CN106829452A - A kind of two axles movement grasping mechanism - Google Patents

A kind of two axles movement grasping mechanism Download PDF

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Publication number
CN106829452A
CN106829452A CN201611190552.9A CN201611190552A CN106829452A CN 106829452 A CN106829452 A CN 106829452A CN 201611190552 A CN201611190552 A CN 201611190552A CN 106829452 A CN106829452 A CN 106829452A
Authority
CN
China
Prior art keywords
sliding part
fixedly connected
grasping mechanism
pedestal
fixed
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
Application number
CN201611190552.9A
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Chinese (zh)
Other versions
CN106829452B (en
Inventor
高扬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZOTAO ROBOT YANCHENG Co.,Ltd.
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Dongguan Qinzhi Industrial Design Co Ltd
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Priority to CN201611190552.9A priority Critical patent/CN106829452B/en
Publication of CN106829452A publication Critical patent/CN106829452A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/902Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/907Devices for picking-up and depositing articles or materials with at least two picking-up heads

Abstract

The invention discloses a kind of two axle movement grasping mechanism, including multijaw grasping mechanism, Z axis travel mechanism and Y-axis moving mechanism, the multijaw grasping mechanism is provided with the opposite left clamping jaw and right clamping jaw of two or more moving direction, the pedestal of multijaw grasping mechanism is fixedly connected with the lifting cylinder of Z axis travel mechanism, and the drive gear of Z axis travel mechanism is engaged with the tooth bar of Y-axis moving mechanism.Simple structure of the present invention, small volume, and can simultaneously capture multiple products and realize the carrying of product.

Description

A kind of two axles movement grasping mechanism
Technical field:
The present invention relates to product conveying technology field, and in particular to the grasping mechanism of product.
Background technology:
Production technical field, the grasping mechanism for shifting product is generally produced using opposite a pair of clamping jaws gripping of moving direction Product, a pair of clamping jaws grip a product, to the multiple products of crawl, then multiple grasping mechanisms are needed, in this way, not only causing production The increase of cost, and, cause production equipment structure too fat to move.
The content of the invention:
The purpose of the present invention is to overcome the deficiencies in the prior art, there is provided a kind of two axles movement grasping mechanism, its simple structure, Small volume, and can simultaneously capture multiple products and realize the carrying of product
To achieve the above object, the scheme of the present invention solution technical problem is:
A kind of two axles movement grasping mechanism, including multijaw grasping mechanism, Z axis travel mechanism and Y-axis moving mechanism are described more Pawl grasping mechanism is provided with the opposite left clamping jaw and right clamping jaw of two or more moving direction, and pedestal and the Z axis of multijaw grasping mechanism are moved The lifting cylinder of motivation structure is fixedly connected, and the drive gear of Z axis travel mechanism is engaged with the tooth bar of Y-axis moving mechanism.
The multijaw grasping mechanism includes the first sliding part, the second sliding part and pedestal, and first sliding part is socketed in In second sliding part, the second sliding part is movably connected on pedestal.
The lower end of first sliding part is fixedly connected with left clamping jaw by first connecting portion, and the lower end of the second sliding part leads to Cross second connecting portion and be fixedly connected with right clamping jaw;
The rectangular strip of first sliding part, respectively forms a steel ball retaining hole on the peripheric surface of the first sliding part, Multiple steel balls are in a row arranged in steel ball retaining hole, and the left and right two ends of the first sliding part are respectively fixedly connected with one piece of first sliding part Cover plate;
The inside of second sliding part forms rectangular strip hole, and steel ball is formed on the four side inwalls in rectangular strip hole Slideway, the right-hand member of the second sliding part is fixedly connected with the second sliding part cover plate, and the upper end of the second sliding part is fixedly connected with guiding Seat, guide holder forms the gathering sill of left and right directions, and the lower end of the second sliding part forms two grooves, and first connecting portion is passed through Groove;
First sliding part is socketed in rectangular strip hole, and ball surfaces are pressed against on steel ball slideway;
The left end and right-hand member of the pedestal have been respectively fixedly connected with the first cylinder and the second cylinder, the piston rod of the first cylinder Head is fixed on the first sliding part cover plate on the left of the first sliding part, and the piston rod head of the second cylinder is fixed on the second slip On part cover plate, the lower end middle part of pedestal is fixedly connected with load-bearing slide rail, and gathering sill is socketed on load-bearing slide rail.
The Z axis travel mechanism includes the substrate of fixed lifting cylinder, and the piston rod of the lower end of lifting cylinder is fixed on base On seat, two vertical through holes are formed on the substrate, vertical through hole is socketed with vertical pivot, and vertical pivot is fixed on pedestal, the base The left and right two ends of plate are respectively fixed with a buffer, and the telescopic end of buffer is fixed on the upper bottom surface of the substrate towards pedestal Motor is connected with, the output shaft of motor is fixedly connected with drive gear, two is fixedly connected with the bottom surface of the substrate and is put down The second capable guide holder, the second guide holder forms the second pilot hole.
The Y-axis moving mechanism includes the frame of stationary rack, and substrate is in the inside of frame, is fixed with the frame Two guide posts, guide post sleeve is in the second pilot hole, and guide post is parallel with tooth bar, and frame is fixed on the conveyor line.
Prominent effect of the invention is:
Compared with prior art, its simple structure, small volume, and can simultaneously capture multiple products and realize removing for product Fortune.
Brief description of the drawings:
Fig. 1 is structural representation of the invention;
Fig. 2 be it is of the invention it is hidden fall the second sliding part structural representation;
Fig. 3 is sectional view of the invention;
Fig. 4 is the partial enlarged drawing of Fig. 3.
Specific embodiment:
Embodiment, is shown in and show as shown in Figure 1 to Figure 4, and a kind of two axle moves grasping mechanism, including the movement of multijaw grasping mechanism 1, Z axis Mechanism 2 and Y-axis moving mechanism 3, the multijaw grasping mechanism 1 are provided with the opposite left clamping jaw 112 of two or more moving direction and the right side Clamping jaw 122, the pedestal 13 of multijaw grasping mechanism 1 is fixedly connected with the lifting cylinder 21 of Z axis travel mechanism 2, Z axis travel mechanism 2 Drive gear 26 engaged with the tooth bar 31 of Y-axis moving mechanism 3.
Furthermore, the multijaw grasping mechanism 1 includes the first sliding part 11, the second sliding part 12 and pedestal 13, First sliding part 11 is socketed in the second sliding part 12, and the second sliding part 12 is movably connected on pedestal 13.
Furthermore, the lower end of first sliding part 11 is fixedly connected with left clamping jaw by first connecting portion 111 112, the lower end of the second sliding part 12 is fixedly connected with right clamping jaw 122 by second connecting portion 121;
The rectangular strip of first sliding part 11, respectively forms a steel ball and keeps on the peripheric surface of the first sliding part 11 Hole 1101, multiple steel balls 113 are in a row arranged in steel ball retaining hole 1101, and the left and right two ends of the first sliding part 11 are respectively fixedly connected There is one piece of first sliding part cover plate 114;
The inside of second sliding part 12 forms rectangular strip hole 1201, on the four side inwalls in rectangular strip hole 1201 Steel ball slideway 1202 is formed, the right-hand member of the second sliding part 12 is fixedly connected with the second sliding part cover plate 123, the second sliding part 12 Upper end be fixedly connected with guide holder 124, guide holder 124 forms the gathering sill 1240 of left and right directions, the second sliding part 12 Lower end forms two grooves, and first connecting portion 111 passes through groove;
First sliding part 11 is socketed in rectangular strip hole 1201, and the surface of steel ball 113 is pressed against on steel ball slideway 1202;
The left end and right-hand member of the pedestal 13 have been respectively fixedly connected with the first cylinder 131 and the second cylinder 132, the first cylinder 131 piston rod head is fixed on the first sliding part cover plate 114 in the left side of the first sliding part 11, the piston of the second cylinder 132 Club head is fixed on the second sliding part cover plate 123, and the lower end middle part of pedestal 3 is fixedly connected with load-bearing slide rail 133, gathering sill 1240 are socketed on load-bearing slide rail 133.
Furthermore, the Z axis travel mechanism 2 includes the substrate 22 of fixed lifting cylinder 21, lifting cylinder 21 The piston rod of lower end is fixed on pedestal 13, and two vertical through holes 2201,2201 sets of vertical through hole are formed on the substrate 22 Vertical pivot 23 is connected to, vertical pivot 23 is fixed on pedestal 13, the left and right two ends of the substrate 22 are respectively fixed with a buffer 24, buffered The telescopic end of device 24 is fixedly connected with motor 25 towards pedestal 13 on the upper bottom surface of the substrate 22, the output shaft of motor 25 is consolidated Surely drive gear 26 is connected with, two the second parallel guide holders 27, second is fixedly connected with the bottom surface of the substrate 22 Guide holder 27 forms the second pilot hole.
Furthermore, the Y-axis moving mechanism 3 includes the frame 32 of stationary rack 31, and substrate 22 is in frame 32 Inside, two guide posts 33 are fixed with the frame 32, the sleeve of guide post 33 in the second pilot hole, guide post 33 and tooth Bar 31 is parallel, and frame 32 is fixed on the conveyor line.
Operation principle:First:Second sliding part 2 can be moved left and right along load-bearing slide rail 33;Second:First moving member 1 and Two moving members 2 be able to will not be rotated relative to sliding;3rd:First cylinder 31 and the piston rod of the second cylinder 32 stretch, the first sliding part 1 Multiple left clamping jaws 11 are driven to move right, the second sliding part 2 drives multiple right clamping jaws 21 to be moved to the left, so as to grip product;The Four, whole multijaw grasping mechanism 1 can be lifted or moved down by lifting cylinder 21;5th, motor 25 is rotated, and tooth bar 31 is fixed, and is driven Gear 26 is rotated, and, so as to drive multijaw grasping mechanism 1 to move, motor 25 can rotating for substrate 22.
Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, about the common of technical field Technical staff, without departing from the spirit and scope of the present invention, can also make a variety of changes and modification, therefore all Equivalent technical scheme falls within scope of the invention, and scope of patent protection of the invention should be defined by the claims.

Claims (5)

1. a kind of two axle moves grasping mechanism, including multijaw grasping mechanism (1), Z axis travel mechanism (2) and Y-axis moving mechanism (3), it is characterised in that:The multijaw grasping mechanism (1) is provided with the opposite left clamping jaw (112) and right folder of two or more moving direction Pawl (122), the pedestal (13) of multijaw grasping mechanism (1) is fixedly connected with the lifting cylinder (21) of Z axis travel mechanism (2), and Z axis are moved The drive gear (26) of motivation structure (2) is engaged with the tooth bar (31) of Y-axis moving mechanism (3).
2. a kind of two axle according to claim 1 moves grasping mechanism, it is characterised in that:The multijaw grasping mechanism (1) Including the first sliding part (11), the second sliding part (12) and pedestal (13), first sliding part (11) is socketed in the second slip In part (12), the second sliding part (12) is movably connected on pedestal (13).
3. a kind of two axle according to claim 2 moves grasping mechanism, it is characterised in that:First sliding part (11) Lower end is fixedly connected with left clamping jaw (112) by first connecting portion (111), and the lower end of the second sliding part (12) is by the second connection Portion (121) is fixedly connected with right clamping jaw (122);
The rectangular strip of first sliding part (11), respectively forms a steel ball and keeps on the peripheric surface of the first sliding part (11) Hole (1101), multiple steel balls (113) are in a row arranged in steel ball retaining hole (1101), and the left and right two ends of the first sliding part (11) are each It is fixedly connected with one piece of first sliding part cover plate (114);
The inside of second sliding part (12) forms rectangular strip hole (1201), the four side inwalls of rectangular strip hole (1201) On form steel ball slideway (1202), the right-hand member of the second sliding part (12) is fixedly connected with the second sliding part cover plate (123), second The upper end of sliding part (12) is fixedly connected with guide holder (124), and guide holder (124) forms the gathering sill of left and right directions (1240), the lower end of the second sliding part (12) forms two grooves, and first connecting portion (111) is through groove;
First sliding part (11) is socketed in rectangular strip hole (1201), and steel ball (113) surface is pressed against steel ball slideway (1202) On;
The left end and right-hand member of the pedestal (13) have been respectively fixedly connected with the first cylinder (131) and the second cylinder (132), the first gas The piston rod head of cylinder (131) is fixed on the first sliding part cover plate (114) on the left of the first sliding part (11), the second cylinder (132) piston rod head is fixed on the second sliding part cover plate (123), and the lower end middle part of pedestal (3) is fixedly connected with load-bearing Slide rail (133), gathering sill (1240) is socketed on load-bearing slide rail (133).
4. a kind of two axle according to claim 1 moves grasping mechanism, it is characterised in that:Z axis travel mechanism (2) bag The substrate (22) of fixed lifting cylinder (21) is included, the piston rod of the lower end of lifting cylinder (21) is fixed on pedestal (13), described Two vertical through holes (2201) are formed on substrate (22), vertical through hole (2201) is socketed with vertical pivot (23), and vertical pivot (23) is fixed On pedestal (13), the left and right two ends of the substrate (22) are respectively fixed with a buffer (24), the telescopic end of buffer (24) Towards pedestal (13), motor (25) is fixedly connected with the upper bottom surface of the substrate (22), the output shaft of motor (25) is fixed and connected Drive gear (26) is connected to, two parallel the second guide holders (27) are fixedly connected with the bottom surface of the substrate (22), the Two guide holders (27) form the second pilot hole.
5. a kind of two axle according to claim 1 moves grasping mechanism, it is characterised in that:Y-axis moving mechanism (3) bag The frame (32) of stationary rack (31) is included, the inside of substrate (22) in frame (32) is fixed with two on the frame (32) Guide post (33), guide post (33) sleeve is in the second pilot hole, and guide post (33) is parallel with tooth bar (31), and frame (32) is fixed On the conveyor line.
CN201611190552.9A 2016-12-21 2016-12-21 A kind of mobile grasping mechanism of two axis Active CN106829452B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611190552.9A CN106829452B (en) 2016-12-21 2016-12-21 A kind of mobile grasping mechanism of two axis

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611190552.9A CN106829452B (en) 2016-12-21 2016-12-21 A kind of mobile grasping mechanism of two axis

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CN106829452B CN106829452B (en) 2019-01-01

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107381027A (en) * 2017-08-03 2017-11-24 合肥利元杰信息科技有限公司 A kind of computer handling device
CN107825096A (en) * 2017-12-01 2018-03-23 邵东智能制造技术研究院有限公司 A kind of lighter assembly manipulator
CN108748122A (en) * 2018-06-29 2018-11-06 平湖市浩鑫塑胶有限公司 A kind of clamp moving mechanism of plastic bottle
CN109383072A (en) * 2018-12-12 2019-02-26 东莞市万速自动化设备有限公司 The handling device of stickers lining machine
CN112122169A (en) * 2020-09-21 2020-12-25 宝鸡法士特齿轮有限责任公司 Workbench and method for detecting automobile parts
CN113977622A (en) * 2021-11-15 2022-01-28 沈阳新松机器人自动化股份有限公司 Robot end effector for self-adaptive linkage clamping of multiple working objects
CN114029917A (en) * 2021-11-08 2022-02-11 北京航空航天大学 Two-degree-of-freedom flexible universal end effector for flat plate type parts

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US4444423A (en) * 1980-11-10 1984-04-24 E. P. Remy Et Cie Variable configuration head for seizing and handling objects
JPH0958863A (en) * 1995-08-23 1997-03-04 Yokohama Rubber Co Ltd:The Tire loading device
CN2721257Y (en) * 2004-08-24 2005-08-31 上海科伟达超声波科技有限公司 Manipulator of ultrasonic cleaner
CN103061958A (en) * 2012-12-31 2013-04-24 台州方科汽车部件有限公司 Horizontal type wave force generating device
CN203173514U (en) * 2013-03-06 2013-09-04 国发重工机械有限公司 Chuck of automatic setting machine
CN104476551A (en) * 2014-12-12 2015-04-01 南通诺博特机器人制造有限公司 Stacking clamp of intelligent stacking robot
CN204777618U (en) * 2015-08-03 2015-11-18 昆山康斯特精密机械有限公司 Automatic carrying device of two take place ofs bearings of hub

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4444423A (en) * 1980-11-10 1984-04-24 E. P. Remy Et Cie Variable configuration head for seizing and handling objects
JPH0958863A (en) * 1995-08-23 1997-03-04 Yokohama Rubber Co Ltd:The Tire loading device
CN2721257Y (en) * 2004-08-24 2005-08-31 上海科伟达超声波科技有限公司 Manipulator of ultrasonic cleaner
CN103061958A (en) * 2012-12-31 2013-04-24 台州方科汽车部件有限公司 Horizontal type wave force generating device
CN203173514U (en) * 2013-03-06 2013-09-04 国发重工机械有限公司 Chuck of automatic setting machine
CN104476551A (en) * 2014-12-12 2015-04-01 南通诺博特机器人制造有限公司 Stacking clamp of intelligent stacking robot
CN204777618U (en) * 2015-08-03 2015-11-18 昆山康斯特精密机械有限公司 Automatic carrying device of two take place ofs bearings of hub

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107381027A (en) * 2017-08-03 2017-11-24 合肥利元杰信息科技有限公司 A kind of computer handling device
CN107381027B (en) * 2017-08-03 2019-07-19 合肥利元杰信息科技有限公司 A kind of computer handling device
CN107825096A (en) * 2017-12-01 2018-03-23 邵东智能制造技术研究院有限公司 A kind of lighter assembly manipulator
CN107825096B (en) * 2017-12-01 2024-02-20 邵东智能制造技术研究院有限公司 Lighter assembly manipulator
CN108748122A (en) * 2018-06-29 2018-11-06 平湖市浩鑫塑胶有限公司 A kind of clamp moving mechanism of plastic bottle
CN109383072A (en) * 2018-12-12 2019-02-26 东莞市万速自动化设备有限公司 The handling device of stickers lining machine
CN112122169A (en) * 2020-09-21 2020-12-25 宝鸡法士特齿轮有限责任公司 Workbench and method for detecting automobile parts
CN114029917A (en) * 2021-11-08 2022-02-11 北京航空航天大学 Two-degree-of-freedom flexible universal end effector for flat plate type parts
CN113977622A (en) * 2021-11-15 2022-01-28 沈阳新松机器人自动化股份有限公司 Robot end effector for self-adaptive linkage clamping of multiple working objects

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