CN105855901B - The stamping stacking intelligent robot production line of electric cooker - Google Patents
The stamping stacking intelligent robot production line of electric cooker Download PDFInfo
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- CN105855901B CN105855901B CN201610455989.4A CN201610455989A CN105855901B CN 105855901 B CN105855901 B CN 105855901B CN 201610455989 A CN201610455989 A CN 201610455989A CN 105855901 B CN105855901 B CN 105855901B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/06—Metal-working plant comprising a number of associated machines or apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
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- Robotics (AREA)
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Abstract
The present invention relates to the stamping stacking intelligent robot production lines of electric cooker.It includes control device and the sheet stock servo feeding successively arranged is put the oil all-in-one machine, first hydraulic press, first swing arm feeding robot, punching machine, second swing arm feeding robot, second hydraulic press, third swing arm feeding robot, peeler, 4th swing arm feeding robot, crimping machine, 5th swing arm feeding robot, horizontal automatic word pressing machine, robot palletizer, and material conveying trolley, the control device is arranged by production line, and the operation of whole production line is controlled, inner container of electric cooker automatic production line of the present invention can be carried out the feeding in inner container of electric cooker production process, feeding, blowing, drawing and forming, punching press, flanging, crimping, typewriting, the operation such as stacking, to realize automated production and batch production, improve production efficiency, the present invention can satisfy the high request of inner container of electric cooker production technology, enhancing Safety in production process.
Description
Technical field
The present invention relates to a kind of stamping stacking intelligent robot production lines of electric cooker.
Background technique
Currently, the existing stamping stacking intelligent robot production line of electric cooker is all using artificial feeding, feeding, puts
The mode of material, low so as to cause the degree of automation of whole production line, production efficiency is low, and worker is easy to appear in production process
The perils such as injury.
Summary of the invention
It is an object of the invention to overcome above-mentioned the shortcomings of the prior art, and provide it is a kind of simple and reasonable for structure,
The stamping stacking intelligent robot production line of high degree of automation, high production efficiency, production safety, unmanned electric cooker.
The object of the present invention is achieved like this:
A kind of stamping stacking intelligent robot production line of electric cooker, the sheet stock including control device and successively arranged are watched
Take feeding put the oil all-in-one machine, the first hydraulic press, the first swing arm feeding robot, punching machine, the second swing arm feeding robot, second oil
Press, third swing arm feeding robot, peeler, the 4th swing arm feeding robot, crimping machine, the 5th swing arm feeding robot,
Horizontal automatic word pressing machine, robot palletizer and material conveying trolley, the control device are arranged by production line, and to whole
The operation of production line is controlled, and sheet stock servo feeding puts the oil and is conveyed to the first hydraulic press after all-in-one machine positions sheet stock, and first
The product that first hydraulic press stretches completion is grabbed to punching machine and carries out trimming by swing arm feeding robot,
The product of punching machine trimming completion is grabbed to the second hydraulic press and carries out succeeding stretch by the second swing arm feeding robot, the
The product of second hydraulic press succeeding stretch completion is grabbed to peeler and carries out rotary-cut by three swing arm feeding robots, and the 4th swing arm is sent
Material robot grabs the product of peeler rotary-cut completion to carrying out crimping on crimping machine, and the 5th swing arm feeding robot is by crimping
The product of machine crimping completion grabs to horizontal automatic word pressing machine and carries out pressure word, and robot palletizer is complete by horizontal automatic word pressing machine pressure word
At product grab to material conveying trolley carry out stacking, when stacking complete one layer when robot palletizer put leatheroid, continuation code automatically
Pile.
The purpose of the present invention can also be solved using following technical measures:
The crimping machine is equipped at least two crimping stations that crimping is carried out for the product to peeler rotary-cut completion.
The peeler is equipped at least two for carrying out rotary-cut to the product of the second hydraulic press succeeding stretch completion
Rotary-cut station.Therefore, peeler and crimping machine all need to be changed to double-station special plane, can quickly cut when being convenient for changing another liner
It changes.The material grasping hand of swing arm feeding robot keeps original position, and when replacing product, peeler and crimping function are quickly converted another
Station can so guarantee that two kinds of liners share an automatic production line, quickly improve production efficiency.
The production line is equipped with acoustic-optic alarm.
The material grasping is equipped with suction fault detection device on hand.
The robot palletizer is six shaft type robot palletizers.
The production line is equipped with photoelectric sensor.
Swing arm feeding robot includes fuselage, swing arm, swing arm horizontal mobile mechanism, pendulum arm angle rotating mechanism and pendulum
Arm lifting mechanism, the swing arm horizontal mobile mechanism include horizontal guide rail, horizontal carriage, horizontal drive mechanism and horizontal servo electricity
Machine, horizontal guide rail are fixed on the top of fuselage, and swing arm is seated on horizontal guide rail by horizontal carriage, and machine is extended in swing arm outer end
Outside body, after horizontal servo motor drives the horizontal carriage, the swing arm to include swing arm leading portion and put by horizontal drive mechanism
Section, swing arm leading portion are equipped with material grasping hand, and swing arm back segment is mounted in horizontal carriage, is provided between swing arm leading portion and swing arm back segment
Swing arm leading portion rotating mechanism.
The swing arm leading portion rotating mechanism includes swing arm leading portion rotating servo motor, first harmonic speed reducer and the first skin
Band, swing arm leading portion rotating servo motor is mounted on horizontal carriage or swing arm leading portion, before first harmonic speed reducer is connected to swing arm
Between section and swing arm back segment, the first belt is connected between swing arm leading portion rotating servo motor and first harmonic speed reducer.
The bottom of the swing arm back segment extends along a length thereof direction and is provided with belt chamber, and the first belt is arranged in belt chamber
Interior, the lower part of first harmonic speed reducer is connect with swing arm leading portion, upper part be embedded in swing arm back segment belt it is intracavitary and with the first skin
Band connection.
The horizontal guide rail is two horizontal rails mutually balanced of back, and horizontal carriage is sat by two sides rail chair
In in two horizontal rails, horizontal drive mechanism includes front-wheel, rear-wheel and the second belt, and front wheels and rear wheels set up separately in two levels
The front-end and back-end of track, the second belt are connected between front wheels and rear wheels, and front-wheel is driven by horizontal servo motor, horizontal carriage
It is sequentially connected between front wheels and rear wheels and with the second belt.
It is additionally provided with crawler belt slot by the horizontal rail of the fuselage, crawler belt, one end connection of crawler belt are provided in crawler belt slot
On crawler belt slot, the other end connects swing arm back segment.
The pendulum arm angle rotating mechanism includes that angle rotating servo motor, angle rotating belt and second harmonic slow down
The lower part of machine, second harmonic speed reducer is mounted on fuselage by bracket, and upper part connects swing arm horizontal mobile mechanism, angle rotation
Turn servo motor and second harmonic speed reducer is driven by angle rotating belt.
The angle rotating servo motor is fixed on bracket, and swing arm horizontal mobile mechanism bottom is provided with fixing seat, the
The top of two harmonic wave speed reducing machines is mounted in fixing seat.
The swing arm lifting mechanism includes swing arm lifting servo motor, swing arm connecting rod speed reducer, swing arm lifting push rod and pendulum
Arm up and down balance system cylinder, swing arm lifting balance cylinder are fixed on fuselage bottom, and lift telescopic end connects pendulum arm angle whirler
Structure, swing arm lifting servo motor drive swing arm lifting push rod, swing arm lifting push rod and pendulum arm angle by swing arm connecting rod speed reducer
Rotating mechanism connection.
One pillar is set on the pendulum arm angle rotating mechanism, and swing arm lifting balance cylinder and swing arm lifting push rod connect respectively
Connect the pillar.
Beneficial effects of the present invention are as follows:
(1) the stamping stacking intelligent robot production line of electric cooker of the present invention can be carried out inner container of electric cooker production process
In feeding, feeding, blowing, drawing and forming, punching press, flanging, crimping, typewriting, stacking etc. operation, to realize automatic metaplasia
It produces and produces in batches, improve production efficiency, the present invention can satisfy the high request of inner container of electric cooker production technology, also save
Cost of labor enhances the safety in production process, avoids the occurrence of the generation of the perils such as industrial injury.
(2) swing arm feeding robot of the invention, by adding four-axle type driving in the range of small volume, it may be assumed that pendulum
The horizontal direction movement of rotation driving, swing arm, the integral-rotation driving of swing arm and the lifting of the swing arm entirety driving of arm leading portion,
It is able to achieve the operation such as quick feeding, transfer and discharging of material, hence it is evident that improve material transmission efficiency；Moreover, swing arm robot is whole
Body is simple and reasonable for structure.Further more, the swing arm feeding robot, is useful in punching press industry, substantially increases production efficiency, hence it is evident that
Reduce the usage amount of worker, safety is also obviously improved.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the stamping stacking intelligent robot production line of electric cooker of the present invention.
Fig. 2 is the main view of Fig. 1 (omitting control device).
Fig. 3 is the structural schematic diagram of swing arm feeding robot of the invention.
Fig. 4 is the schematic cross-sectional view in Fig. 3 at A-A.
Fig. 5 is the structural schematic diagram that Fig. 3 omits fuselage.
Fig. 6 is the structural schematic diagram of another angle of Fig. 5.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and embodiments.
As shown in Fig. 1 to Fig. 6, a kind of stamping stacking intelligent robot production line of electric cooker, including control device 61
The sheet stock servo feeding successively arranged is put the oil all-in-one machine 6, the first hydraulic press 7, the first swing arm feeding robot 8, punching machine 9,
Two swing arm feeding robots 10, the second hydraulic press 11, third swing arm feeding robot 12, peeler 13, the 4th swing arm feeder
Device people 14, crimping machine 15, the 5th swing arm feeding robot 16, horizontal automatic word pressing machine 17, robot palletizer 18 and material week
Change trains or buses 19, the setting of control device 61 controls by production line, and to the operation of whole production line,
When the invention works, sheet stock servo feeding puts the oil after all-in-one machine 6 first positions sheet stock and is conveyed to the first hydraulic press 7,
Then the product that the first hydraulic press 7 stretches completion is grabbed to punching machine 9 and carries out trimming by the first swing arm feeding robot 8.
Then the product of 9 trimming completion of punching machine is grabbed to the second hydraulic press 11 and carries out two by the second swing arm feeding robot 10
The product of second hydraulic press, 11 succeeding stretch completion is grabbed to peeler 13 and is carried out by secondary stretching, third swing arm feeding robot 12
Rotary-cut.
Tightly more, the 4th swing arm feeding robot 14 grabs the product of 13 rotary-cut completion of peeler enterprising to crimping machine 15
The product of 15 crimping completion of crimping machine is grabbed to horizontal automatic word pressing machine 17 and is carried out by row crimping, the 5th swing arm feeding robot 16
Press word.
Finally, robot palletizer 18 by horizontal automatic word pressing machine 17 pressure word completion product grab to material conveying trolley 19 into
Row stacking, when stacking completes one layer, robot palletizer 18 puts leatheroid 20 automatically, continues the stacking on leatheroid 20.
The purpose of the present invention can also be solved using following technical measures:
The crimping machine 15 is equipped at least two crimpings that crimping is carried out for the product to 13 rotary-cut completion of peeler
Station.
The peeler 13 is equipped at least two for revolving to the product of 11 succeeding stretch completion of the second hydraulic press
The rotary-cut station cut.
The production line is equipped with acoustic-optic alarm.
The material grasping is equipped with suction fault detection device 231 on hand.
The production line is equipped with photoelectric sensor.
Swing arm feeding robot includes fuselage 1, swing arm 2, swing arm horizontal mobile mechanism 3, pendulum arm angle rotating mechanism 4
With swing arm lifting mechanism 5, the swing arm horizontal mobile mechanism 3 includes horizontal guide rail 31, horizontal carriage 32, horizontal drive mechanism 33
With horizontal servo motor 34, horizontal guide rail 31 is fixed on the top of fuselage 1, and swing arm 2 is seated at horizontal guide rail by horizontal carriage 32
On 31, and 2 outer end of swing arm is extended outside fuselage 1, and horizontal servo motor 34 drives the level to drag by horizontal drive mechanism 33
Plate 32, the swing arm 2 include swing arm leading portion 21 and swing arm back segment 22, and swing arm leading portion 21 is equipped with material grasping hand 23, swing arm back segment 22
It is mounted in horizontal carriage 32, swing arm leading portion rotating mechanism 24 is provided between swing arm leading portion 21 and swing arm back segment 22.
The swing arm leading portion rotating mechanism 24 includes swing arm leading portion rotating servo motor 25, first harmonic speed reducer 26 and the
One belt 27, swing arm leading portion rotating servo motor 25 are mounted on horizontal carriage 32 or swing arm leading portion 21, first harmonic speed reducer
26 are connected between swing arm leading portion 21 and swing arm back segment 22, and the first belt 27 is connected to swing arm leading portion rotating servo motor 25 and
Between one harmonic wave speed reducing machine 26.
The level height of the swing arm leading portion 21 is lower than the level height of swing arm back segment 22.
The bottom of the swing arm back segment 22 extends along a length thereof direction and is provided with belt chamber 28, and the first belt 27 is arranged in skin
In band chamber 28, the lower part of first harmonic speed reducer 26 is connect with swing arm leading portion 21, and upper part is embedded in the belt chamber of swing arm back segment 22
It is connect in 28 and with the first belt 27.
The horizontal guide rail 31 is the horizontal rail 30 that two of 1 top of fuselage mutually balance, and horizontal carriage 32 passes through two
Siding track seat is seated in two horizontal rails 30, and horizontal drive mechanism 33 includes front-wheel 35, rear-wheel 36 and the second belt 37, front-wheel 35
Setting up separately with rear-wheel 36 in the front-end and back-end of two horizontal rails 30, the second belt 37 is connected between front-wheel 35 and rear-wheel 36,
Front-wheel 35 is driven by horizontal servo motor 34, and horizontal carriage 32 is driven between front-wheel 35 and rear-wheel 36 and with the second belt 37
Connection.
It is additionally provided with crawler belt slot 39 by the horizontal rail 30 of the fuselage 1, crawler belt 391, crawler belt are provided in crawler belt slot 39
On 391 one end connecting band track slot 39, the other end connects swing arm back segment 22.
The pendulum arm angle rotating mechanism 4 includes angle rotating servo motor 41, angle rotating belt 42 and second harmonic
The lower part of speed reducer 43, second harmonic speed reducer 43 is installed on the fuselage 1 by bracket 44, and upper part connection swing arm moves horizontally
Mechanism 3, angle rotating servo motor 41 drive second harmonic speed reducer 43 by angle rotating belt 42.
The angle rotating servo motor 41 is fixed on bracket 44, and 3 bottom of swing arm horizontal mobile mechanism is provided with fixation
Seat 38, the top of second harmonic speed reducer 43 is mounted in fixing seat 38.
The swing arm lifting mechanism 5 includes swing arm lifting servo motor 51, swing arm connecting rod speed reducer 52, swing arm lifting push rod
53 and swing arm lifting balance cylinder 54, swing arm lifting balance cylinder 54 is fixed on 1 bottom of fuselage, and lift telescopic end connects swing arm
Angle rotating mechanism 4, swing arm lifting servo motor 51 drive swing arm lifting push rod 53, swing arm liter by swing arm connecting rod speed reducer 52
Drop push rod 53 is connect with pendulum arm angle rotating mechanism 4.The swing arm lifting balance cylinder 54 is for assisting swing arm to move horizontally
4 lifting moving of mechanism 3 and pendulum arm angle rotating mechanism, so that robot keeps preferably stability during the work time.
One pillar 45, swing arm lifting balance cylinder 54 and swing arm lifting push rod are set on the pendulum arm angle rotating mechanism 4
53 are separately connected the pillar 45.
Claims (4)
1. the stamping stacking intelligent robot production line of electric cooker, characterized in that watched including control device (61) and by sheet stock
Feeding is taken to put the oil all-in-one machine (6), the first hydraulic press (7), the first swing arm feeding robot (8), punching machine (9), the second swing arm feeding
Robot (10), the second hydraulic press (11), third swing arm feeding robot (12), peeler (13), the 4th swing arm feeding machine
People (14), crimping machine (15), the 5th swing arm feeding robot (16), horizontal automatic word pressing machine (17), robot palletizer (18), with
And material conveying trolley (19) is successively arranged the production line of composition, the control device (61) controls the operation of whole production line
System, the sheet stock servo feeding put the oil after all-in-one machine (6) positions sheet stock and are conveyed to the first hydraulic press (7)；
The product that first hydraulic press (7) stretch completion is grabbed to punching machine (9) and carries out trimming by the first swing arm feeding robot (8)；
Second swing arm feeding robot (10) grabs the product of punching machine (9) trimming completion secondary to the second hydraulic press (11) progress
It stretches；
Third swing arm feeding robot (12) grabs the product of the second hydraulic press (11) succeeding stretch completion to peeler (13)
Carry out rotary-cut；
4th swing arm feeding robot (14) grabs the product of peeler (13) rotary-cut completion to rolling up on crimping machine (15)
Side；
5th swing arm feeding robot (16) grabs the product of crimping machine (15) crimping completion to horizontal automatic word pressing machine (17)
Carry out pressure word；
The product of horizontal automatic word pressing machine (17) pressure word completion is grabbed to material conveying trolley (19) and is carried out by robot palletizer (18)
Stacking；
The crimping machine (15) is equipped at least two crimpings that crimping is carried out for the product to peeler (13) rotary-cut completion
Station；
The peeler (13) is equipped at least two for revolving to the product of the second hydraulic press (11) succeeding stretch completion
The rotary-cut station cut；
Swing arm feeding robot includes fuselage (1), swing arm (2), swing arm horizontal mobile mechanism (3), pendulum arm angle whirler
Structure (4) and swing arm lifting mechanism (5), the swing arm horizontal mobile mechanism (3) include horizontal guide rail (31), horizontal carriage (32),
Horizontal drive mechanism (33) and horizontal servo motor (34), horizontal guide rail (31) are fixed on the top of fuselage (1), and swing arm (2) is logical
It crosses horizontal carriage (32) to be seated on horizontal guide rail (31), and fuselage (1) is extended outside in swing arm (2) outer end, horizontal servo motor
(34) horizontal carriage (32) is driven by horizontal drive mechanism (33), characterized in that the swing arm (2) includes swing arm leading portion
(21) it is equipped with material grasping hand (23) with swing arm back segment (22), swing arm leading portion (21), swing arm back segment (22) is mounted on horizontal carriage
(32) on, swing arm leading portion rotating mechanism (24), the swing arm leading portion are provided between swing arm leading portion (21) and swing arm back segment (22)
Rotating mechanism (24) includes swing arm leading portion rotating servo motor (25), first harmonic speed reducer (26) and the first belt (27), pendulum
Arm leading portion rotating servo motor (25) is mounted on horizontal carriage (32) or swing arm leading portion (21), and first harmonic speed reducer (26) is even
It connects between swing arm leading portion (21) and swing arm back segment (22), the first belt (27) is connected to swing arm leading portion rotating servo motor (25)
Between first harmonic speed reducer (26), the horizontal guide rail (31) is two horizontal rails mutually balanced on fuselage (1) top
Road (30), horizontal carriage (32) is seated on two horizontal rails (30) by two sides rail chair, before horizontal drive mechanism (33) includes
Wheel (35), rear-wheel (36) and the second belt (37), front-wheel (35) and rear-wheel (36) set up separately in the front end of two horizontal rails (30)
And rear end, the second belt (37) are connected between front-wheel (35) and rear-wheel (36), front-wheel (35) is by horizontal servo motor (34) band
Dynamic, horizontal carriage (32) is located between front-wheel (35) and rear-wheel (36) and is sequentially connected with the second belt (37).
2. the stamping stacking intelligent robot production line of electric cooker according to claim 1, characterized in that the swing arm angle
Degree rotating mechanism (4) includes angle rotating servo motor (41), angle rotating belt (42) and second harmonic speed reducer (43), the
The lower part of two harmonic wave speed reducing machines (43) is mounted on fuselage (1) by bracket (44), and upper part connects swing arm horizontal mobile mechanism
(3), angle rotating servo motor (41) drives second harmonic speed reducer (43) by angle rotating belt (42).
3. the stamping stacking intelligent robot production line of electric cooker according to claim 2, characterized in that the swing arm liter
Descending mechanism (5) includes swing arm lifting servo motor (51), swing arm connecting rod speed reducer (52), swing arm lifting push rod (53) and swing arm liter
It drops balance cylinder (54), swing arm lifting balance cylinder (54) is fixed on fuselage (1) bottom, and lift telescopic end connects pendulum arm angle
Rotating mechanism (4), swing arm lifting servo motor (51) drive swing arm lifting push rod (53) by swing arm connecting rod speed reducer (52), pendulum
Arm lifting push rod (53) is connect with pendulum arm angle rotating mechanism (4).
4. the stamping stacking intelligent robot production line of electric cooker according to claim 3, characterized in that the material grasping hand
It is equipped with suction fault detection device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610455989.4A CN105855901B (en) | 2016-06-22 | 2016-06-22 | The stamping stacking intelligent robot production line of electric cooker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610455989.4A CN105855901B (en) | 2016-06-22 | 2016-06-22 | The stamping stacking intelligent robot production line of electric cooker |
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| Publication Number | Publication Date |
|---|---|
| CN105855901A CN105855901A (en) | 2016-08-17 |
| CN105855901B true CN105855901B (en) | 2019-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610455989.4A Active CN105855901B (en) | 2016-06-22 | 2016-06-22 | The stamping stacking intelligent robot production line of electric cooker |
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| CN113084534A (en) * | 2021-04-29 | 2021-07-09 | 珠海格力智能装备有限公司 | Electric cooker inner container production system and operation method thereof |
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| CN105855901A (en) | 2016-08-17 |
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Denomination of invention: Production line for rice cooker stamping and forming stacking intelligent robots Effective date of registration: 20200605 Granted publication date: 20190222 Pledgee: Guangdong Nanhai Rural Commercial Bank branch branch of Limited by Share Ltd. Pledgor: FOSHAN CITY SHUNDE DISTRICT KAISHUO PRECISION MOULD AUTOMATIC TECHNOLOGY Co.,Ltd. Registration number: Y2020980002816 |
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Denomination of invention: Intelligent robot production line of rice cooker stamping forming and stacking Effective date of registration: 20201023 Granted publication date: 20190222 Pledgee: Shunde Guangdong rural commercial bank Limited by Share Ltd. Daliang branch Pledgor: FOSHAN CITY SHUNDE DISTRICT KAISHUO PRECISION MOULD AUTOMATIC TECHNOLOGY Co.,Ltd. Registration number: Y2020980007119 |
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Denomination of invention: Rice cooker stamping forming and stacking intelligent robot production line Effective date of registration: 20221018 Granted publication date: 20190222 Pledgee: Guangdong Shunde Rural Commercial Bank Co.,Ltd. science and technology innovation sub branch Pledgor: FOSHAN CITY SHUNDE DISTRICT KAISHUO PRECISION MOULD AUTOMATIC TECHNOLOGY Co.,Ltd. Registration number: Y2022980018613 |