CN105818136A - Exoskeleton robot shoulder joint design method based on four-connecting-rod mechanism - Google Patents
Exoskeleton robot shoulder joint design method based on four-connecting-rod mechanism Download PDFInfo
- Publication number
- CN105818136A CN105818136A CN201610341151.2A CN201610341151A CN105818136A CN 105818136 A CN105818136 A CN 105818136A CN 201610341151 A CN201610341151 A CN 201610341151A CN 105818136 A CN105818136 A CN 105818136A
- Authority
- CN
- China
- Prior art keywords
- humerus
- shoulder joint
- quadric chain
- line segment
- point
- 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.)
- Granted
Links
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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention provides a method for designing a shoulder joint by using a four-connecting-rod mechanism. The method includes the steps that the position of the shoulder joint when the two arms naturally droop is recorded, and the humerus is marked to be C1B1; the two arms are unbent to outwards extend naturally until the humerus is located in the horizontal direction, the offset of a new position of the shoulder joint relative to the position of the shoulder joint in the last step is recorded, and the humerus is marked to be C2B2; a drawing is made to solve the four-connecting-rod mechanism, and the upper end of the C1B1 is lengthened to a point X1 to serve as a first hinge point of the four-connecting-rod mechanism; another point Y1 on the C1B1 is selected to serve as a second hinge point of the four-connecting-rod mechanism; two corresponding points X2 and Y2 are found on the humerus C2B2; an arc X1X2 is made with the X1 and the X2 as the two end points, the circle center of the arc is located at a point V, another arc Y1Y2 is made with the Y1 and the Y2 as two end points, the circle center of the arc is located at a point U, and the U and the V are the other two hinge points of the four-connecting-rod mechanism; and a line segment UV is made, and the line segment UV represents a rack of the four-connecting-rod mechanism. By means of the method, the shoulder joint and clavicle linkage motion manner can be supported without additionally arranging extra power components such as a motor and a reduction gear.
Description
Technical field
The present invention relates to exoskeleton robot technical field, particularly relate to a kind of exoskeleton robot shoulder joint method for designing based on quadric chain.
Background technology
Shoulders of human body structure is complicated, in series with humerus by clavicle, scapula.Humerus can be around shoulder joint along three degree of freedom flexible rotating, and shoulder joint self is also supported by clavicle, can move around sternoclavicular joint on two degree of freedom.
As a example by the health of right side, accompanying drawing 1 illustrates the skeletal structure of more than shoulders of human body.The series connection articulated chain being made up of breastbone, sternoclavicular joint 101, clavicle 102, scapula 103, shoulder joint 104, humerus 105 is the basic supporting construction of upper extremity exercise.This structure can be reduced to the shaft-like model shown in accompanying drawing 2 approx, wherein sternoclavicular joint 201 can be reduced to a pair and has the bulb joint of two rotary freedoms, clavicle 202 is reduced to a straight-bar, shoulder joint 204 then can be reduced to a pair and have the bulb joint of three rotary freedoms, and humerus 205 is then reduced to the straight-bar ball joint-rotating around shoulder joint.Clavicle 202 can before and after sternoclavicular joint 201, swing up and down.Humerus 205 can swing around shoulder joint 204, it is also possible to external rotation in own axes.
Ectoskeleton is the wearable anthropomorphic robot that a class is special, and its design is different with common anthropomorphic robot.Designing ordinary people's anthropomorphic robot when, consideration for function Yu cost, often assume that shoulder joint self is actionless relative to trunk, thus have a mind to have ignored the existence of clavicle and scapula, therefore the abduction of humerus, the motion of interior receipts as attached demonstrated in Figure 3 as.But the joint of exoskeleton robot needs to follow the limb motion of wearing personnel, therefore the shoulder joint of exoskeleton robot needs to coordinate the clavicle motion of people.The shoulder joint kinesitherapy track of human body situation the most as shown in Figure 4, while humerus abduction, clavicle can lifting naturally.This means to need to set up one section of frame for movement parallel with clavicle.If directly transformed completely in accordance with structoure of the human body, the most each degree of freedom is required for increasing a set of motor, encoder, sensor and deceleration device.Complete machine cost can significantly rise, and weight also can increase a lot.If but the most do not set up any structure and shoulder mobility can be caused again limited, affect comfort level and robot motion's scope of wearer.
In sum, if when designing ectoskeleton by fixing for clavicle dead, then wearer shoulder when hand abduction has obvious constriction, and arm lifting scope also can be very limited, and worn for long periods possibly even can cause shoulder pathological changes.If being individually for clavicle to set up a set of power set, then cost significantly improves, and weight increases, and structure complexity is difficult to process and assemble.
Summary of the invention
It is an object of the invention to from human engineering angle, clavicle corresponding movement locus during by analyzing upper arm nature abduction/adduction, the method proposing a set of use quadric chain design shoulder joint, it is achieved that need not increase the extra power part such as motor, deceleration device can support shoulder joint and the forms of motion of clavicle linkage.
For reaching above-mentioned purpose, the present invention is achieved through the following technical solutions:
A kind of exoskeleton robot shoulder joint method for designing based on quadric chain, comprises the following steps:
The first step, measures the clavicle of wearer and the length of humerus；
Second step, wearer stands erectly, and both arms naturally droop, and humerus is vertical, records shoulder joint position, is now designated as humerus C1B1, and B represents the centre of sphere point of shoulder joint, is positioned at the upper end of humerus, and C represents the end of humerus；
3rd step, both arms stretch nature abduction to humerus and are positioned at horizontal direction, and the new position of record shoulder joint, relative to the side-play amount of shoulder joint position in step 2, is now designated as humerus C2B2；
4th step, maps and solves described quadric chain:
(1) described humerus C1B1 upper end is extended to an X1 pin joint as quadric chain；Humerus C1B1 selects else 1 Y1, second pin joint as quadric chain；
(2) on described humerus C2B2, find X2, Y2 of correspondence, B1X1=B2X2, B1Y1=B2Y2 at 2；
(3) being that two end points make one section of circular arc X1X2 with X1, X2, its center of circle is positioned at a V, is that two end points make another section of circular arc Y1Y2 with Y1, Y2, and its center of circle is positioned at a U, then some U and two other pin joint that some V is quadric chain；Make line segment UV, line segment UV and represent the frame of quadric chain；
(4) driving the connecting rod in described double leval jib sketch to carry out motion simulation by computer aided design software, the line segment of checking different length and combined radius obtain the angular range of shoulder flexible motion；
(5) according to the angular range of described shoulder flexible motion, feature and size constraints in conjunction with exoskeleton robot assembly selectes the particular location of U, V 2, intensity restrictive condition in conjunction with rod member UY Yu VX selectes the length of line segment BX Yu BY, i.e. obtains described quadric chain；
5th step, designs concrete ectoskeleton shoulder joint component according to each length of connecting rod of described quadric chain.
The invention has the beneficial effects as follows: the quadric chain designed according to the method for the present invention can support shoulder flexible motion in the range of the normal movement angle of shoulders of human body.It is adult male or women that the exoskeleton mechanism designed according to the method for the present invention is suitable for crowd, does not limit ethnic group.The method for designing of the present invention overcomes the problem giving no thought to the wearer's body discomfort that clavicle motion is brought in prior art, it is individually for clavicle sets up a set of power set if solved simultaneously, then cost significantly improves, and weight increases, the problem that structure complexity is difficult to process and assemble.The present invention only uses a motor and decelerator to can be realized as humerus and links with clavicle.
Accompanying drawing explanation
Fig. 1 is the shoulder structure schematic diagram of human body；
Fig. 2 is clavicle, the humerus series connection articulated chain schematic diagram simplified；
Fig. 3 is clavicle no motion of robot shoulder joint abduction, interior receipts degree of freedom schematic diagram；
Fig. 4 is actual motion track schematic diagram during human body shoulder abduction；
Fig. 5 is that upper limb simplifies line chart；
Fig. 6 is the schematic diagram that mapping solves quadric chain；
Fig. 7 is the quadric chain schematic diagram obtained designed by the method for the present invention；
Fig. 8 is the movement locus citing of the quadric chain designed by the present invention；
Fig. 9 is the angular range of the head movement supported of the quadric chain designed by the present invention.
Specific embodiments
Combine accompanying drawing below by detailed description of the invention the present invention is described in further detail.
High far away from swinging up and down frequency owing to swinging before and after clavicle, and during swing, amplitude is the least, swings before and after therefore the present invention ignores clavicle, only considers to swing up and down.It is to say, ectoskeletal part will be driven to coordinate clavicle swing exclusively with a set of power executing device.
The solution of the present invention substantially divides the following steps:
The first step, measures the clavicle of wearer and the length of humerus, looks for the centre of sphere point of joint ball head as end points as far as possible.
Second step, wearer stands erectly, and both arms naturally droop, and humerus is vertical, records shoulder joint position.
3rd step, both arms stretch nature abduction to humerus and are positioned at horizontal direction, record the new position of shoulder joint relative to the side-play amount of shoulder joint position in step 2.Obtain line chart as shown in Figure 5.Wherein, in accompanying drawing 5 dotted line and suffix be 1 letter represent upper limb position when humerus naturally droops, solid line and suffix be 2 letter represent upper limb position when humerus nature abduction to humerus is positioned at horizontal direction.A point represents the centre of sphere point of sternoclavicular joint, and as the pin joint on pedestal in kinematic chain, position own maintains static.B point represents the centre of sphere point of shoulder joint, is positioned at the upper end of humerus, and C point represents the end of humerus.Therefore clavicle can represent with line segment AB, and humerus can represent with line segment BC.
4th step, mapping solves quadric chain.
The final purpose of the present invention be remove the clavicle AB in accompanying drawing 5 after, still can realize the natural motion of humerus.The position of shoulder joint is included in the upper end of humerus naturally.The Origin And Destination position arrived for measurement, can solve a set of quadric chain by the mapping mode in accompanying drawing 6 in theory and approach its movement locus.A point in accompanying drawing 6 represents the sphere center position of original sternoclavicular joint, and the clavicle that this point and AB represent will be replaced by quadric chain in subsequent steps.U point and V point are two summits that in quadric chain, position is fixing, will become the new frame of shoulder joint with the fixing point of UV composition.
Concrete solution procedure is:
(1) humerus C1B1 upper end is extended to an X1 pin joint as quadric chain on the basis of accompanying drawing 5.Humerus C1B1 selects else 1 Y1, second pin joint as quadric chain.After selected the two point, make some boost lines and find two other pin joint.
(2) on humerus C2B2, first find X2, Y2 of correspondence at 2.Specifically by computer aided design software, line segment B1X1 and line segment B2X2 can be applied isometric constraint.Because they are substantially same line segments moves to two positions.Same, isometric constraint is also applied for line segment B1Y1 and B2Y2.
(3) being that two end points make one section of circular arc X1X2 with X1, X2, its center of circle is positioned at a V, is that two end points make another section of circular arc Y1Y2 with Y1, Y2, and its center of circle is positioned at a U.Then some U and two other pin joint that some V is quadric chain.Making line segment UV, this line segment represents the frame of quadric chain, is fixed.The sketch doing so out is in incomplete definition status, and the length of line segment BX, BY and the radius of circular arc X1X2, Y1Y2 have infinite multiple solution, and compound mode is also infinite many.
(4) drive the connecting rod in described double leval jib sketch to carry out motion simulation by computer aided design software, can verify that the line segment of different length and combined radius obtain the angular range of shoulder flexible motion.
(5) in case history, feature and size constraints in conjunction with assembly selectes the particular location of U, V 2, intensity restrictive condition in conjunction with rod member UY Yu VX selectes the length of line segment BX Yu BY, can obtain the quadric chain shown in accompanying drawing 7 according to above-mentioned conditional filtering.Such as: be used for driving the motor of quadric chain and decelerator diameter between 60mm～120mm, be preferably mounted at a V or some X.Correspondingly, the distance between some V and wearer's spinal column is no less than 30～60mm.Point B represents the position of wearer shoulder joint, and the span of line segment BX is advisable between-50mm～70mm.The position of some Y should meet two inequality: 80mm < BY < 200mm simultaneously；XY>80mm.The radius of circular arc X1X2 is between 130mm～250mm, and the radius of circular arc Y1Y2 is between 180～380mm.
5th step, the ectoskeleton shoulder joint component that the design of each length of connecting rod in 7 is concrete with reference to the accompanying drawings, and ensure that the shoulder joint of wearer is positioned at the position of B point in figure.Accompanying drawing 8 is the movement locus citing of the quadric chain gone out designed by the method for the present invention.Ensure that the shoulder joint of wearer is positioned at the method for the position of B point in figure particularly as follows: install aided ruler on connecting rod XY, indicate the position of B point.Adjust the exoskeleton robot frame fixed position at wearer back so that the shoulder joint position of B point rough alignment wearer.
The quadric chain designed according to the method for the present invention can support shoulder flexible motion in the angular range shown in accompanying drawing 9.It is adult male or women that the exoskeleton mechanism designed according to this method is suitable for crowd, does not limit ethnic group.The method for designing of the present invention overcomes the problem giving no thought to the wearer's body discomfort that clavicle motion is brought in prior art, it is individually for clavicle sets up a set of power set if solved simultaneously, then cost significantly improves, and weight increases, the problem that structure complexity is difficult to process and assemble.The present invention only uses an executor and decelerator to can be realized as humerus and links with clavicle.Executor is to be controlled by input signal in machinery, it is possible to produce the dynamical element of corresponding mechanical movement.If motor, electric magnet, hydraulic actuator, atmospheric pressure actuating cylinder etc. are all typical executors.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert the present invention be embodied as be confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, it is also possible to make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (6)
1. an exoskeleton robot shoulder joint method for designing based on quadric chain, it is characterised in that: said method comprising the steps of:
The first step, measures the clavicle of wearer and the length of humerus；
Second step, wearer stands erectly, and both arms naturally droop, and humerus is vertical, records shoulder joint position, is now designated as humerus C1B1, and B represents the centre of sphere point of shoulder joint, is positioned at the upper end of humerus, and C represents the end of humerus；
3rd step, both arms stretch nature abduction to humerus and are positioned at horizontal direction, and the new position of record shoulder joint, relative to the side-play amount of shoulder joint position in step 2, is now designated as humerus C2B2；
4th step, maps and solves described quadric chain:
S41, described humerus C1B1 upper end is extended to an X1 pin joint as quadric chain；Humerus C1B1 selects else 1 Y1, second pin joint as quadric chain；
S42, find on described humerus C2B2 correspondence 2 X2, Y2, B1X1=B2X2, B1Y1=B2Y2；
S43, being that two end points make one section of circular arc X1X2 with X1, X2, its center of circle is positioned at a V, is that two end points make another section of circular arc Y1Y2 with Y1, Y2, and its center of circle is positioned at a U, then some U and two other pin joint that some V is quadric chain；Make line segment UV, line segment UV and represent the frame of quadric chain；
S44, driving the connecting rod in described double leval jib sketch to carry out motion simulation by computer aided design software, the line segment of checking different length and combined radius obtain the angular range of shoulder flexible motion；
S45, angular range according to described shoulder flexible motion, feature and size constraints in conjunction with assembly selectes the particular location of U, V 2, intensity restrictive condition in conjunction with rod member UY Yu VX selectes the length of line segment BX Yu BY, i.e. obtains described quadric chain；
5th step, designs concrete ectoskeleton shoulder joint component according to each length of connecting rod of described quadric chain.
Method the most according to claim 1, it is characterised in that: described step S42 is specially by computer aided design software, and line segment B1X1 and line segment B2X2 is applied isometric constraint；Same, isometric constraint is also applied for line segment B1Y1 and B2Y2.
Method the most according to claim 1, it is characterised in that: the U point that described step S43 obtains and V point are two summits that in described quadric chain, position is fixing.
Method the most according to claim 1, it is characterised in that: in described step one, measure the clavicle of people and the length of the humerus centre of sphere point using joint ball head as the end points measured.
5. an exoskeleton robot shoulder joint based on quadric chain, it is characterised in that: described exoskeleton robot shoulder joint includes an executor and a decelerator, and described quadric chain obtains according to according to the method design described in any one of claim 1-4.
Exoskeleton robot shoulder joint the most according to claim 5, it is characterised in that: described executor is at least one of which in motor, electric magnet, hydraulic actuator, atmospheric pressure actuating cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610341151.2A CN105818136B (en) | 2016-05-20 | 2016-05-20 | A kind of exoskeleton robot shoulder joint design method based on four-bar mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610341151.2A CN105818136B (en) | 2016-05-20 | 2016-05-20 | A kind of exoskeleton robot shoulder joint design method based on four-bar mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105818136A true CN105818136A (en) | 2016-08-03 |
| CN105818136B CN105818136B (en) | 2018-06-26 |
Family
ID=56531127
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610341151.2A Active CN105818136B (en) | 2016-05-20 | 2016-05-20 | A kind of exoskeleton robot shoulder joint design method based on four-bar mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105818136B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112137841A (en) * | 2020-09-25 | 2020-12-29 | 上海理工大学 | Compliance shoulder rehabilitation exoskeleton |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040164697A1 (en) * | 2002-12-11 | 2004-08-26 | Sony Corporation | Legged mobile robot and actuator device applicable to join shaft of the robot |
| EP1398016B1 (en) * | 2002-09-12 | 2005-12-28 | Universiteit Gent | Orthopedic arm and shoulder brace |
| EP2052709A1 (en) * | 2007-10-24 | 2009-04-29 | ETH Zurich | System for arm therapy |
| CN104622668A (en) * | 2015-03-04 | 2015-05-20 | 国家康复辅具研究中心 | Bionic shoulder joint movement rehabilitation training apparatus |
| CN105120821A (en) * | 2013-04-03 | 2015-12-02 | 穆格公司 | Mechanical linkage |
| CN105573478A (en) * | 2014-10-13 | 2016-05-11 | 北京三星通信技术研究有限公司 | Input control method and device of portable equipment |
-
2016
- 2016-05-20 CN CN201610341151.2A patent/CN105818136B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1398016B1 (en) * | 2002-09-12 | 2005-12-28 | Universiteit Gent | Orthopedic arm and shoulder brace |
| US20040164697A1 (en) * | 2002-12-11 | 2004-08-26 | Sony Corporation | Legged mobile robot and actuator device applicable to join shaft of the robot |
| EP2052709A1 (en) * | 2007-10-24 | 2009-04-29 | ETH Zurich | System for arm therapy |
| CN105120821A (en) * | 2013-04-03 | 2015-12-02 | 穆格公司 | Mechanical linkage |
| CN105573478A (en) * | 2014-10-13 | 2016-05-11 | 北京三星通信技术研究有限公司 | Input control method and device of portable equipment |
| CN104622668A (en) * | 2015-03-04 | 2015-05-20 | 国家康复辅具研究中心 | Bionic shoulder joint movement rehabilitation training apparatus |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112137841A (en) * | 2020-09-25 | 2020-12-29 | 上海理工大学 | Compliance shoulder rehabilitation exoskeleton |
| CN112137841B (en) * | 2020-09-25 | 2023-02-03 | 上海理工大学 | Compliance shoulder rehabilitation exoskeleton |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105818136B (en) | 2018-06-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101596139B (en) | Assistant movement exoskeleton of three-degree of freedom ankle joint | |
| CN201743884U (en) | Robot for rehabilitating and training upper limb | |
| CN106618958B (en) | A kind of upper limb ectoskeleton mirror image healing robot of motion sensing control | |
| KR101163903B1 (en) | Robot shoulder appratus for stroke patients rehabilitation | |
| CN104385266A (en) | Seven-degree-of-freedom external skeleton type teleoperation main hand | |
| CN105640739A (en) | Upper limb rehabilitation exoskeleton based on space gravity balance | |
| CN201422989Y (en) | Exoskeleton with three degree of freedom for auxiliary ankle joint exercises | |
| CN101817181B (en) | Six-degree-of-freedom flexible mechanical arm based on pneumatic muscles | |
| CN105856199B (en) | A kind of method and device for solving the problems, such as exoskeleton robot shoulder joint Singularity | |
| CN102601792B (en) | Humanoid robot remotely driven and controlled by rope | |
| NL2011907C2 (en) | Upper limb exoskeleton. | |
| CN105686834A (en) | Wearable exoskeleton mechanism used for detecting human body upper limb shoulder glenohumeral joint motion information | |
| CN102258849A (en) | Upper limb hemiplegia rehabilitation robot | |
| CN1325229C (en) | Dress-able type flexible exoskeleton manipulator | |
| CN108836732B (en) | Upper limb rehabilitation training exoskeleton mechanism with human-machine motion compatibility and passive gravity balance characteristics | |
| CN102229146A (en) | Remote control humanoid robot system based on exoskeleton human posture information acquisition technology | |
| CN104473752B (en) | A kind of exercising apparatus for recovery of upper limb based on grouping couple drive | |
| CN104887456A (en) | Wearable rehabilitation training device for upper limbs driven by pneumatic artificial muscles | |
| CN114366555B (en) | Wearable upper limb rehabilitation exoskeleton robot | |
| CN105342806B (en) | A kind of human body joint motion servicing unit and human motion power assisting device | |
| CN108601697A (en) | Equipment for carrying out movement support to mankind's shoulder joint | |
| CN110787024B (en) | Shoulder joint rehabilitation exoskeleton mechanism adopting unpowered compensation joints | |
| CN105818136A (en) | Exoskeleton robot shoulder joint design method based on four-connecting-rod mechanism | |
| CN2710848Y (en) | Wearing type ectoskeleton manipulator | |
| CN107030682A (en) | twelve-axis spherical coordinate movement 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 | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200529 Address after: 1703, block a, Silicon Valley Plaza, Dongfeng Road, Wenhua Road, Jinshui District, Zhengzhou City, Henan Province Patentee after: ZHENGZHOU KUNBO TECHNOLOGY Co.,Ltd. Address before: 518000 room 1006, Pioneer Park, University Town, Taoyuan street, Nanshan District, Shenzhen, Guangdong Patentee before: SHENZHEN JUNHANGZHIYUAN TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201125 Address after: 277400 intersection of Guangji road and Alishan Road, industrial park, Taierzhuang Economic Development Zone, Zaozhuang City, Shandong Province Patentee after: SHANDONG MINGYUAN INTELLIGENT EQUIPMENT TECHNOLOGY Co.,Ltd. Address before: 1703, block a, Silicon Valley Plaza, Dongfeng Road, Wenhua Road, Jinshui District, Zhengzhou City, Henan Province Patentee before: ZHENGZHOU KUNBO TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210423 Address after: 277400 intersection of Guangji road and Alishan Road, industrial park, Taierzhuang Economic Development Zone, Zaozhuang City, Shandong Province Patentee after: SHANDONG MINGYUAN INTELLIGENT EQUIPMENT TECHNOLOGY Co.,Ltd. Patentee after: Neumann (Shandong) Internet of things Research Institute Co.,Ltd. Address before: 277400 intersection of Guangji road and Alishan Road, industrial park, Taierzhuang Economic Development Zone, Zaozhuang City, Shandong Province Patentee before: SHANDONG MINGYUAN INTELLIGENT EQUIPMENT TECHNOLOGY Co.,Ltd. |