CN106225724A - A kind of circular linkage error measuring means of band angle of revolution feedback function - Google Patents
A kind of circular linkage error measuring means of band angle of revolution feedback function Download PDFInfo
- Publication number
- CN106225724A CN106225724A CN201610609459.0A CN201610609459A CN106225724A CN 106225724 A CN106225724 A CN 106225724A CN 201610609459 A CN201610609459 A CN 201610609459A CN 106225724 A CN106225724 A CN 106225724A
- Authority
- CN
- China
- Prior art keywords
- circular
- light barrier
- read head
- fixing end
- holder disk
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The circular linkage error measuring means of a kind of band angle of revolution feedback function, relates to the error measuring means that links.It is provided with base, fixing end ball axle and flexible measurement bar；Being provided with read head support on the fixing end ball axle shaft shoulder, install read head on read head support, on the fixing end ball axle shaft shoulder, one end is provided with light barrier holder disk, and light barrier holder disk can rotate around fixing end ball axle；The installed surface of light barrier holder disk is provided with Circular gratings glass code-disc；Flexible bar of measuring is provided with axle sleeve, when circular motion is done in flexible measurement bar mobile terminal, axle sleeve can drive light barrier holder disk synchronous axial system, making Circular gratings glass code-disc rotate, be provided with, below Circular gratings glass code-disc, the read head that respect thereto is static, read head is used for reading angle data.Simple in construction, spatial volume is little, it is simple to carry, easy for installation and practical.The synchro measure of angle of revolution makes angular error be greatly reduced, and the high Precision Processing of data separating algorithm is effectively ensured.
Description
Technical field
The present invention relates to the error measuring means that links, especially relate to the circular linkage of a kind of band angle of revolution feedback function
Error measuring means.
Background technology
The high accuracy of lathe is processed into insider's focus of attention.The precision of lathe own is affect machining accuracy one
Key factor, is diagnosed to be lathe main error the most fast and effectively and is one by compensation way raising Precision of NC Machine Tool
The work that item is critically important.Digit Control Machine Tool, as a kind of precise machining equipment, not only also exists foozle, rigging error, servo
The error that the various on-mechanical reason such as systematic error causes.In actually used, a lot of errors also can not be completely eliminated, along with machine
The use of bed, the abrasion of inner body, synthetic error during lathe work can be increasing, directly affects machining accuracy.Therefore,
The research reason of machine tool error is also recompensed and correction has highly important meaning.From the point of view of multi-axis NC Machine Tools, add
Typically complete under multi-shaft interlocked state during work.Therefore, inspection lathe two axle interpolation instruction synthesis " circular motion " essence
Spend the most necessary (Xu Yongzhi, Wang Lijing. Digit Control Machine Tool detection technique summarize. Anyang Institute of Technology journal .2012).Detection lathe
The precision of " circular motion " is possible not only to obtain with the geometric accuracy of lathe, site error, repeatable accuracy etc. for information about, it is also possible to
Obtain the information of the dynamic error component relevant with feed speed and servo-control system, including Creeping of Machining Tools, staff error, anti-
To gap, servo gain does not mates and the radius of machining that causes owing to servo response is delayed reduces equal error component；Meanwhile, lathe
" circular motion " precision, can be not only used for, to the incoming test newly purchasing lathe, can be used for again the tune to numerical control system parameters
Test during whole and time-based maintenance.Therefore, " circular motion " precision of lathe reflects the processing characteristics of lathe all sidedly.Circle
The detection of shape linkage error accounts for critically important status in machining, is that one can effectively reflect machine tool accuracy and advanced inspection
The requisite detection means of examining system and be commonly available in the world accreditation (Liu Huan jail. Li Bin. teacher Chinese. based on club
The NC Machine Error compensation method research of instrument. the Central China University of Science and Technology, 2003).This measuring method is widely used in advanced person
Precision measurement system in as Circular Test of NC Machine Tools touchstone.During measurement, under the two-axle interlocking of lathe, predetermined journey pressed by lathe
Sequence is with base for fixing end, and cutter is mobile terminal, and flexible pole length of measuring is that radius circles along measurement apparatus center, this
Time the high accuracy displacement sensor measured on bar that stretches the change of radius in all directions can be detected in real time, measure simultaneously and stretch
The angle that turns over of bar is measured in contracting, by Survey Software can creeping lathe immediately, perpendicularity, linearity, ratio do not mates,
Lateral clearance, backlass etc. separate and calculate (business roc. the three axis numerically controlled machine of measurement technology based on ball bar comprehensively misses
Difference detection. University Of Tianjin's Master's thesis, 2006).This measuring method is widely used, may be used for detect numerical control vertical lathe, sleeping carriage,
Machining center, industrial robot end point detection etc..
Summary of the invention
It is an object of the invention to provide the circular linkage error measuring means of a kind of band angle of revolution feedback function.
The present invention is provided with base, fixing end ball axle and flexible measurement bar；The fixing end ball axle shaft shoulder is provided with read head prop up
Frame, installs read head on read head support, and the one end on the fixing end ball axle shaft shoulder is provided with light barrier holder disk, described grating
Support disk can rotate around fixing end ball axle；The installed surface of light barrier holder disk is provided with Circular gratings glass code-disc；Flexible survey
Gauge rod is provided with axle sleeve, and when circular motion is done in flexible measurement bar mobile terminal, axle sleeve can drive light barrier holder disk to synchronize to turn
Dynamic, make the Circular gratings glass code-disc sticked together with light barrier holder disk rotate, be provided with below Circular gratings glass code-disc relatively
The read head that base is static, read head is used for reading angle data.
The axle center of described flexible measurement bar through the centre of sphere of fixing end ball axle, the Circular gratings axle center of Circular gratings glass code-disc with
The axis coinciding of fixing end ball axle.
The angular displacement sensor of displacement transducer and Circular gratings, displacement transducer and circle light it is provided with in described flexible measurement bar
The output termination data acquisition module of the angular displacement sensor of grid, the frequency processing signal of data acquisition module can record flexible survey
Turned angle when gauge rod collects every bit theoretical value and the actual value margin of error.
Described axle sleeve uses interference fit with flexible bar of measuring.
Described axle sleeve uses screw to be connected with light barrier holder disk, owing to the installation steps of flexible measurement bar need, can adopt
By removable separation attachment structure, alignment locks the screw on light barrier holder disk after installing.
The present invention is by two set sophisticated sensors, and one is positioned at the flexible high accuracy displacement sensor measured within bar, and one
Individual is high-precision angular displacement sensor Micro radial grating.With fixing end as the center of circle, mobile terminal cutter is processing stand, scalable measurement
Bar is radius, when making circumference moving interpolation under two-axle interlocking, and the radius theoretical value on each position of mobile terminal process and reality
The margin of error of actual value can be by being positioned at the high accuracy displacement sensor collection measured within bar, and flexible measurement when bar turns round turns over
Angle can be directly read by the Circular gratings of the present invention.The present invention has simple in construction, and spatial volume is little, it is simple to carry,
Easy for installation and practical feature.The synchro measure of angle of revolution makes angular error be greatly reduced, it is possible to be effectively ensured
The high Precision Processing of data separating algorithm.
Kinematic error and the moving interpolation error that just can measure two axles is processed by data.Control machine tool chief axis and walk benchmark
Circle, machine tool chief axis actual walk point and basic circle have error side-play amount △ R(θ).By error separate algorithm side-play amount △ R(θ)
It is separated in X and Y-axis, the side-play amount △ x and the side-play amount △ y of Y-axis of lathe X-axis when trying to achieve moving interpolation.Separate
△ x and △ y compensates in the moving interpolation of lathe, can be effectively improved machine tool accuracy.
Separation algorithm with actual angle measurement degree is as follows:
Δ x=Δ R(θ)×cosθ
Δ y=Δ R(θ)×cosθ
Traditional metering system is that the approximation of the data △ R collected and angle of revolution θ is directly separated by algorithm,
Angle when committed step separates uses approximation rather than directly measures, and gained angle often application condition is big.Due to reality
Lathe angular errors is complicated, and the impact causing lathe is different, it is necessary to the angular errors of lathe is carried out accurate measurement, just can build
Vertical reliable mathematical model, effectively compensates the error of lathe.Compensate the precision that can improve many axis mechanisms after separating.Logical
Cross the high accuracy data process that angle of revolution coordinates collection can realize error separate algorithm with circular linkage error in real time.
The present invention and is surveyed by Micro radial grating by the circular linkage error information of measurement bar collection of stretching by Real-time Collection
Amount flexible measurement bar angle of revolution θ by circle linkage error separate algorithm, try to achieve tested many axis mechanisms linear axis
Straight-line motion accuracy data.The present invention can quickly realize the high accuracy of many axis mechanisms linear axis kinematic error and obtain, and can carry
The kinematic error compensation efficiency of high many axis mechanisms.
Accompanying drawing explanation
Fig. 1 is the perspective view of the embodiment of the present invention.
Fig. 2 is the decomposition texture schematic diagram of the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further details.
Seeing Fig. 1 and 2, the embodiment of the present invention is provided with base 9, fixing end ball axle 3 and flexible measurement bar 1；At fixing end ball
Axle 3 shaft shoulder is provided with read head support 7, installs read head 8, the one end on fixing end ball axle 3 shaft shoulder on read head support 7
Being provided with light barrier holder disk 4, described light barrier holder disk 4 can rotate around fixing end ball axle 3；Installation at light barrier holder disk 4
Face 5 is provided with Circular gratings glass code-disc 6；Flexible bar 1 of measuring is provided with axle sleeve 2, when circular motion is done in flexible measurement bar 1 mobile terminal
Time axle sleeve 2 can drive light barrier holder disk 4 synchronous axial system, make the Circular gratings glass code sticked together with light barrier holder disk 4
Dish 6 rotates, and is provided with the static read head of respect thereto 98 below Circular gratings glass code-disc 6, and read head 8 is used for reading corner number
According to.
The axle center of described flexible measurement bar 1 is through the centre of sphere of fixing end ball axle 3, the Circular gratings axle of Circular gratings glass code-disc 6
The heart and the fixing axis coinciding holding ball axle 3.
The angular displacement sensor of displacement transducer and Circular gratings, displacement transducer and circle it is provided with in described flexible measurement bar 1
The output termination data acquisition module of the angular displacement sensor of grating, the frequency processing signal of data acquisition module can record flexible
Measure turned angle when bar collects every bit theoretical value and the actual value margin of error.
Described axle sleeve 2 uses interference fit with flexible bar 1 of measuring.
Described axle sleeve 2 uses screw to be connected with light barrier holder disk 4, owing to the installation steps of flexible measurement bar need, and can
Removable separation attachment structure, alignment is used to lock the screw on light barrier holder disk 4 after installing.
Described light barrier holder disk 4 is movable part, can do gyration around fixing end ball axle 3.Stretch during machine tool chief axis motion
Contracting is measured bar and is moved in a circle around fixing end；Axle sleeve 2 drives light barrier holder disk synchronous axial system, simultaneously read head energy real time record
Angle of revolution.
The operating procedure of the present invention is specific as follows:
During beginning, install base, set execution program and make machine tool head (mobile terminal) and base fix the ball pair of end
The heart, execution program makes machine tool movement end motion stretch and measures the length of bar；Then scalable measurement bar one end is arranged on movement
On end, putting flexible measurement rod sleeve, the axle sleeve on described flexible measurement bar is fixed by bolts on light barrier holder disk, described
The angle that scalable measurement bar turned round can drive the synchronous axial system of Circular gratings；Below described Circular gratings glass code-disc
Read head read data, the data collected upload to computer just can obtain the margin of error on two axles respectively.Reality should
In with, according to the size of the required margin of error, lathe can be carried out error compensation to reach to improve the effect of the precision of lathe.
Claims (5)
1. the circular linkage error measuring means of a band angle of revolution feedback function, it is characterised in that be provided with base, fixing end
Ball axle and flexible measurement bar；The fixing end ball axle shaft shoulder is provided with read head support, read head support is installed read head,
One end on the fixing end ball axle shaft shoulder is provided with light barrier holder disk, and described light barrier holder disk can rotate around fixing end ball axle；?
The installed surface of light barrier holder disk is provided with Circular gratings glass code-disc；Flexible bar of measuring is provided with axle sleeve, when flexible measurement bar moves
When circular motion is done in moved end, axle sleeve can drive light barrier holder disk synchronous axial system, makes the circle sticked together with light barrier holder disk
Grating glass code-disc rotates, and is provided with, below Circular gratings glass code-disc, the read head that respect thereto is static, and read head is used for reading
Angle data.
The circular linkage error measuring means of a kind of band angle of revolution the most as claimed in claim 1 feedback function, it is characterised in that
The axle center of described flexible measurement bar is through the centre of sphere of fixing end ball axle, the Circular gratings axle center of Circular gratings glass code-disc and fixing end ball
The axis coinciding of axle.
The circular linkage error measuring means of a kind of band angle of revolution the most as claimed in claim 1 feedback function, it is characterised in that
The angular displacement sensor of displacement transducer and Circular gratings, the position, angle of displacement transducer and Circular gratings it is provided with in described flexible measurement bar
The output termination data acquisition module of displacement sensor, the frequency processing signal of data acquisition module can record flexible measurement bar collection
To turned angle when every bit theoretical value and the actual value margin of error.
The circular linkage error measuring means of a kind of band angle of revolution the most as claimed in claim 1 feedback function, it is characterised in that
Described axle sleeve uses interference fit with flexible bar of measuring.
The circular linkage error measuring means of a kind of band angle of revolution the most as claimed in claim 1 feedback function, it is characterised in that
Described axle sleeve uses screw to be connected with light barrier holder disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610609459.0A CN106225724B (en) | 2016-07-29 | 2016-07-29 | A kind of round linkage error measuring means with angle of revolution feedback function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610609459.0A CN106225724B (en) | 2016-07-29 | 2016-07-29 | A kind of round linkage error measuring means with angle of revolution feedback function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106225724A true CN106225724A (en) | 2016-12-14 |
| CN106225724B CN106225724B (en) | 2018-12-21 |
Family
ID=57535185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610609459.0A Active CN106225724B (en) | 2016-07-29 | 2016-07-29 | A kind of round linkage error measuring means with angle of revolution feedback function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106225724B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106705894A (en) * | 2017-01-25 | 2017-05-24 | 天津大学 | Error calibration and compensation method for double-circular grating angle displacement detection system |
| CN107966928A (en) * | 2017-11-21 | 2018-04-27 | 上海联影医疗科技有限公司 | Back clearance error compensating method, device, system, computer equipment and radiotherapy equipment |
| CN108571943A (en) * | 2018-04-10 | 2018-09-25 | 北京工业大学 | A kind of two cylinder axis intersecting angle self-operated measuring unit of contact |
| CN109141225A (en) * | 2017-06-19 | 2019-01-04 | 河南科技大学 | Shafting five, six degree of freedom error measurement method and measuring system based on Circular gratings |
| CN109176505A (en) * | 2018-08-10 | 2019-01-11 | 厦门大学 | A kind of six axis joint industrial robot space error scaling methods based on ball bar |
| CN109945786A (en) * | 2019-03-27 | 2019-06-28 | 中国工程物理研究院机械制造工艺研究所 | A kind of planar obit simulation measuring device and its installation, measurement method |
| CN110186398A (en) * | 2019-05-15 | 2019-08-30 | 大连理工大学 | A kind of rotary table and measurement method with movement warp real-time measurement function |
| CN112236649A (en) * | 2019-11-04 | 2021-01-15 | 深圳市大疆创新科技有限公司 | Sensor, movable platform and microwave radar sensor |
| CN113419230A (en) * | 2021-07-09 | 2021-09-21 | 武汉珞珈伊云光电技术有限公司 | Laser scanning mainboard, laser scanner, unmanned aerial vehicle and unmanned aerial vehicle control method |
| CN113733102A (en) * | 2021-10-08 | 2021-12-03 | 厦门大学 | Error calibration device and method for industrial robot |
| CN116430217A (en) * | 2023-04-12 | 2023-07-14 | 南京南电继保自动化有限公司 | DC circuit breaker action characteristic on-line monitoring system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5697875A (en) * | 1979-12-31 | 1981-08-06 | Shimadzu Corp | Measuring apparatus of mobility of cataphoresis |
| CN1303809A (en) * | 1999-11-26 | 2001-07-18 | 古斯塔夫·艾里希机器制造厂 | Apparatus and method for discharge opening sealed in rotary container |
| CN2715107Y (en) * | 2004-04-13 | 2005-08-03 | 薛承永 | Multi-path axial angle sensor |
| CN102768028A (en) * | 2012-06-04 | 2012-11-07 | 天津大学 | Method and device for online in-situ measurement with single joint arm |
| DE102013208649A1 (en) * | 2013-05-10 | 2014-11-13 | Scanlab Ag | Optical angle detector with beam-shaping element |
-
2016
- 2016-07-29 CN CN201610609459.0A patent/CN106225724B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5697875A (en) * | 1979-12-31 | 1981-08-06 | Shimadzu Corp | Measuring apparatus of mobility of cataphoresis |
| CN1303809A (en) * | 1999-11-26 | 2001-07-18 | 古斯塔夫·艾里希机器制造厂 | Apparatus and method for discharge opening sealed in rotary container |
| CN2715107Y (en) * | 2004-04-13 | 2005-08-03 | 薛承永 | Multi-path axial angle sensor |
| CN102768028A (en) * | 2012-06-04 | 2012-11-07 | 天津大学 | Method and device for online in-situ measurement with single joint arm |
| DE102013208649A1 (en) * | 2013-05-10 | 2014-11-13 | Scanlab Ag | Optical angle detector with beam-shaping element |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106705894A (en) * | 2017-01-25 | 2017-05-24 | 天津大学 | Error calibration and compensation method for double-circular grating angle displacement detection system |
| CN106705894B (en) * | 2017-01-25 | 2019-03-26 | 天津大学 | The error calibration of double Circular gratings Angular Displacement Detecting Systems and compensation method |
| CN109141225A (en) * | 2017-06-19 | 2019-01-04 | 河南科技大学 | Shafting five, six degree of freedom error measurement method and measuring system based on Circular gratings |
| CN107966928A (en) * | 2017-11-21 | 2018-04-27 | 上海联影医疗科技有限公司 | Back clearance error compensating method, device, system, computer equipment and radiotherapy equipment |
| CN108571943B (en) * | 2018-04-10 | 2019-10-29 | 北京工业大学 | A kind of two cylinder axis intersecting angle self-operated measuring unit of contact |
| CN108571943A (en) * | 2018-04-10 | 2018-09-25 | 北京工业大学 | A kind of two cylinder axis intersecting angle self-operated measuring unit of contact |
| CN109176505A (en) * | 2018-08-10 | 2019-01-11 | 厦门大学 | A kind of six axis joint industrial robot space error scaling methods based on ball bar |
| CN109945786A (en) * | 2019-03-27 | 2019-06-28 | 中国工程物理研究院机械制造工艺研究所 | A kind of planar obit simulation measuring device and its installation, measurement method |
| CN110186398A (en) * | 2019-05-15 | 2019-08-30 | 大连理工大学 | A kind of rotary table and measurement method with movement warp real-time measurement function |
| CN110186398B (en) * | 2019-05-15 | 2020-04-28 | 大连理工大学 | Rotary workbench with motion deviation real-time measurement function and measurement method |
| CN112236649A (en) * | 2019-11-04 | 2021-01-15 | 深圳市大疆创新科技有限公司 | Sensor, movable platform and microwave radar sensor |
| CN113419230A (en) * | 2021-07-09 | 2021-09-21 | 武汉珞珈伊云光电技术有限公司 | Laser scanning mainboard, laser scanner, unmanned aerial vehicle and unmanned aerial vehicle control method |
| CN113733102A (en) * | 2021-10-08 | 2021-12-03 | 厦门大学 | Error calibration device and method for industrial robot |
| CN113733102B (en) * | 2021-10-08 | 2022-12-16 | 厦门大学 | Error calibration device for industrial robot |
| CN116430217A (en) * | 2023-04-12 | 2023-07-14 | 南京南电继保自动化有限公司 | DC circuit breaker action characteristic on-line monitoring system |
| CN116430217B (en) * | 2023-04-12 | 2024-01-23 | 南京南电继保自动化有限公司 | DC circuit breaker action characteristic on-line monitoring system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106225724B (en) | 2018-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106225724A (en) | A kind of circular linkage error measuring means of band angle of revolution feedback function | |
| CN105547344B (en) | A kind of test equipment calibrating installation and its calibration method | |
| CN103307977B (en) | The field measurement apparatus of huge revolving class workpiece inner wall size, system and method | |
| CN102032861B (en) | Inner diameter multiparameter measuring device for large length-to-diameter ratio pipe and measuring method thereof | |
| CN101561349B (en) | Large gear detecting method and detecting device | |
| CN106441153B (en) | A kind of aperture aspherical element profile high-precision detecting method and device | |
| CN107664483B (en) | A kind of cylinder bar shape parameter measurement method | |
| CN203259123U (en) | Large-scale revolution workpiece inner wall size measurement apparatus and system thereof | |
| CN102937409B (en) | Polar coordinate gear measurement center and zero calibrating method thereof | |
| CN104625880A (en) | Five-axis machine tool cutter posture and cutter point position error synchronous detection mechanism | |
| CN111215967B (en) | Device and method for detecting dynamic precision of numerical control machine tool | |
| CN101797701A (en) | On-line non-contact laser stereo scanning detection device for internal screw threads of tubing coupling | |
| CN110470242B (en) | Device and method for measuring roundness of inner hole of large part in situ | |
| CN103148827A (en) | Large gear measurement method based on articulated arm measurement machine | |
| US9273946B2 (en) | Location determination apparatus with an inertial measurement unit | |
| CN105643362A (en) | Five-axis machine tool measuring method based on AxiSet | |
| CN105269404A (en) | Detection device for knife point dynamic characteristics of numerical control machine tool and method of detection device | |
| CN109458894A (en) | Five axis turn round data spherical displacer and its application method | |
| CN104166373A (en) | Online detecting method and system for numerical control machine tool machining error | |
| CN106767418B (en) | Large-scale revolving body shape scanning and measuring device and method | |
| CN104655040A (en) | Device and method for detecting welding roundness of threshing cylinder online | |
| CN103831669A (en) | Circular degree error online measurement system and measurement method | |
| CN110375698A (en) | Inner hole circularity on-position measure method based on parameter identification | |
| CN102944190B (en) | A kind of high precision test instrument and method measuring large scale mechanical component circularity | |
| CN204854519U (en) | Five -axle linkage lathe RTCP dynamic precision calibration device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for 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: 20230706 Address after: Room 1003, South Building, Building 2, Wanxiang International Business Center, No. 1692 Gangzhong Road, Xiamen Area, China (Fujian) Pilot Free Trade Zone, Xiamen City, Fujian Province, 361006 Patentee after: Xiamen Smart Manufacturing Co.,Ltd. Address before: Xiamen City, Fujian Province, 361005 South Siming Road No. 422 Patentee before: XIAMEN University |