Portion, the guide rod is provided with the through hole for the bar shaped for being available for the sliding block axle sliding, and one end of the guide rod is consolidated with the sharf
It is fixed；The cycloid thruster also includes the star connecting rod translation mechanism by the servo driving.The steering wheel has two, two steering wheels
In two mutually orthogonal directions.Two steering wheels can control the displacement of control-rod in two mutually orthogonal directions respectively
Size.Star connecting rod drives guide rod and the blade oscillating being connected on guide rod by sliding block axle.
The star connecting rod translation mechanism includes control-rod 7, and the main shaft 4 has a centre bore, the control-rod
Upper end is pushed directly on by the steering wheel, and the middle part of the control-rod passes through the centre bore of the main shaft, the centre bore of the main shaft
It is interior be provided with the plain radial bearing 8 that matches in the middle part of the control-rod, plain radial bearing 8 as control-rod fulcrum.
The lower end of the control-rod is connected with the central shaft 211 of the star connecting rod.The central shaft of the star connecting rod is recessed provided with one
The spherical plain bearing rod end 9 matched with the lower end of the control-rod is provided with groove, the groove.Star connecting rod is driven by control-rod
Translation swings guide rod, so as to control being swung by rule for blade, realizes the change of direction of propulsion and size.
The guide rod slide block mechanism is connected by a lazy-tongs with the revolution case.The lazy-tongs include revolution
Case guide rail 24 and crosshead shoe 25, the top surface of the crosshead shoe 25 and bottom surface are respectively equipped with groove and boss, and the cross is slided
The groove and boss of block are mutually perpendicular to, and the revolution case guide rail 24 is fixed on the bottom plate 27 of the revolution case, and the cross is slided
The boss of block 25 matches with the revolution case guide rail 24, and the bottom surface of the central shaft 211 is provided with boss 26, the central shaft
The groove match of boss 26 and the crosshead shoe 25.The revolution case guide rail 24 is located on the diameter line of the revolution case.
The effective length of the revolution case guide rail 24 is more than the difference of the blade radius of gyration and single pole effective length, the revolution
The effective length of case guide rail is that crosshead shoe can slide on revolution case guide rail and away from the ultimate range at revolution case center, institute
Center that the blade radius of gyration is sharf 61 is stated to the distance at the center of rotary disk 2, single pole effective length refers to star
Distance of the connecting rod center to sliding block axle center.
Motor is secured by bolts on upper cover, and upper cover is bolted on fixed installation plate, is fixedly mounted
Plate is arranged on bottom of ship.Motor output shaft is connected by key with driving gear, and driving gear bottom is carried out using shaft end ring
Shaft end is fixed, and fastens shaft end ring with screw.Driving gear is engaged with driven gear, and driven gear is fixed on by screw
On main shaft, main shaft is installed on main shaft mounting blocks by angular contact ball bearing, and main shaft mounting blocks are fixed by screws in fixed peace
Fill on plate, sealed between main shaft mounting blocks and main shaft with lip-type packing.Main shaft is fixedly connected by screw with connecting shaft, connecting shaft
It is fixedly connected by screw with revolution cover plate, revolution cover plate is fixedly connected by screw with revolution case, revolution case passes through spiral shell
Nail is fixedly connected with revolution bottom plate.Blade upper mounting seat is fixedly connected by screw with revolution cover plate, blade lower mounting seat
It is fixedly connected by screw with revolution bottom plate, sharf is connected by angular contact bearing respectively, and angular contact bearing passes through respectively
Blade upper mounting seat cover plate, axle sleeve and small round nut carry out shaft end and fixed.Blade lower mounting seat and blade between centers lip packing
Circle sealing.
Two steering wheels, which are respectively perpendicular, to be fixed on upper cover, and two steering wheels are hinged with control-rod upper end respectively, in the middle part of control-rod with
Plain radial bearing inner ring coordinates, and plain radial bearing outer ring is fixed on main shaft, and plain radial bearing shaft end is solid by lever
Determine block to fix.Control-rod lower end coordinates with spherical plain bearing rod end inner ring, and spherical plain bearing rod end outer ring is fixed on bearing mounting blocks,
Bearing mounting blocks are hinged with star connecting rod, and installing anticreep cover plate in star connecting rod center upper end prevents bearing mounting blocks from deviating from, and prevents
Capping plate is fixed on star connecting rod by screw.
Displacement of two steering wheels by control-rod Reverse Turning Control star connecting rod center in orthogonal both direction.
The synchronous revolving of star connecting rod and revolution case can be realized by cross slides.Star connecting rod end is hinged with sliding block axle, sliding
Block axle is slidably connected with guide rod formation, and sliding block axle two ends are fixed by packing ring and screw shaft end.Guide rod is consolidated by key and sharf
Fixed connection, shaft end of the guide rod on sharf is fixed by the shaft shoulder and axle sleeve.Star connecting rod passes through the cunning in oscillating guidebar mechanism
Block axle and guide rod drive sharf to press the swing of cycloid rule.Overall structure of the present invention is simple, reliably, can perfection realize blade by pendulum
Line gauge rule is swung, and eccentricity can be made in interior electrodeless change in a big way, can obtain excellent maneuvering performance.
The operation principle of the cycloid thruster of six blades is as shown in Figure 3, it is assumed that O points are the central shaft of cycloid thruster
Line, A, B, C, D, E, F point is sharf respectively, and the vertical line of the blade string of a musical instrument intersects at control point P.When blade is around the O point inverse times
During α ° of the pin anglec of rotation, it will be assumed that sharf geo-stationary, control point P turns clockwise angle [alpha] ° around center O.
Using oscillating guidebar mechanism, sliding block will be designed as at the P of control point, blade string of a musical instrument vertical line PA, PB, PC, PD, PE,
PF is designed as guide rod, and is connected with sharf A, B, C, D, E, F, and sliding block P can rotate around central shaft O points, and be driven by guide rod
Cycloid thruster blade oscillating, you can realize cycloid thruster operation principle.Now, PO distance is eccentric throw, by changing
Sliding block P position is the stepless change that eccentric throw can be achieved, as shown in Figure 3.
If simple application oscillating guidebar mechanism, to realize continuously adjustabe in the range of eccentricity 0~1, then the structure of guide rod
Size need to be equal to diameter, and control point displacement adjustable distance need to be in radius.For reduce guide rod length and control point displacement away from
From on the basis of oscillating guidebar mechanism, design star connecting rod WGHIJKL and 6 sliding block G, H, I, J, K, L hinge connections are realized
Eccentric throw amplification.When star connecting rod center is moved to W points, between the center W points and propeller center O points of star connecting rod
It is star connecting rod actual shifts distance apart from OW, as shown in Figure 2.Now, the extension line of guide rod intersects at point P, and it is blade
Actual control point, and P points are on OW extended line, and it is more than OW with center O apart from OP.Therefore, star connecting rod machine is passed through
Structure can realize the amplification of eccentric throw, so that the actual shifts distance needed for reducing the physical dimension and center control point of guide rod.
To ensure that above-mentioned eccentric throw enlarger can accurately control blade oscillating, it is necessary to assure star connecting rod and revolution case
Synchronous rotary, that is, ensure that the WG of star shaft portion is parallel all the time with the OA of revolution case portion point in Fig. 4.In addition, star need to be ensured
Connecting rod can within the specific limits moved centered on the O of center.
Therefore, ensureing star connecting rod and revolution case synchronous rotary using cross slides, (O is revolution case as shown in Figure 4
Center, P is control point, and A, B, C, D, E, F point are sharf, and PA, PB, PC, PD, PE, PF are guide rod, and W points are star connecting rod
Center, G, H, I, J, K, L are sliding block, and Q is crosshead shoe, and MN is the guide rail on revolution case, and WG is the guide rail on star connecting rod).
By the guide rail WG formation prismatic pairs on crosshead shoe Q top shoe and star connecting rod, sliding block and the slide rail MN on revolution case
Prismatic pair is formed, so as to ensure that star connecting rod can be moved in the range of horizontal plane X-axis, Y-axis both direction certain distance, and is ensured
Star connecting rod remains parallel with revolution case, that is, realizes star connecting rod and revolution case synchronous rotary.
Mechanism is realized above-mentioned, by controlling star connecting rod center W position to can be achieved to the inclined of cycloid thruster
The continuously adjustabe of heart rate size and Orientation, so that blade is swung by rule.
Claims (7)
1. the pendulum guide rod type cycloid thruster with enlarger, including motor, revolution case, blade and at least one steering wheel, institute
State motor drives the revolution case to turn round by main shaft and connecting shaft, and the upper end of the blade has a sharf, the leaf
Bobbin is connected by bearing with the revolution case, it is characterised in that：Guide rod slide block mechanism, the guide rod are provided with the revolution case
Slide block mechanism include star connecting rod, sliding block axle and guide rod, the star connecting rod include central shaft and some poles, the pole,
Sliding block axle, guide rod quantity it is consistent with the quantity of the blade respectively, corresponding, the sliding block axle is fixed on the end of the pole
Portion, the guide rod is provided with the slide rail for being available for the sliding block axle sliding, and one end of the guide rod is fixed with the sharf；The pendulum
Line propeller also includes the star connecting rod translation mechanism by the servo driving；
The star connecting rod translation mechanism includes control-rod, and the main shaft has centre bore, the upper end of the control-rod by
The steering wheel is pushed directly on, and the middle part of the control-rod passes through the centre bore of the main shaft, the lower end of the control-rod with it is described
The central shaft connection of star connecting rod；
The guide rod slide block mechanism is connected by a lazy-tongs with the revolution case；
The lazy-tongs include revolution case guide rail and crosshead shoe, and the top surface of the crosshead shoe and bottom surface are respectively equipped with groove
And boss, the groove and boss of the crosshead shoe are mutually perpendicular to, described to turn round the bottom plate that case guide rail is fixed on the revolution case
On, the boss of the crosshead shoe matches with the revolution case guide rail, and the bottom surface of the central shaft is provided with boss, the center
The groove match of the boss of axle and the crosshead shoe.
2. the pendulum guide rod type cycloid thruster according to claim 1 with enlarger, it is characterised in that：
The plain radial bearing with matching in the middle part of the control-rod is provided with the centre bore of the main shaft.
3. the pendulum guide rod type cycloid thruster according to claim 1 with enlarger, it is characterised in that：
The central shaft of the star connecting rod is provided with a groove, and the groove is interior to be provided with the bar matched with the lower end of the control-rod
Hold oscillating bearing.
4. the pendulum guide rod type cycloid thruster according to claim 1 with enlarger, it is characterised in that：
The revolution case guide rail is located on the diameter line of the revolution case.
5. the pendulum guide rod type cycloid thruster according to claim 1 with enlarger, it is characterised in that：
The effective length of the revolution case guide rail is more than the difference of the blade radius of gyration and single pole effective length.
6. the pendulum guide rod type cycloid thruster according to claim 1 with enlarger, it is characterised in that：
The steering wheel has two, and two steering wheels are in two mutually orthogonal directions.
7. the pendulum guide rod type cycloid thruster according to claim 1 with enlarger, it is characterised in that：
The slide rail is the through hole of bar shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610165317.XA CN105799894B (en) | 2016-03-22 | 2016-03-22 | Pendulum guide rod type cycloid thruster with enlarger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610165317.XA CN105799894B (en) | 2016-03-22 | 2016-03-22 | Pendulum guide rod type cycloid thruster with enlarger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105799894A CN105799894A (en) | 2016-07-27 |
| CN105799894B true CN105799894B (en) | 2017-10-27 |
Family
ID=56453676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610165317.XA Active CN105799894B (en) | 2016-03-22 | 2016-03-22 | Pendulum guide rod type cycloid thruster with enlarger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105799894B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106321371B (en) * | 2016-11-07 | 2018-09-18 | 郑志刚 | It is a kind of can be used for wind-powered electricity generation, water power, navigation, aviation cycloid slurry |
| CN109501537B (en) * | 2018-11-13 | 2021-08-31 | 中国船舶工业集团公司第七0八研究所 | Underwater speed increasing device of wheel type amphibious vehicle |
| CN113022830B (en) * | 2021-03-26 | 2022-02-25 | 吉林大学 | Blade swing control mechanism of cycloid propeller |
| CN112977783B (en) * | 2021-03-26 | 2022-02-01 | 吉林大学 | Eccentric control mechanism of cycloid propeller |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19850954C1 (en) * | 1998-11-05 | 2000-02-03 | Voith Hydro Gmbh & Co Kg | Cycloidal propeller for marine vessel |
| JP2011207299A (en) * | 2010-03-29 | 2011-10-20 | National Institute Of Advanced Industrial Science & Technology | Cycloidal propeller |
| CN103921927B (en) * | 2014-04-18 | 2016-06-29 | 哈尔滨工程大学 | Crank block hydraulic driven cycloid thruster mechanism |
| EP2944556B1 (en) * | 2014-05-12 | 2018-07-11 | GE Energy Power Conversion Technology Ltd | Cycloidal marine-propulsion system |
| CN105383655B (en) * | 2015-12-11 | 2017-06-13 | 浙江大学 | Crank block type blade oscillating mechanism and the voith schneider propeller including the mechanism |
| CN205418039U (en) * | 2016-03-22 | 2016-08-03 | 浙江机电职业技术学院 | Many connecting rod sliding block formula cycloid propeller |
-
2016
- 2016-03-22 CN CN201610165317.XA patent/CN105799894B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105799894A (en) | 2016-07-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105799894B (en) | Pendulum guide rod type cycloid thruster with enlarger | |
| CN105383655B (en) | Crank block type blade oscillating mechanism and the voith schneider propeller including the mechanism | |
| CN205418039U (en) | Many connecting rod sliding block formula cycloid propeller | |
| CN103723259B (en) | Blade oscillating mechanism and comprise the cycloid thruster for boats and ships of this mechanism | |
| CN103921927B (en) | Crank block hydraulic driven cycloid thruster mechanism | |
| JP2012518742A5 (en) | ||
| CN105151278B (en) | A kind of rudder face differential driving mechanism suitable for unmanned plane | |
| CN104787285A (en) | Propeller vector propelling device | |
| CN205186489U (en) | Slider -crank formula blade swing mechanism and including straight wing propeller of this mechanism | |
| CN103231797A (en) | Four-axle-linkage electric steering engine | |
| CN104218728A (en) | Highly-integrated electro-mechanical actuator and application method thereof | |
| CN105194859A (en) | Automatic table tennis ball serving machine | |
| CN104071320A (en) | Rotary guide rod eccentric disc type cycloidal propeller mechanism | |
| CN108964342A (en) | It is a kind of can on-line continuous control the half of used capacity and actively used hold | |
| CN109733571A (en) | A kind of modularization underwater robot vector propulsion mechanism | |
| CN209667339U (en) | A kind of modularization underwater robot vector propulsion mechanism | |
| CN107424809B (en) | A kind of inductance-regulation resonance reactor open core bidirectional adjustment mechanism | |
| CN113665810B (en) | Rotating disc type cycloidal propeller eccentric mechanism | |
| CN113086149B (en) | Multi-link mechanism based on VSP cycloidal propeller | |
| RU2014121818A (en) | HYDRODYNAMIC MACHINE WITH ONE OR MORE DRIVING WHEEL WITH CONTROLLED LIFTING BLADES | |
| CN205738027U (en) | Pendulum guide rod type cycloid thruster with enlarger | |
| RU2290533C1 (en) | Windmill | |
| CN106542070A (en) | Submarine propeller 3PSS+S types pendulum rotation speedup driving means in parallel | |
| CN101871420A (en) | Two-degree of freedom spherical hydraulic motor with fixed rudder blade shaft | |
| CN203374500U (en) | Swinging mechanism |
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 | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210412 Address after: 325599 Room 102, unit 1, Building 29, Xiangjiang garden, Luoyang Town, Taishun County, Wenzhou City, Zhejiang Province Patentee after: WENZHOU QIYUAN TECHNOLOGY SERVICE Co.,Ltd. Address before: Hangzhou City, Zhejiang province Binjiang District 310053 shore road 528 Patentee before: ZHEJIANG INSTITUTE OF MECHANICAL & ELECTRICAL ENGINEERING |
|
| TR01 | Transfer of patent right |