CN108608417A - A kind of transfer robot - Google Patents
A kind of transfer robot Download PDFInfo
- Publication number
- CN108608417A CN108608417A CN201810405880.9A CN201810405880A CN108608417A CN 108608417 A CN108608417 A CN 108608417A CN 201810405880 A CN201810405880 A CN 201810405880A CN 108608417 A CN108608417 A CN 108608417A
- Authority
- CN
- China
- Prior art keywords
- gear
- fixed
- pair
- guide plate
- forearm
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of transfer robots, including base body, the waist rotation member being articulated on base body, the large arm being articulated on waist rotation member, the forearm being articulated in large arm, the manipulator on forearm, waist rotation member is rotated around base body, large arm is rotated around waist rotation member, and forearm is rotated around large arm.The manipulator includes a pair of of sucker group, the driving mechanism of a pair of of sucker group rotation of driving；The driving mechanism includes pedestal, rotary components, rotating driving device and latch components.The drive component for making annular circumferential movement of the present invention can unlock latch components and rotary components is driven to rotate 180 degree to the constraint of rotary components, and a pair of of sucker rotates 180 degree with rotary components.Driving mechanism through the invention can make two suckers on manipulator accurately rotate 180 degree, so that manipulator accurately picks and places material.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of robot for being equipped with rotation and executing end.
Background technology
In the prior art, pcb board cuts the dedicated pcb board guillotine of generally use.However, operating personnel pass through craft
Pcb board to be cut is sent into pcb board guillotine by mode, then the pcb board cut is exported pcb board guillotine, is not only worked
Amount is big, is also difficult to be improved moreover, pcb board cuts efficiency.
Application No. is the PCB that a kind of manipulator by robot of the disclosure of the invention of CN201520484088.9 picks and places material
Plate guillotine, wherein set two sucker groups on the manipulator of robot, sucker group by vacuum suction mode draw pcb board and
Waste material.Described two sucker groups can carry out 180 degree rotation, to facilitate two sucker groups to pick and place pcb board or waste material to corresponding station.
Invention content
In view of the above technical problems, providing a kind of installation two suckers on a robotic arm can accurately rotate the present invention
The pcb board transfer robot for being equipped with rotation and executing end of 180 degree.
In order to achieve the above objectives, a kind of pcb board transfer robot for being equipped with rotation and executing end of the invention, including pedestal
Body, the large arm being articulated on waist rotation member, the forearm being articulated in large arm, is mounted on the waist rotation member being articulated on base body
Manipulator on forearm；The manipulator includes a pair of of sucker group, the driving mechanism of a pair of of sucker group rotation of driving；The driving
Mechanism includes pedestal, rotating driving device, latch components and rotary components；Rotary components include a pair of of locating rod, rotary support
And first gear；Rotary support upper end be fixed with a pair of of locating rod, be fixedly arranged in the middle of first gear, lower end is articulated on pedestal；
The perforative limit hole in horizontal left and right is offered in the middle part of rotary support；Latch components include unlocking part reconciliation locking plug；Solution lock section
Part includes the first cylinder ring, second gear and annulus guide plate；Second gear is fixed on the external cylindrical surface of the first cylinder ring；Annulus
Guide plate is fixed on the inner cylinder face of the first cylinder ring；Annulus guide plate is connected by the inner guide plate of both ends different-diameter and outer guide plate head and the tail
It connects；Solution locking plug is made of horizontal pin, holder and idler wheel；Holder is fixed on vertically on the pedestal in the first cylinder ring；
Guide groove is offered inside frame upper, left and right sidewall center offers circular hole；Guide block is formed in the middle part of horizontal pin；Level is inserted
Pin is plugged in by guide block on holder；A pair of guide rods is formed between holder left and right sidewall；Guide block in the middle part of horizontal pin is arranged
On guide rod；A pair of of compression spring is respectively sleeved at a pair of guide rods；Compression spring left end is resisted against on guide block right side, right end is resisted against holder
On right side wall；Horizontal pin left end is articulated with idler wheel, right end is plugged in the limit hole of rotary support；Idler wheel is resisted against annulus
On the madial wall of guide plate；Rotating driving device includes the 4th gear and the 5th gear；The wheel teeth portion of 4th gear only has one section；The
Four gears can be engaged with first gear；5th gear is engaged with second gear.
As a preferred embodiment of the above technical solution, the manipulator includes the linking arm being articulated on forearm, is fixed on connection
Shell on arm, the spill spin block outside shell, the driving mechanism are fixed on by pedestal in shell, and the spill spin block is fixed
On the securing lever；The pair of sucker is fixed on spill spin block.
As a preferred embodiment of the above technical solution, the rotating driving device further includes rotation drive shaft and first motor；The
One motor is fixed on pedestal vertically；It is fixed with the 4th gear and the 5th gear on first motor output shaft from top to down successively.
As a preferred embodiment of the above technical solution, be fixed with the second motor in the large arm, the output shaft of the second motor with it is small
Arm couples；Third motor is fixed on the forearm, the output shaft of third motor couples with manipulator；Manipulator turns around forearm
The rotation centerline of dynamic rotation centerline rotary support in rotary components.
As a preferred embodiment of the above technical solution, rounding off between the inner guide plate of annulus guide plate and outer guide plate.
As a preferred embodiment of the above technical solution, lower clamp plate in a pair is formed on frame upper left side wall；Annulus guide plate is set
It sets between upper lower clamp plate.
The beneficial effects of the present invention are：Latch components can be unlocked to rotary components by making the drive component of annular circumferential movement
Constraint and drive rotary components rotate 180 degree, a pair of of sucker with rotary components rotate 180 degree.Driving through the invention
Mechanism can make two suckers on manipulator accurately rotate 180 degree, so that manipulator accurately picks and places material.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of the manipulator of the present invention；
Fig. 3 is the structural schematic diagram of the driving mechanism of the present invention；
Fig. 4 is the structural schematic diagram of the driving mechanism of the present invention；
Fig. 5 is the side structure schematic view of the driving mechanism of the present invention；
Fig. 6 be the present invention Fig. 6 in A-A cross-sectional view；
Fig. 7 is the structural schematic diagram of the latch components of the present invention；
Fig. 8 is the horizontal profile structure schematic diagram of the latch components of the present invention；
In figure, 10, base body；20, waist rotation member；30, large arm；31, the second motor；40, forearm；41, third motor；50, machine
Tool hand；51, linking arm；52, shell；53, spill spin block；60, driving mechanism；61, pedestal；62, rotating driving device；621,
Four gears；6211, teeth portion is taken turns；622, the 5th gear；623, first motor；624, drive shaft is rotated；63, latch components；631、
Unlocking part；6311, the first cylinder ring；6312, second gear；6313, annulus guide plate；632, locking plug is solved；6321, horizontal
Bolt；6322, holder；6323, idler wheel；6324, guide rod；6325, compression spring；64, rotary components；641, locating rod；642, it rotates
Bearing；6421, limit hole；643, first gear.
Specific implementation mode
As shown in Fig. 1~Fig. 8, a kind of pcb board transfer robot for being equipped with rotation and executing end, including base body 10, pivot
The waist rotation member 20 that is connected on base body 10, the large arm 30 being articulated on waist rotation member 20, the forearm 40 being articulated in large arm 30,
Manipulator 50 on forearm 40；The manipulator 50 includes a pair of of sucker group, drives the driving of a pair of of sucker group rotation
Mechanism 60；The driving mechanism 60 includes pedestal 61, rotating driving device 62, latch components 63 and rotary components 64；Rotation group
Part 64 includes a pair of of locating rod 641, rotary support 642 and first gear 643；642 upper end of rotary support is fixed with a pair of of positioning
Bar 641, be fixedly arranged in the middle of first gear 643, lower end is articulated on pedestal 61；642 middle part of rotary support offers horizontal left and right
Perforative limit hole 6421；Latch components 63 include that unlocking part 631 conciliates locking plug 632；Unlocking part 631 includes the first circle
The band of column 6311, second gear 6312 and annulus guide plate 6313；Second gear 6312 is fixed on the outside cylinder of the first cylinder ring 6311
On face；Annulus guide plate 6313 is fixed on the inner cylinder face of the first cylinder ring 6311；Annulus guide plate 6313 is by both ends different-diameter
Inner guide plate and outer guide plate head and the tail be formed by connecting；Locking plug 632 is solved by 6323 groups of horizontal pin 6321, holder 6322 and idler wheel
At；Holder 6322 is fixed on the pedestal 61 in the first cylinder ring 6311 vertically；6322 upper interior portion of holder offers guide groove, a left side
Right side wall center offers circular hole；6321 middle part of horizontal pin forms guide block；Horizontal pin 6321 is plugged in branch by guide block
On frame 6322；A pair of guide rods 6324 is formed between 6322 left and right sidewall of holder；The guide block at 6321 middle part of horizontal pin is set in
On guide rod 6324；A pair of of compression spring 6325 is respectively sleeved at a pair of guide rods 6324；6325 left end of compression spring is resisted against on guide block right side,
Right end is resisted against on 6322 right side wall of holder；6321 left end of horizontal pin is articulated with idler wheel 6323, right end is plugged in rotary support
In 642 limit hole 6421；Idler wheel 6323 is resisted against on the madial wall of annulus guide plate 6313；Rotating driving device 62 includes the 4th
Gear 621 and the 5th gear 622；The wheel teeth portion 6211 of 4th gear 621 only has one section；4th gear 621 can be with first gear
643 engagements；5th gear 622 is engaged with second gear 6312.
As shown in Figure 1 and Figure 2, the manipulator 50 includes the linking arm 51 being articulated on forearm 40, is fixed on linking arm 51
On shell 52, the spill spin block 53 outside shell 52, the driving mechanism 60 is fixed on by pedestal 61 in shell 52, described
Spill spin block 53 is fixed in locating rod 641；The pair of sucker is fixed on spill spin block 53.
As shown in figs. 4 and 6, the rotating driving device 62 further includes rotation drive shaft 624 and first motor 623；First
Motor 623 is fixed on vertically on pedestal 61；It is fixed with 621 He of the 4th gear from top to down successively on 623 output shaft of first motor
5th gear 622.
As shown in Figure 1 and Figure 2, the second motor 31, output shaft and the forearm 40 of the second motor 31 are fixed in the large arm 30
Connection；Third motor 41 is fixed on the forearm 40, the output shaft of third motor 41 couples with manipulator 50；Manipulator 50 encloses
The rotation centerline of the rotation centerline rotary support 642 in rotary components 64 rotated around forearm 40.
As shown in Figure 7, Figure 8, rounding off between the inner guide plate of annulus guide plate 6313 and outer guide plate.
As shown in fig. 6, forming lower clamp plate in a pair on 6322 upper left-hand wall of holder；Annulus guide plate 6313 is arranged upper
Between lower clamp plate.
63 concrete operations of latch components are as follows：Initial state：The inner guide plate of annulus guide plate 6313 keeps horizontal pin 6321 right
End is inserted into 6421 one end of limit hole of rotary support 642；Then first motor drives the 4th gear 621 and the 5th gear 622
Rotation；5th gear 622 drives unlocking part 631 to rotate by second gear 6312, and unlocking part 63 drives annulus guide plate
6313 rotations, idler wheel 6323 reach outer guide plate from the inner guide plate of annulus guide plate 6313, and 6321 right end of such horizontal pin is detached from rotation
Turn the limit hole 6421 of bearing 642, while driving first gear 643 to rotate by the 4th gear 621, to spill spin block 53 and sucker
Rotate 180 degree；When first gear 643 rotate 180 degree when, idler wheel 6323 from the outer guide plate of annulus guide plate 6313 to inside and outside guide plate,
6321 right end of horizontal pin is inserted into the other end of the limit hole 6421 of rotary support 642 again, and such sucker is just limited again.
The above content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to this hair
Bright limitation.
Claims (1)
1. a kind of transfer robot, including base body (10), be articulated on base body (10) waist rotation member (20), be articulated in
Large arm (30) on waist rotation member (20), the forearm (40) being articulated in large arm (30), the manipulator being mounted on forearm (40)
(50)；
It is characterized in that：The manipulator (50) includes a pair of of sucker group, the driving mechanism (60) of a pair of of sucker group rotation of driving；
The driving mechanism (60) includes pedestal (61), rotating driving device (62), latch components (63) and rotary components (64)；Rotation
Component (64) includes a pair of of locating rod (641), rotary support (642) and first gear (643)；Rotary support (642) upper end is solid
Surely have a pair of of locating rod (641), be fixedly arranged in the middle of first gear (643), lower end is articulated on pedestal (61)；Rotary support
(642) middle part offers the perforative limit hole in horizontal left and right (6421)；Latch components (63) include unlocking part (631) and unlock
Bolt (632)；Unlocking part (631) includes the first cylinder ring (6311), second gear (6312) and annulus guide plate (6313)；The
Two gears (6312) are fixed on the external cylindrical surface of the first cylinder ring (6311)；Annulus guide plate (6313) is fixed on the first cylinder ring
(6311) on inner cylinder face；Annulus guide plate (6313) is formed by connecting by the inner guide plate of both ends different-diameter and outer guide plate head and the tail；
Solution locking plug (632) is made of horizontal pin (6321), holder (6322) and idler wheel (6323)；Holder (6322) is fixed on vertically
On pedestal (61) in first cylinder ring (6311)；Holder (6322) upper interior portion offers guide groove, left and right sidewall center opens up
There is circular hole；Guide block is formed in the middle part of horizontal pin (6321)；Horizontal pin (6321) is plugged in holder (6322) by guide block
On；A pair of guide rods (6324) is formed between holder (6322) left and right sidewall；Guide block in the middle part of horizontal pin (6321) is set in
On guide rod (6324)；A pair of of compression spring (6325) is respectively sleeved at a pair of guide rods (6324)；Compression spring (6325) left end is resisted against guide block
On right side, right end is resisted against on holder (6322) right side wall；Horizontal pin (6321) left end is articulated with idler wheel (6323), right end
It is plugged in the limit hole (6421) of rotary support (642)；Idler wheel (6323) is resisted against on the madial wall of annulus guide plate (6313)；
Rotating driving device (62) includes the 4th gear (621) and the 5th gear (622)；The wheel teeth portion (6211) of 4th gear (621)
Only one section；4th gear (621) can be engaged with first gear (643)；5th gear (622) is nibbled with second gear (6312)
It closes；
The manipulator (50) includes the linking arm (51) being articulated on forearm (40), the shell being fixed on linking arm (51)
(52), it is located at the spill spin block (53) of shell (52) outside, the driving mechanism (60) is fixed on by pedestal (61) in shell (52),
The spill spin block (53) is fixed in locating rod (641)；The pair of sucker is fixed on spill spin block (53)；
The rotating driving device (62) further includes rotation drive shaft (624) and first motor (623)；First motor (623) is perpendicular
Directly it is fixed on pedestal (61)；It is fixed with the 4th gear (621) and the 5th from top to down successively on first motor (623) output shaft
Gear (622)；
The second motor (31) is fixed on the large arm (30), the output shaft of the second motor (31) couples with forearm (40)；It is described
Third motor (41) is fixed on forearm (40), the output shaft of third motor (41) couples with manipulator (50)；Manipulator (50)
The rotation centerline of the rotation centerline rotary support (642) in rotary components (64) rotated around forearm (40)；
Rounding off between the inner guide plate and outer guide plate of annulus guide plate (6313).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810405880.9A CN108608417B (en) | 2016-07-18 | 2016-07-18 | Transfer robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610571877.5A CN106113073B (en) | 2016-07-18 | 2016-07-18 | A kind of pcb board transfer robot executing end equipped with rotation |
| CN201810405880.9A CN108608417B (en) | 2016-07-18 | 2016-07-18 | Transfer robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610571877.5A Division CN106113073B (en) | 2016-07-18 | 2016-07-18 | A kind of pcb board transfer robot executing end equipped with rotation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108608417A true CN108608417A (en) | 2018-10-02 |
| CN108608417B CN108608417B (en) | 2020-09-18 |
Family
ID=57289094
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610571877.5A Expired - Fee Related CN106113073B (en) | 2016-07-18 | 2016-07-18 | A kind of pcb board transfer robot executing end equipped with rotation |
| CN201810405891.7A Active CN108582124B (en) | 2016-07-18 | 2016-07-18 | Robot |
| CN201810405880.9A Active CN108608417B (en) | 2016-07-18 | 2016-07-18 | Transfer robot |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610571877.5A Expired - Fee Related CN106113073B (en) | 2016-07-18 | 2016-07-18 | A kind of pcb board transfer robot executing end equipped with rotation |
| CN201810405891.7A Active CN108582124B (en) | 2016-07-18 | 2016-07-18 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN106113073B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102105276A (en) * | 2008-07-22 | 2011-06-22 | 机器人科技先导公司 | Air cushion platform for carrying a manipulator arm and moveable robot |
| KR20130020524A (en) * | 2011-08-19 | 2013-02-27 | 가부시키가이샤 야스카와덴키 | Robot and robot system |
| CN104310069A (en) * | 2014-08-26 | 2015-01-28 | 曹磊 | Glass carrying and stacking manipulator |
| CN104959970A (en) * | 2015-06-30 | 2015-10-07 | 郝胜元 | Movable suction cup manipulator capable of omni-directionally rotating |
| CN205132534U (en) * | 2015-10-21 | 2016-04-06 | 佛山市南海区豪特玻璃机械有限公司 | Novel glass carries mechanical hand |
| CN105643615A (en) * | 2016-02-29 | 2016-06-08 | 杭州娃哈哈精密机械有限公司 | Modularized light mechanical hand |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103223669B (en) * | 2013-05-14 | 2015-09-30 | 中国科学院自动化研究所 | A kind of light-weighted mechanical arm mechanism |
| CN104175316B (en) * | 2013-05-28 | 2016-06-08 | 上银科技股份有限公司 | Mechanical arm |
| CN203600237U (en) * | 2013-11-08 | 2014-05-21 | 重庆风过旗扬科技发展有限公司 | Simple gear-driven mechanical arm |
| CN103978475B (en) * | 2014-05-05 | 2015-10-21 | 重庆优楷科技有限公司 | Industrial intelligent robot body |
| CN205835390U (en) * | 2016-07-18 | 2016-12-28 | 佛山市联智新创科技有限公司 | A kind of being provided with rotates the pcb board transfer robot performing end |
-
2016
- 2016-07-18 CN CN201610571877.5A patent/CN106113073B/en not_active Expired - Fee Related
- 2016-07-18 CN CN201810405891.7A patent/CN108582124B/en active Active
- 2016-07-18 CN CN201810405880.9A patent/CN108608417B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102105276A (en) * | 2008-07-22 | 2011-06-22 | 机器人科技先导公司 | Air cushion platform for carrying a manipulator arm and moveable robot |
| KR20130020524A (en) * | 2011-08-19 | 2013-02-27 | 가부시키가이샤 야스카와덴키 | Robot and robot system |
| CN104310069A (en) * | 2014-08-26 | 2015-01-28 | 曹磊 | Glass carrying and stacking manipulator |
| CN104959970A (en) * | 2015-06-30 | 2015-10-07 | 郝胜元 | Movable suction cup manipulator capable of omni-directionally rotating |
| CN205132534U (en) * | 2015-10-21 | 2016-04-06 | 佛山市南海区豪特玻璃机械有限公司 | Novel glass carries mechanical hand |
| CN105643615A (en) * | 2016-02-29 | 2016-06-08 | 杭州娃哈哈精密机械有限公司 | Modularized light mechanical hand |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106113073A (en) | 2016-11-16 |
| CN106113073B (en) | 2019-01-01 |
| CN108582124A (en) | 2018-09-28 |
| CN108608417B (en) | 2020-09-18 |
| CN108582124B (en) | 2020-06-02 |
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Effective date of registration: 20200824 Address after: 312030 Zhejiang Province, Shaoxing city Keqiao District Chong Building B block 16 building 1612 room Applicant after: Zhejiang Lante New Energy Technology Co.,Ltd. Address before: 213000 Changzhou, Jiangsu New District Liaohe Road, No. 666 Applicant before: Ge Junhua |
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