CN106003082B - A kind of large area sewage purification environmental protection humanoid robot - Google Patents
A kind of large area sewage purification environmental protection humanoid robot Download PDFInfo
- Publication number
- CN106003082B CN106003082B CN201610471767.1A CN201610471767A CN106003082B CN 106003082 B CN106003082 B CN 106003082B CN 201610471767 A CN201610471767 A CN 201610471767A CN 106003082 B CN106003082 B CN 106003082B
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- Prior art keywords
- walking
- fixed
- feeds intake
- support
- motor
- 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.)
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- 239000010865 sewage Substances 0.000 title claims abstract description 23
- 238000000746 purification Methods 0.000 title claims abstract description 16
- 230000007613 environmental effect Effects 0.000 title claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 53
- 235000021050 feed intake Nutrition 0.000 claims abstract description 39
- 230000033228 biological regulation Effects 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims description 41
- 230000006835 compression Effects 0.000 claims description 40
- 238000007906 compression Methods 0.000 claims description 40
- 230000007246 mechanism Effects 0.000 claims description 31
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 28
- 239000000463 material Substances 0.000 claims description 22
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 230000007704 transition Effects 0.000 claims description 15
- 230000006698 induction Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 9
- 241000276425 Xiphophorus maculatus Species 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 2
- 239000004744 fabric Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 description 14
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- 238000010586 diagram Methods 0.000 description 8
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- 230000006872 improvement Effects 0.000 description 7
- 238000013519 translation Methods 0.000 description 6
- 230000014616 translation Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 239000003643 water by type Substances 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 4
- 229940079593 drug Drugs 0.000 description 4
- 239000002245 particle Substances 0.000 description 4
- 239000000843 powder Substances 0.000 description 4
- UHOVQNZJYSORNB-UHFFFAOYSA-N Benzene Chemical compound C1=CC=CC=C1 UHOVQNZJYSORNB-UHFFFAOYSA-N 0.000 description 3
- LYCAIKOWRPUZTN-UHFFFAOYSA-N Ethylene glycol Chemical compound OCCO LYCAIKOWRPUZTN-UHFFFAOYSA-N 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000003651 drinking water Substances 0.000 description 2
- 235000020188 drinking water Nutrition 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 239000005416 organic matter Substances 0.000 description 2
- 239000001301 oxygen Substances 0.000 description 2
- 229910052760 oxygen Inorganic materials 0.000 description 2
- 239000002574 poison Substances 0.000 description 2
- 231100000614 poison Toxicity 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- SCYULBFZEHDVBN-UHFFFAOYSA-N 1,1-Dichloroethane Chemical class CC(Cl)Cl SCYULBFZEHDVBN-UHFFFAOYSA-N 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 1
- LSDPWZHWYPCBBB-UHFFFAOYSA-N Methanethiol Chemical compound SC LSDPWZHWYPCBBB-UHFFFAOYSA-N 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000003513 alkali Substances 0.000 description 1
- 229910052785 arsenic Inorganic materials 0.000 description 1
- RQNWIZPPADIBDY-UHFFFAOYSA-N arsenic atom Chemical compound [As] RQNWIZPPADIBDY-UHFFFAOYSA-N 0.000 description 1
- 238000011953 bioanalysis Methods 0.000 description 1
- 229910052793 cadmium Inorganic materials 0.000 description 1
- BDOSMKKIYDKNTQ-UHFFFAOYSA-N cadmium atom Chemical compound [Cd] BDOSMKKIYDKNTQ-UHFFFAOYSA-N 0.000 description 1
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- 238000003306 harvesting Methods 0.000 description 1
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 1
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 description 1
- 229910052753 mercury Inorganic materials 0.000 description 1
- 244000005700 microbiome Species 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007800 oxidant agent Substances 0.000 description 1
- 230000001590 oxidative effect Effects 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
- 238000003911 water pollution Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F1/00—Treatment of water, waste water, or sewage
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Water Supply & Treatment (AREA)
- Chemical & Material Sciences (AREA)
- Organic Chemistry (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
Description
Claims (4)
- A kind of 1. large area sewage purification environmental protection humanoid robot, it is characterised in that:Including land walking device, water surface walking dress Put, lowering or hoisting gear, delta parallel institutions and charging device;Described water surface running gear quantity is two, and water surface running gear It is located at the left and right sides of land walking device respectively, water surface running gear is connected with land walking device, and lowering or hoisting gear is located at Directly over land walking device, and lowering or hoisting gear lower end is connected with land walking device upper end, and delta parallel institutions are positioned at liter Between falling unit and charging device, and delta parallel institutions lower end is connected with lowering or hoisting gear, delta parallel institutions upper end with Charging device is connected;Wherein:Described land walking device includes chassis, motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drives The quantity of dynamic motor, tight locking button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four;Described chassis is rectangular Structure, the chassis left and right sides offer U-type groove respectively, and chassis rear and front end offers mounting groove respectively, and motor is solid respectively It is scheduled in the mounting groove of chassis front and rear sides, and motor uses Biaxial synchronous output motor, drive shaft one end and driving electricity Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and passes through tight locking button between drive shaft and walking belt wheel It is fixed, traveling crawler both ends are evenly arranged with semicircle anti-skidding on the outside of traveling crawler rotating around being enclosed on walking belt wheel Bar;Described water surface running gear includes walking plate, walking hinge, angle adjusting mechanism, walking rotating disk, walking expansion link, solid Fixed rack, jet cylinder, appendix and pulsometer;Described walking plate is in bar shaped platy structure, and walking plate medial extremity passes through walking Hinge is connected with the U-type groove madial wall on chassis, and angle adjusting mechanism quantity is two, and horizontal stroke of the angle adjusting mechanism along walking plate Respectively symmetrically arranged to central axis, angle adjusting mechanism lower end is mutually fixed with walking plate, and walking rotating disk is on the outside of walking plate Wall center position, walking expansion link one end are connected with walking rotating disk, and the walking expansion link other end is connected with fixed support, And walking expansion link is hollow cylinder shell structure, fixed support rear end is provided with fix bar, and fixed support front end is provided with Ω Type frame, and Ω type frame is linearly equally spaced along fix bar, jet cylinder is arranged in support bracket fastened Ω type frame, before jet cylinder To hold and offer puff prot for cone-shaped structure, jet tube rear end, appendix one end is connected through walking expansion link with jet cylinder, The appendix other end is connected with pulsometer, and pulsometer is fixed on the center position of chassis upper surface;Described delta parallel institutions include fixed platform, moving platform, motor cabinet, parallel-connected induction motorses, first rotating shaft, first connecting rod, turn Dynamic pin, second connecting rod, the second rotating shaft, rotating basis and limit spring;Described fixed platform and moving platform structure in rounded shape, Moving platform is located at directly over fixed platform, and the quantity of motor cabinet and rotating basis is three, and motor cabinet is using the center of circle of fixed platform in The heart is fixed on fixed platform upper surface in positive triangle shape, and rotating basis is in positive triangle shape cloth centered on the center of circle of moving platform Put on moving platform lower surface, and motor cabinet installation site and rotating basis installation site correspond respectively, parallel-connected induction motorses lead to Cross motor cabinet and installation is fixed, and parallel-connected induction motorses use adjustable speed twin shaft output motor, first rotating shaft one end and parallel-connected induction motorses Main shaft is connected, and the first rotating shaft other end is connected with first connecting rod upper end, between first connecting rod lower end and second connecting rod upper end It is attached using rotational pin, second connecting rod lower end is connected with second rotating shaft one end, and the second rotating shaft other end is arranged on rotation On pedestal, rotating basis lower end is provided with swivel bearing, and swivel bearing is mutually fixed with moving platform upper surface, rotating basis upper end The double end sleeve being engaged with the second rotating shaft is provided with, first connecting rod middle inside and second connecting rod middle inside are respectively set There are the first mounting seat and the second mounting seat, limit spring is between the first mounting seat and the second mounting seat, and in limit spring End is connected with the first mounting seat, and limit spring lower end is connected with the second mounting seat;Described charging device includes feed intake pedestal, batch charging mechanism and material storage tube;Described batch charging mechanism quantity is four, batch charger Central axis of the structure along the pedestal that feeds intake respectively symmetrically arranges that material storage tube is positioned at the pedestal upper end center opening position that feeds intake;Described throwing Material mechanism includes feed intake ear mount, first rotating shaft, the support that feeds intake, the second rotating shaft, shovel material support, the scraper bowl that feeds intake, actuating unit, first Compression spring and the second compression spring;The described pedestal lower end that feeds intake is connected by first rotating shaft with the ear mount that feeds intake, and feed intake branch Frame upper end is connected by the second rotating shaft with shovel material support one end, and the support that feeds intake is in ladder-shaper structure is climbed, between being waited on the inside of the support that feeds intake Away from cross bar is provided with, shovel material support uses the rectangular box structure of hydraulic telescopic type, and it is another that the scraper bowl that feeds intake is fixed on shovel material support End, and the cross section transverse for the scraper bowl that feeds intake is in sector structure, actuating unit is below the support that feeds intake, and the first compression spring is positioned at throwing Expect between pedestal and the support that feeds intake, and the first compression spring upper end is provided with the first rotary column, the first rotary column is hinged on the support that feeds intake Cross bar on, the first compression spring lower end is provided with the first connecting seat, and the first connecting seat, which is fixed on, to feed intake on pedestal upper surface, Two compression press springs are located on the inside of the first compression spring, and the second compression spring upper end is provided with the second rotary column, and the second rotary column is hinged On the cross bar for feeding intake support, the second compression spring lower end is provided with the second connecting seat, and the second connecting seat is fixed on the pedestal that feeds intake On upper surface.
- A kind of 2. large area sewage purification environmental protection humanoid robot according to claim 1, it is characterised in that:Described lifting Device includes lifting push rod, lifting round platform and electric turntable;Described lifting push rod quantity is four, and lifting push rod is justified positioned at lifting Below platform, and lift push rod upper end and be connected with lifting round platform lower surface, electric turntable is fixed on lifting round platform upper surface center Opening position.
- A kind of 3. large area sewage purification environmental protection humanoid robot according to claim 1, it is characterised in that:Described angle Governor motion includes regulation ear mount, the first adjustment axis, adjusting yoke, the second adjustment axis and adjusting bracket;Described regulation ear mount U-shaped structure, regulation ear mount are fixed on walking plate, and adjusting yoke lower end is connected by the first adjustment axis with regulation ear mount, It is connected between adjusting yoke upper end and adjusting bracket by the second adjustment axis, adjusting yoke is electric telescopic formula structure, is adjusted Support is saved in the y-type structure to stand upside down, adjusting bracket lower end is fixed on chassis.
- A kind of 4. large area sewage purification environmental protection humanoid robot according to claim 1, it is characterised in that:Described power Mechanism include power shaft, follow-up pulley, steel wire rope, driving pulley, transition axis, rolling bearing units, driven gear, driving gear, Power motor, mobile motor seat and motorized rails, and follow-up pulley, steel wire rope, driving pulley, the number of transition axis and rolling bearing units Measure as two;Described power shaft is respectively symmetrically fixed on power shaft both ends, steel wire through the pedestal upper end that feeds intake, follow-up pulley Rope one end is fixed on follow-up pulley, and the steel wire rope other end is wrapped on driving pulley, between transition axis one end and driving pulley It is connected using key, the transition axis other end is provided with driving gear, and transition axis middle part is fixed on the pedestal that feeds intake by rolling bearing units On upper surface, driving gear is fixed on the output shaft of power motor, and driving gear is meshed with driven gear, power motor It is arranged on by mobile motor seat on motorized rails, and the cross section transverse of motorized rails is in I-shaped structure, motorized rails are fixed Feeding intake on pedestal upper surface.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610471767.1A CN106003082B (en) | 2016-06-23 | 2016-06-23 | A kind of large area sewage purification environmental protection humanoid robot |
CN201810036992.1A CN108161948B (en) | 2016-06-23 | 2016-06-23 | Robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610471767.1A CN106003082B (en) | 2016-06-23 | 2016-06-23 | A kind of large area sewage purification environmental protection humanoid robot |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810036992.1A Division CN108161948B (en) | 2016-06-23 | 2016-06-23 | Robot |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106003082A CN106003082A (en) | 2016-10-12 |
CN106003082B true CN106003082B (en) | 2017-12-19 |
Family
ID=57085179
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610471767.1A Active CN106003082B (en) | 2016-06-23 | 2016-06-23 | A kind of large area sewage purification environmental protection humanoid robot |
CN201810036992.1A Expired - Fee Related CN108161948B (en) | 2016-06-23 | 2016-06-23 | Robot |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810036992.1A Expired - Fee Related CN108161948B (en) | 2016-06-23 | 2016-06-23 | Robot |
Country Status (1)
Country | Link |
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CN (2) | CN106003082B (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109110111B (en) * | 2018-09-07 | 2020-07-24 | 温州明览科技有限公司 | Amphibious unmanned aerial vehicle structure |
CN109110110B (en) * | 2018-09-07 | 2021-10-12 | 深圳市鑫疆基业科技有限责任公司 | Intelligent unmanned aerial vehicle undercarriage structure for taking off and landing on water surface |
CN109828568B (en) * | 2019-02-15 | 2022-04-15 | 武汉理工大学 | NAO robot ball-searching gait optimization method for RoboCup game |
CN109820450B (en) * | 2019-04-11 | 2021-06-08 | 安徽德茂建设工程有限公司 | Building outer wall cleaning robot |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2677532B2 (en) * | 1995-07-05 | 1997-11-17 | 株式会社エイ・ティ・アール通信システム研究所 | Movable plate support device |
CN1406780A (en) * | 2001-08-24 | 2003-04-02 | 任治国 | Amphibious robot with capability of climbing on board from aside |
US20140144470A1 (en) * | 2010-05-24 | 2014-05-29 | F.B. Technologies Pty Ltd | System for manipulating objects |
CN102452074A (en) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业(深圳)有限公司 | Parallel robot |
EP2705935A1 (en) * | 2012-09-11 | 2014-03-12 | Hexagon Technology Center GmbH | Coordinate measuring machine |
CN102922511A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Three-move one-rotation four-freedom degree space parallel connection mechanism |
ES2679593T3 (en) * | 2012-12-22 | 2018-08-29 | Maytronics Ltd. | Underwater station for pool cleaning robots |
CN103010439A (en) * | 2013-01-14 | 2013-04-03 | 胡文忠 | High-speed ship on basis of double inclinable screw propellers |
CN204250315U (en) * | 2014-10-28 | 2015-04-08 | 山东省科翰水域环保科技有限公司 | A kind of amphibious mowing clean ship |
CN104802151A (en) * | 2015-04-28 | 2015-07-29 | 上海大学 | Robot for carrying, assembling and moving heavy loads |
CN204868856U (en) * | 2015-08-14 | 2015-12-16 | 深圳市德富莱自动化设备有限公司 | Delta parallel robot |
CN105150787B (en) * | 2015-10-24 | 2017-11-07 | 冯亿坤 | Amphibious multi-environment Work robot |
-
2016
- 2016-06-23 CN CN201610471767.1A patent/CN106003082B/en active Active
- 2016-06-23 CN CN201810036992.1A patent/CN108161948B/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
CN108161948A (en) | 2018-06-15 |
CN108161948B (en) | 2021-09-21 |
CN106003082A (en) | 2016-10-12 |
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Inventor after: Li Jianying Inventor after: Wang Hongbo Inventor after: Cao Yu Inventor before: Yu Tianle |
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TA01 | Transfer of patent application right |
Effective date of registration: 20171121 Address after: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Applicant after: Hagongda robot group (Harbin) Asset Management Co., Ltd. Address before: Room 315, building No. 1, No. 80 science and technology entrepreneurship Park, Tianzhu mountain road, Anqing Development Zone, Anhui Province Applicant before: Anhui Saobao Intelligent Technology Co., Ltd. |
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Effective date of registration: 20190708 Address after: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Beijing Economic and Technological Development Zone, 100176 Patentee after: Beijing hi tech robot Co., Ltd. Address before: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee before: Hagongda robot group (Harbin) Asset Management Co., Ltd. |
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Effective date of registration: 20191018 Address after: Room 501, entrepreneurial service center, Chengdong Industrial Park, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee after: Harbin University of technology robot group (Shandong) Co., Ltd. Address before: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Beijing Economic and Technological Development Zone, 100176 Patentee before: Beijing hi tech robot Co., Ltd. |
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Effective date of registration: 20220429 Address after: 250200 room B16, South First Road, Xiushui Street, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee after: Shandong Hagong Intelligent Equipment Research Institute Co.,Ltd. Address before: 250200 Room 501, entrepreneurship service center, Chengdong Industrial Park, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee before: Harbin University of technology robot group (Shandong) Co.,Ltd. |
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Effective date of registration: 20220608 Address after: 250000 west of Industrial Park, Xusheng village, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee after: SHANDONG JINGONG Co.,Ltd. Address before: 250200 room B16, South First Road, Xiushui Street, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee before: Shandong Hagong Intelligent Equipment Research Institute Co.,Ltd. |
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