CN108436932A - A kind of periphery imitation robot of single power input tape straight flange polygon - Google Patents

A kind of periphery imitation robot of single power input tape straight flange polygon Download PDF

Info

Publication number
CN108436932A
CN108436932A CN201810236709.XA CN201810236709A CN108436932A CN 108436932 A CN108436932 A CN 108436932A CN 201810236709 A CN201810236709 A CN 201810236709A CN 108436932 A CN108436932 A CN 108436932A
Authority
CN
China
Prior art keywords
profiling
type gear
runing rest
gear disk
mounting plate
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
CN201810236709.XA
Other languages
Chinese (zh)
Other versions
CN108436932B (en
Inventor
不公告发明人
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.)
Guangdong Yingjing Innovation Technology Co.,Ltd.
Original Assignee
Qinhuangdao Point Zhi Hui Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Qinhuangdao Point Zhi Hui Technology Co Ltd filed Critical Qinhuangdao Point Zhi Hui Technology Co Ltd
Priority to CN201810236709.XA priority Critical patent/CN108436932B/en
Publication of CN108436932A publication Critical patent/CN108436932A/en
Application granted granted Critical
Publication of CN108436932B publication Critical patent/CN108436932B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/109Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams

Abstract

The present invention discloses a kind of periphery imitation robot of single power input tape straight flange polygon, including L-shaped rack, horizontal slide rail assembly, longitudinal slide rail assembly, transverse slider, longitudinal sliding block, form-copying type gear disk;It is located on form-copying type gear disk circular motion using the mechanisms such as roller finder disk and roller finder interoperation, while by power intake, ensure that pen can draw the shape of institute's profiling in driving wheel rotation process, keep control simpler reliable;By motive power be located at on the relatively-stationary device of roller finder come drive form-copying type gear disk act so that under single power input condition, realize be directed to the profiling with straight flange polygon.The present invention is simple and reliable, and tolerance is strong, is easy to use and promotes.

Description

A kind of periphery imitation robot of single power input tape straight flange polygon
Technical field
The present invention relates to profilings to produce and process technology, and in particular to a kind of single power input tape straight flange polygon Periphery imitation robot belongs to copying production technical field.
Background technology
In the mechanical processing process of product, copying is as a kind of processing method of rapid shaping, with possessing its peace The advantages that complete reliable, easy to use, tolerance is strong.But in traditional equipment, for the polygon copy table with straight flange, lead to It is often to carry out Union Movement profiling with two power sources even more than different directions, this needs to link using control system Jointly control, it is during use to have inconvenience more.
Based on the above reason, need to use a kind of simple and reliable copying device in production, in single power input condition It is lower to realize the copy table moved to the periphery with straight flange polygon.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of periphery profiling machine of single power input tape straight flange polygon People realizes the profiling action of sleeve mechanism by the rotation of a driving gear being meshed with form-copying type gear disk is arranged.
The technical solution that the present invention takes is a kind of periphery imitation robot of single power input tape straight flange polygon, packet Include L-shaped rack, horizontal slide rail assembly, longitudinal slide rail assembly, transverse slider, longitudinal sliding block, form-copying type gear disk;Described two are vertical Above and below to sliding rail assembly on the inside of the parallel facade being mounted on the left of L-shaped rack, slided respectively on two longitudinal slide rail assemblies Installation is also installed with runing rest mounting plate there are one longitudinal sliding block on two longitudinal sliding blocks;The runing rest peace Loading board right side is equipped with the levelling bench of installation runing rest, and the installation through-hole of vertical direction is offered on levelling bench, The runing rest is T-shaped structure, and upper part is a rectangle mounting plane, and lower part is one and is rigidly connected with mounting plane Rotary shaft, it is logical that runing rest by rotary shaft is rotatably installed in the installation opened up on levelling bench on the right side of runing rest mounting plate Kong Zhong;It is also installed with form-copying type gear disk in the rotary shaft of the runing rest lower part.
Two horizontal slide rail assemblies, which are parallel transversely disposed, to be fixedly mounted in L-shaped rack on the right side of plane, at two It is slidably installed respectively on horizontal slide rail assembly there are one transverse slider, mounting plate is also installed on two transverse sliders;Institute Profiling strut is additionally provided between the form-copying type gear disk stated and transverse cylinder seat, profiling strut right end is fixedly mounted on mounting plate following table Face is simultaneously in two traversing sliding block centre positions, and profiling strut left end is installed with the roller finder seat of T shapes;The profiling It is set in roller mount there are two vertical roller finder axis, two roller finder axis are symmetrical along perpendicular where profiling branch rod axis It arranges, a roller finder is also separately installed on two roller finder axis;Two roller finders and form-copying type gear disk The profiling annular groove side being arranged on lower surface is in rolling contact;The profiling strut left slide is equipped with motor cabinet, motor cabinet Left side is provided with motor mounting plate;It is installed with servo motor on the motor mounting plate, in servo motor output shaft axis Driving gear is also installed on end;It is also set between the volume motor mount and profiling strut right end setting installation base It is equipped with retaining spring;The driving gear under the action of retaining spring with arranged on form-copying type gear disk excircle tooth form when It carves and keeps engagement.
The mounting plate upper surface center is also installed with penholder seat, and cantilevered is installed on penholder seat Penholder;The penholder left end is equipped with mounting hole, and pen is equipped with vertically in the air in fixation;The pen tip and runing rest of the pen The rectangle mounting plane on top contacts, to which when servo motor drives apparatus of the present invention to move, pen is on runing rest top The shape of institute's profiling is drawn on rectangle mounting plane.
Further, the center of the form-copying type gear disk is provided with and the matched D of the rotary shaft of runing rest Shape axis hole.
Further, the L-shaped rack upper surface is also installed with roller finder seat sliding slot, the roller finder Seat can horizontally slip in roller finder seat sliding slot.
Further, the profiling strut left upper portion is provided with flat key slot.
Further, the motor cabinet is installed with flat key on the endoporus of motor mounting plate side, and flat key is imitative It is free to slide in flat key slot on shape strut.
Further, the profiling annular groove of the form-copying type gear disk lower part is of same size everywhere, and profiling annular groove width ratio Big 0.1mm ~ the 0.3mm of roller finder diameter.
Since present invention employs above-mentioned technical proposal, the present invention has the following advantages:(1)Using roller finder disk and imitate The mechanisms such as shape idler wheel interoperation, while power intake being located on form-copying type gear disk circular motion, it ensure that in driving wheel Pen can draw the shape of institute's profiling in rotation process, keep control simpler reliable;(2)Motive power is located at and roller finder phase To driving form-copying type gear disk to act on fixed device so that under single power input condition, realize more for band straight flange The profiling of side shape.
Description of the drawings
Fig. 1 is the whole assembly dimensional structure diagram of the embodiment of the present invention one.
Fig. 2 is the assembly dimensional structure diagram after one hidden parts parts of the embodiment of the present invention.
Fig. 3 is that roller finder and driving gear show with form-copying type gear disk mating part concrete structure in the embodiment of the present invention one It is intended to.
Fig. 4 is motor cabinet concrete structure schematic diagram of the present invention.
Fig. 5 is form-copying type gear disk concrete structure schematic diagram in the embodiment of the present invention one.
Fig. 6 is concrete structure schematic diagram after profiling wheel seat of the present invention and profiling strut combination.
Fig. 7 is the whole assembly dimensional structure diagram of the embodiment of the present invention two.
Fig. 8 is the assembly dimensional structure diagram after two hidden parts parts of the embodiment of the present invention.
Fig. 9 is that roller finder and driving gear show with form-copying type gear disk mating part concrete structure in the embodiment of the present invention two It is intended to.
Figure 10 is form-copying type gear disk concrete structure schematic diagram in the embodiment of the present invention two.
Drawing reference numeral:1-L shape racks;2- longitudinal slide rail assemblies;3- longitudinal sliding blocks;4- runing rest mounting plates;5- rotates Holder;6-;7- penholders;8- penholder seats;9- mounting plates;10- horizontal slide rail assemblies;11- transverse sliders;12- retaining springs; 13- profiling struts;14- motor cabinets;15- servo motors;16- roller finder seats;17- drives gear;18- roller finder seats are slided Slot;19- form-copying type gear disks;20- roller finders;1301- flat key slots;1401- flat keys;1402- motor mounting plates;1601- profilings Roller shaft;1901-D shape axis holes;1902- profiling annular grooves.
Specific implementation mode
With reference to specific embodiment, the invention will be further described, in the illustrative examples and explanation of the invention For explaining the present invention, but it is not as a limitation of the invention.
A kind of periphery imitation robot of single power input tape straight flange polygon as shown in Figures 1 to 10, including L-shaped Rack 1, horizontal slide rail assembly 10, longitudinal slide rail assembly 2, transverse slider 11, longitudinal sliding block 3, form-copying type gear disk 19.Two longitudinal directions About 2 sliding rail assembly is parallel to be mounted on the inside of the facade in 1 left side of L-shaped rack, is slided respectively on two longitudinal slide rail assemblies 2 Installation is also installed with runing rest mounting plate 4 there are one longitudinal sliding block 3 on two longitudinal sliding blocks 3.Runing rest mounting plate 4 right sides are equipped with the levelling bench of installation runing rest 5, and the installation through-hole of vertical direction is offered on levelling bench, revolve It is T-shaped structure to turn holder 5, and upper part is a rectangle mounting plane, and lower part is one and the rigidly connected rotation of mounting plane Axis, runing rest 5 are rotatably installed in the installation through-hole opened up on 4 right side levelling bench of runing rest mounting plate by rotary shaft In.It is also installed with form-copying type gear disk 19 in the rotary shaft of 5 lower part of runing rest.
Two horizontal slide rail assemblies 10, which are parallel transversely disposed, to be fixedly mounted in L-shaped rack 1 on the right side of plane, in two transverse directions It is slidably installed respectively in sliding rail assembly 10 there are one transverse slider 11, mounting plate 9 is also installed on two transverse sliders 11. Profiling strut 13 is additionally provided between form-copying type gear disk 19 and transverse cylinder seat, 13 right end of profiling strut is fixedly mounted on mounting plate 9 Lower surface is simultaneously in two traversing sliding block centre positions, and 13 left end of profiling strut is installed with the roller finder seat 16 of T shapes.It is imitative Vertical 20 axis 1601 of roller finder there are two being set in shape roller mount 16, two 20 axis 1601 of roller finder are along 13 axis of profiling strut Perpendicular where line is arranged symmetrically, and a roller finder 20 is also separately installed on two 20 axis 1601 of roller finder.Two Roller finder 20 is in rolling contact with 1902 side of profiling annular groove being arranged on 19 lower surface of form-copying type gear disk.13 left side of profiling strut It is slidably fitted with motor cabinet 14,14 left side of motor cabinet is provided with motor mounting plate 91402.Fixed peace on motor mounting plate 91402 Equipped with servo motor 15, driving gear 17 is also installed on 15 output shaft end of servo motor.Volume motor mount with It is additionally provided with retaining spring 12 between 13 right end of profiling strut setting installation base.Drive gear 17 in the effect of retaining spring 12 It is lower to keep engaging with the tooth form moment arranged on 19 excircle of form-copying type gear disk.
9 upper surface center of mounting plate is also installed with penholder seat 8, and cantilevered pen is installed on penholder seat 8 Frame 7.7 left end of penholder is equipped with mounting hole, and pen 6 is equipped with vertically in the air in fixation.The square of the pen tip and 5 top of runing rest of pen 6 Shape mounting plane contacts, thus when servo motor 15 drives apparatus of the present invention movement, rectangle of the pen 6 on 5 top of runing rest The shape of institute's profiling is drawn on mounting plane.The center of form-copying type gear disk 19 is provided with the rotary shaft phase with runing rest 5 The D-shaped axis hole 1901 of cooperation.1 upper surface of L-shaped rack is also installed with roller finder seat sliding slot 18, and roller finder seat 16 can be It horizontally slips in roller finder seat sliding slot 18.13 left upper portion of profiling strut is provided with flat key slot 1301, and motor cabinet 14 is in motor Flat key 1401, flat key slot 1301 of the flat key 1401 on profiling strut 13 are installed on the endoporus of 91402 side of mounting plate It is interior free to slide.The profiling annular groove 1902 of 19 lower part of form-copying type gear disk is of same size everywhere, and 1902 width of profiling annular groove is than imitative Big 0.1mm ~ the 0.3mm of 20 diameter of shape idler wheel.
The embodiment of the present invention one is different with the shape of form-copying type gear disk 19 in embodiment two, concrete structure such as Fig. 5 and Figure 10 It is shown.
The specific work process of the present invention is as follows:It is powered on first to servo motor 15, makes servo motor 15 that there is output one A constant rotating speed, at this time because driving gear 17 is fixedly connected with the output shaft of servo motor 15, driving gear 17 will drive Form-copying type gear disk 19 moves;When straight line portion moves roller finder 20 in the profiling annular groove 1902 on form-copying type gear disk 19, Runing rest 52 axis of sliding rail assembly will move in a straight line along longitudinal direction, and transverse slider 11 is motionless at this time;When at least one profiling In the 1902 inner curve componental movement of profiling annular groove on form-copying type gear disk 19, runing rest 5 will rotate idler wheel 20, together When because that can only horizontally slip in roller finder seat sliding slot 18 of the roller finder seat 16 on being fixed on L-shaped rack 1, so when rotate Holder 5 is in the action done along own axis while 2 axis of sliding rail assembly will also be moved along longitudinal direction toward negative direction, and because at this time The cam effect that form-copying type gear disk 19 is formed when rotating, profiling sliding slot will push roller finder 20 to move in left-right direction, imitative Under shape idler wheel 20 drives, transverse slider 11 will transversely 10 axial-movement of sliding rail assembly simultaneously, and with a left side for roller finder 20 Right movement synchronizes;It starts writing the dual dynamic of 6 side-to-side movements in the displacement of runing rest 5 and the transverse movement band of transverse slider 11 Under work, pen 6 will draw the shape of institute's profiling in 5 upper surface of runing rest.

Claims (6)

1. a kind of periphery imitation robot of single power input tape straight flange polygon, including L-shaped rack(1), horizontal slide rail it is total At(10), longitudinal slide rail assembly(2), transverse slider(11), longitudinal sliding block(3), form-copying type gear disk(19), it is characterised in that:Institute The two longitudinal slide rail assemblies stated(2)It is parallel up and down to be mounted on L-shaped rack(1)It is longitudinal sliding at two on the inside of the facade in left side Rail assembly(2)It is upper to be slidably installed respectively there are one longitudinal sliding block(3), two longitudinal sliding blocks(3)On be also installed with rotation branch Frame mounting plate(4)(9);The runing rest mounting plate(4)(9)Right side is equipped with installation runing rest(5)Level it is flat Platform offers the installation through-hole of vertical direction, the runing rest on levelling bench(5)For T-shaped structure, upper part one A rectangle mounting plane, lower part are one and the rigidly connected rotary shaft of mounting plane, runing rest(5)It is rotated by rotary shaft Mounted on runing rest mounting plate(4)(9)In the installation through-hole opened up on the levelling bench of right side;The runing rest(5)Under Form-copying type gear disk is also installed in the rotary shaft in portion(19);
Two horizontal slide rail assemblies 10, which are parallel transversely disposed, is fixedly mounted on L-shaped rack(1)On the right side of upper plane, at two Horizontal slide rail assembly(10)It is upper to be slidably installed respectively there are one transverse slider(11), two transverse sliders(11)On be also fixedly mounted There is mounting plate(9);The form-copying type gear disk(19)Profiling strut is additionally provided between transverse cylinder seat(13), profiling strut (13)Right end is fixedly mounted on mounting plate(9)Lower surface is simultaneously in two traversing sliding block centre positions, profiling strut(13)Left end It is installed with the roller finder seat of T shapes(16);The roller finder seat(16)On set there are two vertical roller finder axis (1601), two roller finder axis(1601)Along profiling strut(13)Perpendicular where axis is arranged symmetrically, two profiling rollings Wheel shaft(1601)On be also separately installed with a roller finder(20);Two roller finders(20)With form-copying type gear disk (19)The profiling annular groove being arranged on lower surface(1902)Side is in rolling contact;The profiling strut(13)Left slide is equipped with Motor cabinet(14), motor cabinet(14)Left side is provided with motor mounting plate(1402);The motor mounting plate(1402)Upper fixation Servo motor is installed(15), in servo motor(15)Driving gear is also installed on output shaft end(17);Described Volume motor mount and profiling strut(13)It is additionally provided with retaining spring between right end setting installation base(12);The driving Gear(17)In retaining spring(12)Under the action of with form-copying type gear disk(19)The tooth form moment arranged on excircle keeps engagement;
The mounting plate(9)Upper surface center is also installed with penholder seat(8), penholder seat(8)On be installed with Cantilevered penholder(7);The penholder(7)Left end is equipped with mounting hole, and pen is equipped with vertically in the air in fixation(6);The pen (6)Pen(6)Point and runing rest(5)The rectangle mounting plane on top contacts, in servo motor(15)Drive the present invention When device moves, pen(6)In runing rest(5)The shape of institute's profiling is drawn on the rectangle mounting plane on top.
2. a kind of periphery imitation robot of single power input tape straight flange polygon according to claim 1, feature It is:The form-copying type gear disk(19)Center be provided with and runing rest(5)The matched D-shaped axis hole of rotary shaft (1901).
3. a kind of periphery imitation robot of single power input tape straight flange polygon according to claim 1, feature It is:The L-shaped rack(1)Upper surface is also installed with roller finder seat sliding slot(18), the roller finder seat (16)It can be in roller finder seat sliding slot(18)In horizontally slip.
4. a kind of periphery imitation robot of single power input tape straight flange polygon according to claim 1, feature It is:The profiling strut(13)Left upper portion is provided with flat key slot(1301)Slot.
5. a kind of periphery imitation robot of single power input tape straight flange polygon according to claim 1, feature It is:The motor cabinet(14)In motor mounting plate(9)(1402)Flat key slot is installed on the endoporus of side(1301), Flat key slot(1301)In profiling strut(13)On flat key slot(1301)It is free to slide in slot.
6. a kind of periphery imitation robot of single power input tape straight flange polygon according to claim 1, feature It is:The form-copying type gear disk(19)The profiling annular groove of lower part(1902)It is of same size everywhere, and profiling annular groove(1902)It is wide Degree compares roller finder(20)Big 0.1mm ~ the 0.3mm of diameter.
CN201810236709.XA 2018-03-21 2018-03-21 Single-power-input polygonal periphery profiling robot with straight edges Active CN108436932B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810236709.XA CN108436932B (en) 2018-03-21 2018-03-21 Single-power-input polygonal periphery profiling robot with straight edges

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810236709.XA CN108436932B (en) 2018-03-21 2018-03-21 Single-power-input polygonal periphery profiling robot with straight edges

Publications (2)

Publication Number Publication Date
CN108436932A true CN108436932A (en) 2018-08-24
CN108436932B CN108436932B (en) 2020-04-21

Family

ID=63196338

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810236709.XA Active CN108436932B (en) 2018-03-21 2018-03-21 Single-power-input polygonal periphery profiling robot with straight edges

Country Status (1)

Country Link
CN (1) CN108436932B (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0840739A (en) * 1994-07-28 1996-02-13 Hideo Hanada Apparatus for cutting glass
CN202556155U (en) * 2012-02-28 2012-11-28 荆州环球汽车零部件制造有限公司 Novel cam vehicle profile modeling device
CN203610748U (en) * 2013-12-16 2014-05-28 毕文廷 Key-cutting machine
CN205734180U (en) * 2016-06-24 2016-11-30 常州星宇车灯股份有限公司 Profiling following mechanism

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0840739A (en) * 1994-07-28 1996-02-13 Hideo Hanada Apparatus for cutting glass
CN202556155U (en) * 2012-02-28 2012-11-28 荆州环球汽车零部件制造有限公司 Novel cam vehicle profile modeling device
CN203610748U (en) * 2013-12-16 2014-05-28 毕文廷 Key-cutting machine
CN205734180U (en) * 2016-06-24 2016-11-30 常州星宇车灯股份有限公司 Profiling following mechanism

Also Published As

Publication number Publication date
CN108436932B (en) 2020-04-21

Similar Documents

Publication Publication Date Title
CN209601676U (en) A kind of electroplating assembly line conveying device
CN201487067U (en) Bearing ball separation riveting press
CN109352753A (en) A kind of equipment producing veneer
CN211768953U (en) Steel building board sorting device one by one
CN108377072A (en) A kind of motor insulating paper paper-inserting machine that slotting paper is efficient
CN108436932A (en) A kind of periphery imitation robot of single power input tape straight flange polygon
CN208840893U (en) A kind of double sides milling machine
CN108972270B (en) Multipurpose glass polishing machine
CN202123874U (en) Numeric-control engraving machine for large-size wood patterns
CN206711116U (en) The rotating disc type of identification card self-help neck card machine deposits mechanism for card
CN108741617B (en) Linkage type extension table
CN210920704U (en) Real standard platform of mobile display screen electronic information engineering
CN207420352U (en) A kind of three rail anti-theft aluminum alloy sliding windows
CN216546315U (en) Mobile device is used in production of annular heavy brill
CN217865019U (en) A turning device for non-woven fabrics packing
CN103595197B (en) Stator winding mould and stator winder
CN215034549U (en) Laser cutting machine of plug-type sled fitness equipment production usefulness
CN216969033U (en) Prevent fire door production with side stamp device
CN212577571U (en) End surface grooving machine
CN204195432U (en) A kind of full-automatic double-ended beveler
CN218051935U (en) Carousel formula multistation's earphone burnishing device
CN211105323U (en) Adjustable injection mold
CN213890213U (en) Material stripping device of paper tube finishing machine
CN216608391U (en) Edging device is used in extruded sheet production
CN215805762U (en) Electronic super-silent lightweight slide rail

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20200327

Address after: 516400 Yingke robot industrial park, ecological technology city, Haifeng County, Shanwei City, Guangdong Province

Applicant after: Guangdong Yingke robot industry Co., Ltd

Address before: Room 710, Wanzhong Building, Tiantaishan Road, Qinhuangdao Economic and Technological Development Zone, Hebei Province

Applicant before: QINHUANGDAO DIANZHIHUI TECHNOLOGY Co.,Ltd.

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20210309

Address after: 516400 Yingjing Zhihui Park, phase IV, ecological science and Technology City, Chengdong Town, Haifeng County, Shanwei City, Guangdong Province

Patentee after: Guangdong Yingjing Innovation Technology Co.,Ltd.

Address before: 516400 Yingke robot industrial park, Haifeng County, Shanwei City, Guangdong Province

Patentee before: Guangdong Yingke robot industry Co.,Ltd.

TR01 Transfer of patent right