CN107745960A - Material transfer equipment and material conveying method - Google Patents
Material transfer equipment and material conveying method Download PDFInfo
- Publication number
- CN107745960A CN107745960A CN201710811775.0A CN201710811775A CN107745960A CN 107745960 A CN107745960 A CN 107745960A CN 201710811775 A CN201710811775 A CN 201710811775A CN 107745960 A CN107745960 A CN 107745960A
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- China
- Prior art keywords
- mobile base
- mechanical arm
- load plate
- transfer equipment
- material load
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- 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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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of material transfer equipment and material conveying method.The material transfer equipment includes mobile base, laser radar omniselector, mechanical arm, clamping jaw and image acquisition component；The laser radar omniselector is arranged in the mobile base and positioned at the side of the mobile base；The mechanical arm is installed on the top of the mobile base；The clamping jaw is installed on the end of the mechanical arm；Described image obtaining widget is arranged at the end of the mechanical arm, for gathering the image of material load plate to obtain the positional information of the material load plate.The material transfer equipment can save manpower and improve conevying efficiency.
Description
Technical field
The present invention relates to a kind of material transfer equipment and material conveying method.
Background technology
With the proposition of industry 4.0, the application of robot industrially is more next extensively, industrial at present most widely used
Robot is four axle robots, six-joint robot and mobile robot respectively.Factory often has such in process of production
Demand, the material of board A production will be transported to multiple board B and carry out secondary operation, in existing technology, in order to material
Multiple B boards are transported to from A boards, typically using artificial loading and unloading, compares labor intensive, and artificial easily error, influences to transport
Efficiency.
The content of the invention
Based on this, it is necessary to provide and a kind of save manpower and the higher material transfer equipment of conevying efficiency and material conveying side
Method.
A kind of material transfer equipment, including mobile base, laser radar omniselector, mechanical arm, clamping jaw and image obtain
Part；The laser radar omniselector is arranged in the mobile base and positioned at the side of the mobile base；The machinery
Arm is installed on the top of the mobile base；The clamping jaw is installed on the end of the mechanical arm；Described image obtaining widget is set
The end of the mechanical arm is placed in, for gathering the image of material load plate to obtain the positional information of the material load plate.
In a wherein embodiment, described image obtaining widget is industrial camera.
In a wherein embodiment, in addition to illuminator, the illuminator are arranged at the end of the mechanical arm
End, and the neighbouring clamping jaw；The illuminator is ring-shaped, is worn thereon formed with perforating, described image obtaining widget
In the perforating.
In a wherein embodiment, processor is provided with the mechanical arm, the processor obtains with described image
Part is taken to be electrically connected with.
In a wherein embodiment, the bottom of the mobile base is provided with four support wheels and two movable pulleys,
Four support wheels are respectively arranged at four corners of the mobile base, and described two movable pulleys are located at the mobile base
Middle part.
In a wherein embodiment, material load plate is provided with the mobile base, is formed on the material load plate
There is material locating slot, the end of the mechanical arm is adjacent to the material load plate.
In a wherein embodiment, the mobile base is automatic guided vehicle, and the laser radar omniselector is sharp
Light SLAM navigators, the mechanical arm are six shaft mechanical arms.
In a wherein embodiment, the material transfer equipment also includes calling terminal, the calling terminal and institute
Mobile base wireless connection is stated, makes material instruct for being sent to the mobile base.
A kind of material conveying method of material transfer equipment as described above, comprises the following steps：Toward the mobile base
Upper loaded material load plate；The laser radar omniselector navigates to the mobile base, guides the mobile base to move
To predetermined station；The end of the mechanical arm is moved at the material load plate in the mobile base；Described image acquisition unit
Part obtains the image of the material load plate to aid in the mechanical arm to position the material load plate；And the mechanical arm
Drive the clamping jaw to capture the material load plate and be positioned on the predetermined station.
In a wherein embodiment, the material load plate that is moved in the end of the mechanical arm in the mobile base
It is further comprising the steps of after the step of place：Illuminator on the end of the mechanical arm starts to be carried with illuminating the material
Disk.
Because the material transfer equipment can realize the full-automatic carrying of material, therefore compare saving manpower, and adopt
Material load plate is positioned with image acquisition component, therefore does not allow error-prone, improves conevying efficiency.In addition, the shifting
Navigated during dynamic base movement using the laser radar omniselector, its positioning precision is because of the reflectivity by surrounding enviroment
Influence, certain deviation can be produced, and used when capture material described image obtaining widget acquisition material load plate image with
The position of the material load plate is determined, so as to compensate for the dislocation that above-mentioned deviation is brought, improves positioning accurate accuracy.
Brief description of the drawings
Fig. 1 is the schematic perspective view of the material transfer equipment of an embodiment.
Fig. 2 is the partial enlarged drawing at II in Fig. 1.
Fig. 3 is the step flow chart of the material conveying method of an embodiment.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give the better embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose for providing these embodiments is to make to understand more the disclosure
Add thorough and comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
For illustrative purposes only, it is unique embodiment to be not offered as " right side " and similar statement.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used herein is intended merely to describe the mesh of specific embodiment
, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more related Listed Items
Arbitrary and all combination.
The present invention relates to a kind of material transfer equipment.For example, the material transfer equipment includes mobile base, laser radar
Omniselector, mechanical arm, clamping jaw and image acquisition component.For example, the laser radar omniselector is arranged at the mobile base
Go up and be located at the side of the mobile base.For example, the mechanical arm is installed on the top of the mobile base；The clamping jaw peace
End loaded on the mechanical arm；Described image obtaining widget is arranged at the end of the mechanical arm and is arranged in the illuminating lamp
In tool.For example, described image obtaining widget is used to gather the image of material load plate to obtain the positional information of the material load plate.
And for example, a kind of material transfer equipment, including mobile base, laser radar omniselector, mechanical arm, clamping jaw and image acquiring unit
Part.For example, the laser radar omniselector is arranged in the mobile base and positioned at the side of the mobile base；The machine
Tool arm is installed on the top of the mobile base；The clamping jaw is installed on the end of the mechanical arm.For example, described image obtains
Part is arranged at the end of the mechanical arm and is arranged in the illuminator.For example, described image obtaining widget is used to adopt
Collect the image of material load plate to obtain the positional information of the material load plate.A kind of for example, material transfer equipment as described above
Material conveying method, comprise the following steps：Loaded material load plate on toward the mobile base；The laser radar omniselector pair
The mobile base is navigated, and guides the mobile base to be moved to predetermined station；The end of the mechanical arm is moved to
At material load plate in the mobile base；Described image obtaining widget obtains the image of the material load plate to aid in the machine
Tool arm positions to the material load plate；And the mechanical arm drives the clamping jaw to capture the material load plate and is positioned over
On the predetermined station.And for example, a kind of material conveying method, it uses material transfer equipment described in any embodiment herein
Realize；For example, a kind of material conveying method, comprises the following steps：Loaded material load plate on toward the mobile base；The laser
Radar navigation device navigates to the mobile base, guides the mobile base to be moved to predetermined station；The mechanical arm
End be moved at the material load plate in the mobile base；Described image obtaining widget obtains the image of the material load plate
To aid in the mechanical arm to position the material load plate.
Refer to Fig. 1 and Fig. 2, a kind of material transfer equipment 100, including mobile base 10, laser radar omniselector 20, machine
Tool arm 30, clamping jaw 40 and image acquisition component 50.For example, the laser radar omniselector is arranged in the mobile base simultaneously
Positioned at the side of the mobile base；The mechanical arm is installed on the top of the mobile base；The clamping jaw is installed on described
The end of mechanical arm；Described image obtaining widget is arranged at the end of the mechanical arm, for gather the image of material load plate with
Obtain the positional information of the material load plate.
When needing to transport material, material clamping of the mechanical arm by material load plate and thereon is carried to the mobile bottom
On seat, the mobile base is moved at predetermined station under the guiding of the laser radar omniselector, the mechanical arm band
Move the clamping jaw to be moved at the material load plate, and the material load plate is carried out precisely to determine using described image obtaining widget
, then the clamping jaw clamps the material load plate and the material load plate is moved on the predetermined station, so as to real
The carrying of material is showed.Because the material transfer equipment can realize the full-automatic carrying of material, therefore compare saving manpower,
And employ image acquisition component and material load plate is positioned, therefore do not allow error-prone, improve conevying efficiency.In addition,
Navigated during the mobile base movement using the laser radar omniselector, its positioning precision is because by the anti-of surrounding enviroment
The influence of rate is penetrated, certain deviation can be produced, and material load plate is obtained using described image obtaining widget when capturing material
Image, so as to compensate for the dislocation that above-mentioned deviation is brought, improves positioning accurate accuracy to determine the position of the material load plate.
For example, laser radar navigation omniselector is laser SLAM (simultaneous localization and
Mapping, instant positioning and map structuring) navigation, and laser SLAM navigators carry out profile to surrounding environment using laser and swept
Retouch, and carry out characteristic matching and realize positioning.This positioning method is avoided using labels such as tapes, characterized by natural environment
Positioned.However, because environmental objects are different to the reflectivity of laser, caused laser positioning precision has deviation.Therefore,
When capturing material load plate, the position of the material load plate is first obtained using described image obtaining widget, it is above-mentioned so as to avoid
Influenceed caused by the deviation of laser navigation positioning precision.
For example, for the ease of improving positioning precision, described image obtaining widget is industrial camera.The material transfer equipment
Also include illuminator 60, the illuminator is arranged at the end of the mechanical arm, and the neighbouring clamping jaw；The illuminating lamp
Have for ring-shaped, be arranged in thereon formed with perforating 61, described image obtaining widget in the perforating.A kind of for example, thing
Expect conveying equipment, including mobile base, laser radar omniselector, mechanical arm, clamping jaw and image acquisition component；The laser thunder
It is arranged at up to omniselector in the mobile base and positioned at the side of the mobile base；The mechanical arm is installed on the movement
The top of base；The clamping jaw is installed on the end of the mechanical arm；Described image obtaining widget is arranged at the mechanical arm
End, for gathering the image of material load plate to obtain the positional information of the material load plate, described image obtaining widget is work
Industry camera.Also include illuminator, the illuminator is arranged at the end of the mechanical arm, and the neighbouring clamping jaw；It is described
Illuminator is ring-shaped, is arranged in thereon formed with perforating, described image obtaining widget in the perforating.Due to described
The end of mechanical arm is provided with illuminator, and described image obtaining widget can be clapped under the irradiation of the illuminator
According to so as to improve the positioning precision to the material load plate.
For example, for the ease of the movement mobile base, processor, the processor and institute are provided with the mechanical arm
State image acquisition component electric connection.The bottom of the mobile base is provided with four support wheels and two movable pulleys, and described four
Individual support wheel is respectively arranged at four corners of the mobile base, and described two movable pulleys are located in the mobile base
Portion.Material load plate is provided with the mobile base, formed with material locating slot, the end of the mechanical arm on the material load plate
The neighbouring material load plate in end.For example, a kind of material transfer equipment, including mobile base, laser radar omniselector, mechanical arm,
Clamping jaw and image acquisition component；The laser radar omniselector is arranged in the mobile base and is located at the mobile base
Side；The mechanical arm is installed on the top of the mobile base；The clamping jaw is installed on the end of the mechanical arm；It is described
Image acquisition component is arranged at the end of the mechanical arm, for gathering the image of material load plate to obtain the material load plate
Positional information, processor is provided with the mechanical arm, and the processor is electrically connected with described image obtaining widget.The shifting
The bottom of dynamic base is provided with four support wheels and two movable pulleys, and four support wheels are respectively arranged at the mobile base
Four corners, described two movable pulleys are located at the middle part of the mobile base.Material load plate is provided with the mobile base,
Formed with material locating slot on the material load plate, the end of the mechanical arm is adjacent to the material load plate.Due to the movement
Base is arranged with two movable pulleys, therefore facilitates the movement of the mobile base.
For example, for the ease of carrying out material conveying in time, the mobile base is AGV (Automatic Guided
Vehicle, automatic guided vehicle), the laser radar omniselector is laser SLAM navigators, and the mechanical arm is six shaft mechanicals
Arm.The material transfer equipment also includes calling terminal, the calling terminal and the mobile base wireless connection, for institute
State mobile base and send to cry and expect to instruct.For example, a kind of material transfer equipment, including mobile base, laser radar omniselector, machinery
Arm, clamping jaw and image acquisition component；The laser radar omniselector is arranged in the mobile base and is located at the movement
The side of base；The mechanical arm is installed on the top of the mobile base；The clamping jaw is installed on the end of the mechanical arm；
Described image obtaining widget is arranged at the end of the mechanical arm, is carried for gathering the image of material load plate with obtaining the material
The positional information of disk, the mobile base are automatic guided vehicle, and the laser radar omniselector is laser SLAM navigators, described
Mechanical arm is six shaft mechanical arms.The material transfer equipment also includes calling terminal, the calling terminal and the mobile base
Wireless connection, material is made to instruct for being sent to the mobile base.Because the material send equipment also to include calling terminal,
Therefore can be sent in time to the mobile base makes material instruct, so as to promote the material transfer equipment to carry out thing in time
Material conveying.
Referring to Fig. 3, for example, a kind of material conveying method of material transfer equipment as described above, comprises the following steps：
In step S101, toward the mobile base on loaded material load plate；
In step S102, the laser radar omniselector navigates to the mobile base, guides the mobile bottom
Seat is moved to predetermined station；
In step S103, the end of the mechanical arm is moved at the material load plate in the mobile base；
In step S104, described image obtaining widget obtains the image of the material load plate to aid in the mechanical arm pair
The material load plate is positioned；And
In step S105, the mechanical arm drives the clamping jaw to capture the material load plate and is positioned over described predetermined
On station.
Because the material transfer equipment can realize the full-automatic carrying of material, therefore compare saving manpower, and adopt
Material load plate is positioned with image acquisition component, therefore does not allow error-prone, improves conevying efficiency.In addition, the shifting
Navigated during dynamic base movement using the laser radar omniselector, its positioning precision is because of the reflectivity by surrounding enviroment
Influence, certain deviation can be produced, and obtain the position of material load plate using image acquisition component when capturing material, so as to more
The dislocation that above-mentioned deviation is brought has been mended, has improved positioning accurate accuracy.
For example, in order to improve positioning precision, the material being moved in the end of the mechanical arm in the mobile base carries
It is further comprising the steps of after the step of at disk：Illuminator on the end of the mechanical arm starts to be carried with illuminating the material
Disk.By starting illuminator so that described image obtaining widget can more clearly shoot the material load plate, so as to carry
High position precision.
For example, material is to be transported to multiple B boards by existing technology from A boards, more using artificial loading and unloading.Existing skill
The shortcomings that art scheme：During plant produced, general environment compares severe, can influence the health of worker；Labor intensity is big,
Easily cause worker's fatigue；Artificial easily error, influences conevying efficiency.The purpose of the present invention is to substitute manpower with mobile robot,
Complete the transfer of material.Provide the example of an application again below, it is assumed that 4 websites are included in plant produced altogether, wherein there is 1
Total station, 3 packing stations of A websites, B, C, D website.Be initial station from A stations, all body feed tanks fill after from the work
Position starts to transport any station in B, C, D station.And the empty hopper processed is transported into A stations, case again,
With this reciprocation cycle.Mobile robot top configures a shaft mechanical arm of light-type six, and end regards with clamping device and machinery
Feel positioning.Mobile robot takes fully loaded material frame to mobile robot carrier from A stations, when B, C, D website demand material
Being sent by wireless launcher to mobile robot makes material instruct, and mobile robot runs on the website and puts fully loaded material frame
Put on the station, while empty material frame is placed on mobile robot material disc, the empty charging tray is transported A by robot
On station, mobile robot is awaited orders on A stations, and fully loaded body feed tank is filled in material disc.Realize that station demand is i.e. past
Which station is sent with charge free.This model mobile robot is operated using two-wheeled independence differential, is supported by four-wheel.For example, top is carried greatly
The MK light-type mechanical arms of laser company of race, compact are stable；Continued a journey using lithium electricity, possess and continue a journey for a long time；Can be with
Carry out remote control and calling；It can be applied during use according to being customized of work on the spot situation.For example, mobile robot
Navigation mode is navigated for laser radar, and mechanical arm also aids in configuring machine vision positioning in addition to localization for Mobile Robot.
Wherein navigated using laser radar, Mobile Robotics Navigation positions and uses laser SLAM navigators in the program.Swash
Light SLAM navigators carry out profile scan using laser to surrounding environment, and carry out characteristic matching, realize robot localization.This kind
Positioning method avoids, using labels such as tapes, being positioned characterized by natural environment, because environmental objects are to the anti-of laser
It is different to penetrate rate, caused laser positioning precision is deviated.Vision positioning guiding is recycled to work as mobile robot as auxiliary
Then machine vision is needed to position when reaching predetermined station under the navigation of laser radar, at this.Machine after mobile robot stops
Tool arm upper end setting in motion is to body feed tank upper end, and the camera of mechanical arm tail end is taken pictures and positioning materials case position.According to feedback
Position, mechanical arm realize precisely crawl and place body feed tank.First mechanical arm is moved to body feed tank upper end, camera headed by crawl process
Take pictures and demarcate mechanical arm tail end position, the elements of a fix are fed back into mechanical arm, mechanical arm obtains paw after processor calculates
The coordinates of targets to be captured, mechanical arm drives paw to start to grip material and is placed on carrier completion gripping process.It is real
Show the automation of loading and unloading between board in factory, the moving machine of the high-precision loading and unloading of the vision guide+laser radar navigation
Device people, high-precision automatic loading/unloading can be realized in wide region, be the ring of key one for realizing intelligent plant.The present invention
The key point of technical scheme is：Six shaft mechanical arms are loaded in mobile robot, is navigated using laser radar and utilizes vision positioning
Aided in.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that the ordinary skill people for this area
For member, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the present invention's
Protection domain.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
- A kind of 1. material transfer equipment, it is characterised in that including mobile base, laser radar omniselector, mechanical arm, clamping jaw and Image acquisition component；The laser radar omniselector is arranged in the mobile base and positioned at the side of the mobile base；The mechanical arm is installed on the top of the mobile base；The clamping jaw is installed on the end of the mechanical arm；Described image obtaining widget is arranged at the end of the mechanical arm, for gathering the image of material load plate to obtain the thing Expect the positional information of load plate.
- 2. material transfer equipment according to claim 1, it is characterised in that described image obtaining widget is industrial camera.
- 3. material transfer equipment according to claim 1, it is characterised in that also including illuminator, the illuminator It is arranged at the end of the mechanical arm, and the neighbouring clamping jaw；The illuminator is ring-shaped, thereon formed with perforating, Described image obtaining widget is arranged in the perforating.
- 4. material transfer equipment according to claim 1, it is characterised in that processor, institute are provided with the mechanical arm Processor is stated to be electrically connected with described image obtaining widget.
- 5. material transfer equipment according to claim 1, it is characterised in that the bottom of the mobile base is provided with four Support wheel and two movable pulleys, four support wheels are respectively arranged at four corners of the mobile base, described two shiftings Driving wheel is located at the middle part of the mobile base.
- 6. material transfer equipment according to claim 1, it is characterised in that material load is provided with the mobile base Disk, formed with material locating slot on the material load plate, the end of the mechanical arm is adjacent to the material load plate.
- 7. material transfer equipment according to claim 6, it is characterised in that the mobile base is automatic guided vehicle, institute It is laser SLAM navigators to state laser radar omniselector, and the mechanical arm is six shaft mechanical arms.
- 8. material transfer equipment according to claim 7, it is characterised in that the material transfer equipment also includes calling eventually End, the calling terminal and the mobile base wireless connection, material is made to instruct for being sent to the mobile base.
- 9. a kind of material conveying method of material transfer equipment as claimed in claim 1, it is characterised in that including following step Suddenly：Loaded material load plate on toward the mobile base；The laser radar omniselector navigates to the mobile base, guides the mobile base to be moved to predetermined work Position；The end of the mechanical arm is moved at the material load plate in the mobile base；Described image obtaining widget obtains the image of the material load plate to aid in the mechanical arm to carry out the material load plate Positioning；AndThe mechanical arm drives the clamping jaw to capture the material load plate and is positioned on the predetermined station.
- 10. a kind of material conveying method as claimed in claim 9, it is characterised in that be moved in the end of the mechanical arm It is further comprising the steps of after the step of at material load plate in the mobile base：Illuminating lamp on the end of the mechanical arm Tool starts to illuminate the material load plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710811775.0A CN107745960A (en) | 2017-09-11 | 2017-09-11 | Material transfer equipment and material conveying method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710811775.0A CN107745960A (en) | 2017-09-11 | 2017-09-11 | Material transfer equipment and material conveying method |
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| CN107745960A true CN107745960A (en) | 2018-03-02 |
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| CN201710811775.0A Pending CN107745960A (en) | 2017-09-11 | 2017-09-11 | Material transfer equipment and material conveying method |
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| CN110921296A (en) * | 2019-11-13 | 2020-03-27 | 徐州泓吉环锻科技有限公司 | Auxiliary material replacing equipment for connecting rod forging, punching and trimming |
| CN111606033A (en) * | 2020-05-19 | 2020-09-01 | 芜湖奇达动力电池系统有限公司 | New energy automobile power battery module placing equipment and placing method |
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Effective date of registration: 20180608 Address after: 518051 Dazu laser building, 9 new West Road, North Nanshan District high tech park, Shenzhen, Guangdong Applicant after: HANS LASER TECHNOLOGY INDUSTRY GROUP CO., LTD. Applicant after: Shenzhen Dazu robot Co., Ltd. Address before: 518051 Dazu laser building, 9 new West Road, North Nanshan District high tech park, Shenzhen, Guangdong Applicant before: HANS LASER TECHNOLOGY INDUSTRY GROUP CO., LTD. Applicant before: Shenzhen Hans Electric Motor Co., Ltd. |
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