CN109773752A - A kind of truss robot fixture - Google Patents
A kind of truss robot fixture Download PDFInfo
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- CN109773752A CN109773752A CN201811433710.8A CN201811433710A CN109773752A CN 109773752 A CN109773752 A CN 109773752A CN 201811433710 A CN201811433710 A CN 201811433710A CN 109773752 A CN109773752 A CN 109773752A
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- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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Abstract
A kind of truss robot fixture, is related to field of fixtures, including square frame, the quick-change system for being connect with truss robot, air knife, four vertical pneumatic gripping devices, vertical pneumatic gripping device it is opening down, article can be clamped from vertical direction；Four horizontal pneumatic gripping devices, four horizontal pneumatic gripping devices in pairs, are alternately distributed in the lower section of frame side by side, same group of two horizontal pneumatic gripping devices respectively connected movable stand, movable stand upper end is fixed with sliding block, sliding block is slidably connected with line slide rail, it is connect by the mobile cross bar of same root with telescopic cylinder with the movable stand that same group of two horizontal pneumatic gripping devices are separately connected, two telescopic cylinders are respectively arranged in the two sides of frame；The opening of same group of two horizontal pneumatic gripping devices can clamp article towards vertical pneumatic gripping device direction adjacent thereto from horizontal direction.The application provides a kind of truss robot fixture, and multiple positions of article can be clamped simultaneously from multiple directions, are grabbed stronger.
Description
Technical field
The present invention relates to field of fixtures, and in particular to a kind of truss robot fixture.
Background technique
Truss robot is also referred to as Cartesian robot and planer-type robot.In industrial application, it can be realized automatic
Control, repeatable programming, between multi-functional, multivariant, freedom of motion at space right-angle relationship, multiduty behaviour
Make machine.Can carry an object, operational instrument, to complete various operations.Workshop is widely used in grab transfer object
Part.Currently, common truss robot is more planer type structure, i.e., it is flat to be respectively slidably mounted in two for a crossbeam both ends
In capable supporting beam, grasping jig is installed in crossbeam bottom side, in this way, crossbeam is moved along supporting beam after grasping jig crawl object, from
And object is transferred to another location from a position.
In recent years, with the rapid growth of domestic automobile industry, domestic assembly line manufacturer is also grown rapidly, work
The application of industry robot makes worker get rid of dull duplicate manual labor during large-scale production, improves building ring
Border, while product quality is improved, therefore become the inevitable choice of enterprise automation transformation, truss robot is highly reliable with its
Property, high speed, heavy load, big stroke, low cost the features such as, have unique advantage in material transferring field；Make in actual production
It will appear the components of various special shapes, structure in industry, on automobile assembly line, however the fixture of existing truss robot is often
Structure is fixed, some position of article can only be held from single direction, it is clear that this fixture is not suitable for going out on automobile assembly line
The components of existing special shape, structure.
Summary of the invention
In order to solve above-mentioned defect existing in the prior art, the application provides a kind of truss robot fixture, energy
Clamp multiple positions of article simultaneously from multiple directions, crawl is stronger, especially suitable for special shape, the components of structure.
In order to realize that above-mentioned technical effect, the specific technical solution of the present invention are as follows:
A kind of truss robot fixture, comprising:
One square frame, the frame include the Ji Liang being rectangle in outside and the more crossbeams and stringer of inside, institute
It states crossbeam and is connect by welding with the Ji Liang with stringer；
One quick-change system, the quick-change system are fixed on frame overcentre by a mounting base, and the quick-change system is used
It is connect in truss robot；
One air knife, the air knife are connect by multiple mounting brackets with the long side of the Ji Liang, and the air knife is equipped with more
A air inlet connects fastly to be connect fastly with outlet, and the air inlet Quick connecting pipe fitting is crossed triple valve and connect with total solenoid valve, total solenoid valve and gas source
Connection；
Four vertical pneumatic gripping devices, four vertical pneumatic gripping devices are vertically fixed on two institutes in pairs, respectively
Immediately below the short side for stating Ji Liang；The vertical pneumatic gripping device it is opening down, article can be clamped from vertical direction；
Four horizontal pneumatic gripping devices, four horizontal pneumatic gripping devices in pairs, are alternately distributed in the frame side by side
The lower section of frame, the horizontal pneumatic gripping device of two of same group respectively connected " vertical section of " " type movable stand, the movable stand
Horizontal segment upper end be fixed with sliding block, the sliding block is slidably connected with the line slide rail being fixed below frame, with same group
The telescopic cylinder that the movable stand that two horizontal pneumatic gripping devices are separately connected moves cross bar by same root and is fixed below frame
Connection, two telescopic cylinders are respectively arranged in the two sides of frame；The opening of the horizontal pneumatic gripping device of two of same group
Towards the vertical pneumatic gripping device direction adjacent thereto, article can be clamped from horizontal direction.
Further, the line of four vertical pneumatic gripping devices is in a parallelogram, and wherein two is pneumatically grabbed vertically
Hand is installed on the diagonal angle of Ji Liang.
Further, the frame is by rectangular Ji Liang, two root long stringers, two carlings and two connecting cross beam groups
At two long stringers, two connecting cross beams are arranged in the base with the center of the Ji Liang with being centrosymmetric
The inside of beam, an end of the long stringer is vertical with the short side of the Ji Liang to be connect, another end and the connecting cross beam are hung down
Direct-connected to connect, an end of the connecting cross beam and the long side of the Ji Liang be vertical to be connect, another end is vertical with the long stringer
Connection；The carling is arranged in parallel with long stringer, and the connection vertical with the centre of connecting cross beam of one end, another end are solid
It is scheduled on the base beam short side adjacent with the connecting cross beam；The telescopic cylinder is mounted on the underface of the carling, described straight
Line sliding rail is separately mounted to the underface of the long side of the long stringer of the carling two sides, Ji Liang.Pass through the specific design, cloth
Office realizes the whole system that frame is completed with minimal number of crossbeam (i.e. connecting cross beam), stringer (i.e. long stringer, carling)
Make, save materials and alleviate the weight of frame, while every crossbeam (i.e. connecting cross beam), stringer are (i.e. long stringer, short vertical
Beam) its specific effect is all realized, it is respectively used to fixed stringer (i.e. long stringer, carling), installation sliding rail and telescopic cylinder, is reached
To value maximization；In addition carling occupy the centre of connecting cross beam, so that the telescopic cylinder being installed below carling is made
The torque of horizontal pneumatic gripping device for both ends is equal, can smoothly push and pull horizontal pneumatic gripping device.
It further, further include a control cabinet, the control cabinet is fixedly installed on the frame, is set in the control cabinet
There are multiple way solenoid valves, multiple control valves, each control valve is connect with total solenoid valve, branch solenoid signal respectively, each described
Branch way solenoid valve is connect with the telescopic cylinder, vertical pneumatic gripping device, horizontal pneumatic gripping device respectively by gas circuit.
Further, further include two mechanical limit switches, wherein a limit switch be installed on the base beam vertex,
Another limit switch is installed on the long side of the Ji Liang.By two limit switches, when fixture clamping article is moved to
When extreme position, limit switch is collided, so that controlling cabinet into truss robot issues signal, truss robot is by signal
Stop movement afterwards, improves the safety of truss robot.
A kind of working principle of truss robot fixture:
Fixture of the invention is realized by quick-change system and truss robot and is connected；When fixture will clamp article, total electricity
Magnet valve is connected with source of the gas under the control of control cabinet first, and high pressure gas is tapped into fastly by triple valve, air inlet into air knife, then with
The branch way solenoid valve of vertical pneumatic gripping device connection is connected under the control of control cabinet, and the high pressure gas in air knife is connect fastly by outlet
Be transported to vertical pneumatic gripping device, vertical pneumatic gripping device clamps article from vertical direction under the action of high pressure gas, then with stretch
The branch way solenoid valve of contracting cylinder connection is connected under the control of control cabinet, and the high pressure gas in air knife is connect fastly by outlet and is transported to
Telescopic cylinder, telescopic cylinder push horizontal pneumatic gripping device close to article until reaching predetermined position, then pneumatically grab with level
The branch way solenoid valve of hand connection is connected under the control of control cabinet, and the high pressure gas in air knife connects the level of being transported to by outlet fastly
Pneumatic gripping device, horizontal pneumatic gripping device clamp article under the action of high pressure gas from horizontal direction；Then fixture is with truss machine
Device people is mobile toward designated position, and behind in-position, with above-mentioned working principle, horizontal pneumatic gripping device first unclamps article, then stretches
Contracting cylinder drives horizontal pneumatic gripping device to reset, and last vertical pneumatic gripping device unclamps article, and fixture resets, and whole process terminates.
According to above-mentioned technical proposal, fixture of the invention possess simultaneously can from vertical direction, horizontal direction clamp article
Handgrip can simultaneously hold article from multiple angles, multiple positions, and crawl is stronger, especially suitable for special shape, knot
The components of structure.
Detailed description of the invention
Below by specific embodiment combination attached drawing to being originally described in further detail.
Fig. 1 is an overall structure diagram of the invention；
Fig. 2 is one side schematic diagram of the invention；
Fig. 3 is an elevational schematic view of the invention；
Fig. 4 is the local A structural schematic diagram in Fig. 1；
Fig. 5 is the local B structure schematic diagram in Fig. 1；
Fig. 6 is control valve, total solenoid valve, branch way solenoid valve, telescopic cylinder, vertical pneumatic gripping device, horizontal gas in the present invention
The mutual connection schematic diagram of dynamic handgrip；
Wherein, 1, Ji Liang；2, quick-change system；21, mounting base；3, air knife；4, mounting bracket；5, air inlet connects fastly；6, outlet
It connects fastly；7, triple valve；8, total solenoid valve；9, vertical pneumatic gripping device；10, horizontal pneumatic gripping device；11, movable stand；12, sliding block；13,
Line slide rail；14, mobile cross bar；15, telescopic cylinder；16, long stringer；17, carling；18, connecting cross beam；19, control cabinet；
20, limit switch.
Specific embodiment
To keep the purposes, technical schemes and advantages of present embodiment clearer, below in conjunction in present embodiment
The technical solution in present embodiment is clearly and completely described in attached drawing, it is clear that described embodiment is sheet one
Some embodiments, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, the range of this protection is belonged to.
In the description of the present invention, it is to be understood that, term " upper end ", " lower end ", " tail end ", " left and right ", " upper and lower "
The orientation or positional relationship of equal instructions is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description originally and simplifies
Description, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.
In addition, term " length ", " short " etc. be used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or
Person implicitly indicates the quantity of indicated technical characteristic.The feature for defining " length ", " short " etc. as a result, can be expressed or imply
Ground includes one or more of the features.
In the present invention unless specifically defined or limited otherwise, the terms such as term " installation ", " connection ", " fixation " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or is integral；It can be mechanical connection,
It can be electrical connection；It can be directly connected, the company inside two elements can also be can be indirectly connected through an intermediary
Logical or two elements interaction relationship.For the ordinary skill in the art, can understand as the case may be
The concrete meaning of above-mentioned term in the present invention.
Embodiment
As shown in Figure 1, a kind of truss robot fixture, comprising: a square frame, the frame include outside in length
The more crossbeams and stringer of rectangular base beam 1 and inside, the crossbeam are connect by welding with the base beam 1 with stringer；One is fast
System 2 is changed, the quick-change system 2 is fixed on frame overcentre by a mounting base 21, and the quick-change system 2 is used for and truss
Robot connection, wherein quick-change system is two-piece unit formula structure, and upper part is for truss frame for connecting robot, lower part for connecting
Lower section others holder part is convenient for changing other similar fixtures to realize, which is ordinary skill in the art
Personnel's well-known technique is well-known devices in the industry, will herein be described in detail its specific structure.
As shown in figure 4, an air knife 3, the air knife 3 is connect by multiple mounting brackets 4 with the long side of the base beam 1, institute
It states air knife 3 and connects 5 fastly equipped with multiple air inlets and connect 6 fastly with outlet, the air inlet connects 5 fastly and connected by triple valve 7 and total solenoid valve 8
It connects, total solenoid valve 8 is connect with gas source.
As shown in Fig. 2, Fig. 3, Fig. 5, four vertical pneumatic gripping devices 9, four vertical pneumatic gripping devices 9 in pairs, point
It is not fixed on vertically immediately below the short side of two base beams 1；The vertical pneumatic gripping device 9 it is opening down, can be from perpendicular
Histogram is to clamping article；The line of four vertical pneumatic gripping devices 9 is in a parallelogram, and wherein two vertical pneumatic gripping device
9 are installed on the diagonal angle of Ji Liang.Four horizontal pneumatic gripping devices 10, four horizontal pneumatic gripping devices 10 in pairs, alternately simultaneously
It is distributed in column the lower section of the frame, the horizontal pneumatic gripping device 10 of two of same group respectively connected " " " type movable stand
11 vertical section, the horizontal segment upper end of the movable stand 11 are fixed with sliding block 12, the sliding block 12 be fixed below frame
Line slide rail 13 is slidably connected, and passes through same root with the movable stand 11 that same group of two horizontal pneumatic gripping devices 10 are separately connected and moves
Dynamic cross bar 14 is connect with the telescopic cylinder 15 being fixed below frame, and two telescopic cylinders 15 are respectively arranged in the two of frame
Side；The opening of the horizontal pneumatic gripping device 10 of two of same group towards vertical 9 direction of pneumatic gripping device adjacent thereto,
Article can be clamped from horizontal direction.
In addition as shown in figure 3, the frame in the present invention is specifically 16, two short vertical by rectangular base beam 1, two root long stringers
Beam 17 and two connecting cross beams 18 form, and two described 16, two connecting cross beams 18 of long stringer are with the center of the base beam 1
The heart is arranged in the inside of the base beam 1 with being centrosymmetric, and an end of the long stringer 16 is vertical with the short side of the base beam 1
Connection, another end is vertical with the connecting cross beam 18 connect, the long side of an end of the connecting cross beam 18 and the base beam 1
Vertical connection, another end is vertical with the long stringer 16 connect；The carling 17 is arranged in parallel with long stringer 16, one end
Hold it is vertical with the centre of connecting cross beam 18 connect, another end is fixed on base beam 1 short side adjacent with the connecting cross beam 18
On；The telescopic cylinder 15 is mounted on the underface of the carling 17, and the line slide rail 13 is separately mounted to the carling
The underface of the long stringers 16 of 17 two sides, the long side of base beam 1.
As shown in fig. 6, the control cabinet 19 is fixedly installed on the frame, institute the invention also includes a control cabinet 19
State and be equipped with multiple way solenoid valves, multiple control valves in control cabinet 19, each control valve respectively with total solenoid valve 8, branch way solenoid valve
Signal connection, each branch way solenoid valve are pneumatic with the telescopic cylinder 15, vertical pneumatic gripping device 9, level respectively by gas circuit
Handgrip 10 connects.
The invention also includes two mechanical limit switches 20, wherein a limit switch 20 is installed on 1 apex angle of base beam
Place, another limit switch are installed on the long side of the base beam 1.
The working principle of the invention:
Fixture of the invention is realized by quick-change system 2 and truss robot and is connected；When fixture will clamp article, total electricity
Magnet valve 8 is connected with source of the gas under the control of control cabinet 19 first, and high pressure gas connects 5 by triple valve 7, air inlet fastly and enters air knife 3,
Then the branch way solenoid valve connecting with vertical pneumatic gripping device 9 is connected under the control of control cabinet 19, the high pressure gas in air knife 3
It connects 6 fastly by outlet and is transported to vertical pneumatic gripping device 9, vertical pneumatic gripping device 9 presss from both sides from vertical direction under the action of high pressure gas
Firmly article, the branch way solenoid valve then connecting with telescopic cylinder 15 are connected under the control of control cabinet 19, the high pressure gas in air knife 3
Body connects 6 by outlet fastly and is transported to telescopic cylinder 15, and telescopic cylinder 15 pushes horizontal pneumatic gripping device 10 close to article until arriving
Up to predetermined position, the branch way solenoid valve then connecting with horizontal pneumatic gripping device 10 is connected under the control of control cabinet 19, in air knife 3
High pressure gas connect 6 fastly by outlet and be transported to horizontal pneumatic gripping device 10, horizontal pneumatic gripping device 10 is under the action of high pressure gas
Article is clamped from horizontal direction；Then fixture is as truss robot is toward designated position movement, behind in-position, with above-mentioned work
Make principle, horizontal pneumatic gripping device 10 first unclamps article, and then telescopic cylinder 15 drives horizontal pneumatic gripping device 10 to reset, last vertical
Pneumatic gripping device 9 unclamps article, and fixture resets, and whole process terminates.
Use above specific case is merely used to help understand this to being originally illustrated, not to limit this.For
This person of ordinary skill in the field can also make several simple deductions, deformation or replacement according to this thought.
Claims (5)
1. a kind of truss robot fixture characterized by comprising
One square frame, the frame include the Ji Liang being rectangle in outside and the more crossbeams and stringer of inside, the cross
Beam is connect by welding with the Ji Liang with stringer；
One quick-change system, the quick-change system are fixed on frame overcentre by a mounting base, the quick-change system be used for
Truss robot connection；
One air knife, the air knife are connect by multiple mounting brackets with the long side of the Ji Liang, the air knife be equipped with it is multiple into
Gas connects fastly to be connect fastly with outlet, and the air inlet Quick connecting pipe fitting is crossed triple valve and connect with total solenoid valve, and total solenoid valve is connect with gas source；
Four vertical pneumatic gripping devices, four vertical pneumatic gripping devices are vertically fixed on two bases in pairs, respectively
Immediately below the short side of beam；The vertical pneumatic gripping device it is opening down, article can be clamped from vertical direction；
Four horizontal pneumatic gripping devices, four horizontal pneumatic gripping devices in pairs, are alternately distributed in the frame side by side
Lower section, the horizontal pneumatic gripping device of two of same group respectively connectedThe vertical section of type movable stand, the movable stand
Horizontal segment upper end is fixed with sliding block, and the sliding block is slidably connected with the line slide rail being fixed below frame, two with same group
The movable stand that a horizontal pneumatic gripping device is separately connected is connected by the mobile cross bar of same root with the telescopic cylinder being fixed below frame
It connects, two telescopic cylinders are respectively arranged in the two sides of frame；The opening court of the horizontal pneumatic gripping device of two of same group
The vertical pneumatic gripping device direction adjacent thereto, article can be clamped from horizontal direction.
2. a kind of truss robot fixture as described in claim 1, which is characterized in that four vertical pneumatic gripping devices
Line is in a parallelogram, and wherein two vertical pneumatic gripping devices are installed on the diagonal angle of Ji Liang.
3. a kind of truss robot fixture as claimed in claim 2, which is characterized in that the frame is by rectangular base
Beam, two root long stringers, two carlings and two connecting cross beams composition, two long stringers, two connecting cross beams with
The center of the Ji Liang is arranged in the inside of the Ji Liang, an end of the long stringer and the Ji Liang with being centrosymmetric
Short side vertically connect, another end is vertical with the connecting cross beam connect, an end of the connecting cross beam and the Ji Liang
Long side vertically connect, another end is vertical with the long stringer connect；The carling is arranged in parallel with long stringer, one end
Connection vertical with the centre of connecting cross beam, another end is held to be fixed on the base beam short side adjacent with the connecting cross beam；It is described
Telescopic cylinder is mounted on the underface of the carling, the line slide rail be separately mounted to the carling two sides long stringer,
The underface of the long side of Ji Liang.
4. a kind of truss robot fixture as claimed any one in claims 1 to 3, which is characterized in that further include a control
Case processed, the control cabinet are fixedly installed on the frame, and multiple way solenoid valves, multiple controls are equipped in the control cabinet
Valve, each control valve are connect with total solenoid valve, branch solenoid signal respectively, each branch way solenoid valve by gas circuit respectively with institute
State telescopic cylinder, vertical pneumatic gripping device, the connection of horizontal pneumatic gripping device.
5. a kind of truss robot fixture as claimed in claim 4, which is characterized in that further include that two mechanical limits are opened
It closes, wherein a limit switch is installed on the base beam vertex, another limit switch is installed on the long side of the Ji Liang.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811433710.8A CN109773752A (en) | 2018-11-28 | 2018-11-28 | A kind of truss robot fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811433710.8A CN109773752A (en) | 2018-11-28 | 2018-11-28 | A kind of truss robot fixture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109773752A true CN109773752A (en) | 2019-05-21 |
Family
ID=66496018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811433710.8A Pending CN109773752A (en) | 2018-11-28 | 2018-11-28 | A kind of truss robot fixture |
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| Country | Link |
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| CN (1) | CN109773752A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105485425A (en) * | 2015-11-26 | 2016-04-13 | 天津市安维康家科技发展有限公司 | Automatic continuous paving operation robot for large-diameter pipelines and operation method of robot |
| CN205274603U (en) * | 2015-12-03 | 2016-06-01 | 重庆朗正科技有限公司 | Plate turning device |
| CN207645326U (en) * | 2017-12-21 | 2018-07-24 | 安徽预立兴川机器人技术股份有限公司 | A kind of liquid crystal display panel transfer inversion mechanism |
| CN210100000U (en) * | 2018-11-28 | 2020-02-21 | 嘉兴博信机器人科技有限公司 | Clamp for truss robot |
-
2018
- 2018-11-28 CN CN201811433710.8A patent/CN109773752A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105485425A (en) * | 2015-11-26 | 2016-04-13 | 天津市安维康家科技发展有限公司 | Automatic continuous paving operation robot for large-diameter pipelines and operation method of robot |
| US20180347723A1 (en) * | 2015-11-26 | 2018-12-06 | Tianjin Amjoy Technology Co., Ltd. | Automatic continuous operation robot for laying large-diameter pipelines and operating method therefor |
| CN205274603U (en) * | 2015-12-03 | 2016-06-01 | 重庆朗正科技有限公司 | Plate turning device |
| CN207645326U (en) * | 2017-12-21 | 2018-07-24 | 安徽预立兴川机器人技术股份有限公司 | A kind of liquid crystal display panel transfer inversion mechanism |
| CN210100000U (en) * | 2018-11-28 | 2020-02-21 | 嘉兴博信机器人科技有限公司 | Clamp for truss robot |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210301 Address after: 201600 4th floor, building 5, No.518, Xinzhuan Road, Xinqiao Town, Songjiang District, Shanghai Applicant after: Shanghai Boxin Yihui Intelligent Technology Co.,Ltd. Address before: 314100 1st floor, building 2, No.18 liangchuang Road, ganyao Town, Jiashan County, Jiaxing City, Zhejiang Province Applicant before: JIAXING BOXIN ROBOT TECHNOLOGY Co.,Ltd. |
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| TA01 | Transfer of patent application right | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Country or region after: China Address after: Room 602A, 6th Floor, Building 2, No. 1680 Shengli Road, Qingpu District, Shanghai, 2017 Applicant after: Shanghai Boxin Yehui System Engineering Co.,Ltd. Address before: 201600 4th floor, building 5, No.518, Xinzhuan Road, Xinqiao Town, Songjiang District, Shanghai Applicant before: Shanghai Boxin Yihui Intelligent Technology Co.,Ltd. Country or region before: China |
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| CB02 | Change of applicant information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wu Yuexin Inventor before: Wu Yuexin Inventor before: Deng Zhimin |
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| CB03 | Change of inventor or designer information |