CN116252288A - Multi-degree-of-freedom plane line control robot and line control method - Google Patents
Multi-degree-of-freedom plane line control robot and line control method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a multi-degree-of-freedom plane line control robot and a line control method, and belongs to the technical field of line control robots. Comprising the following steps: a base unit, an arm unit having a connection relationship with the base unit, and a line control unit having a connection relationship with the arm unit; wherein, at least one rotation degree of freedom exists between the base unit and the arm unit and between the arm unit and the wire control unit; the drive-by-wire unit includes: and the at least two groups of wire control controllers are arranged at the appointed position of the truss. The posture adjustment or/and the position transfer of the object are realized through the actions among the base unit, the arm unit and the line control unit. The invention uses the plane wire control robot to realize the transportation in the appointed space, and can also realize the transportation with the preset gesture by configuring the wire control controllers with the required number when in use.
Description
Technical Field
The invention belongs to the technical field of a wire control robot, and particularly relates to a multi-degree-of-freedom plane wire control robot and a wire control method.
Background
In the prior art, in order to carry objects in a large space, rail-mounted robots have been popular. Although the rail-mounted robot can meet the indoor transportation and space avoidance when necessary, the rail-mounted robot structurally analyzes: firstly, a required steel frame and a required track are required to be configured at high altitude indoors, and a controller is arranged at a designated position of the steel frame and the track, and further power is required to be configured to meet avoidance requirements so as to drive a corresponding wire control controller to effectively move on the track. Overall, the difficulty of installation is high, the space occupation area is large and the power demand is high.
Disclosure of Invention
The invention provides a multi-degree-of-freedom plane line control robot and a line control method for solving the technical problems in the background art.
The invention adopts the following technical scheme: a multiple degree of freedom planar steer-by-wire robot comprising: a base unit, an arm unit having a connection relationship with the base unit, and a line control unit having a connection relationship with the arm unit; wherein at least one degree of rotational freedom exists between the base unit and the arm unit and between the arm unit and the drive-by-wire unit;
the drive-by-wire unit includes: the truss is provided with at least two groups of guide pieces;
at least two groups of execution wires, the movable ends of which pass through the corresponding guide pieces and are connected with connecting pieces; the fixed end of the execution line is in transmission connection with a controller, and the controller is arranged at a designated position of the truss; the posture adjustment or/and the position transfer of the object are realized through the actions among the base unit, the arm unit and the line control unit.
In a further embodiment, the base unit comprises: a base;
the arm unit includes: and the mechanical arm is connected with the base.
In a further embodiment, when there is a rotational degree of freedom between the base unit and the arm unit, the base unit further comprises:
a rotation mechanism mounted to the base; the output end of the rotating mechanism is in transmission connection with the mechanical arm.
In a further embodiment, when there is a rotational degree of freedom between the arm unit and the drive-by-wire unit, the arm unit further comprises:
the rotating mechanism is arranged at the tail end of the mechanical arm; the output end of the rotating mechanism is connected with the truss in a transmission way; the rotating mechanism has a self-locking function.
In a further embodiment, the base has at least one degree of freedom of movement in both the horizontal and/or vertical planes.
The line control method of the plane line control robot with multiple degrees of freedom comprises the following steps:
creating an operating mode for the drive-by-wire robot, the operating mode including at least a target scheduling mode and a spatial transfer mode; the target scheduling mode includes: position transfer and pose adjustment with respect to the target;
determining a current working area based on the connection relation among the base unit, the arm unit and the wire control unit and the corresponding internal structure;
judging the initial position P of the target object s And end position P t Whether it belongs to the current working area: if so, starting a target scheduling mode; on the contrary, the method is switched to the space transfer mode and is based on the initial position P of the target object s And end position P t Transferring the current space position to enable the current working area to cover the initial position P of the target object in sequence/simultaneously s And end position P t And finishing the wire control transfer by combining the target scheduling mode.
In a further embodiment, the current working area obtaining flow is as follows:
based on the internal structure of the wire control unit, acquiring the position relationship between the connecting point of the truss and the mechanical arm and the guide piece;
if the connection point of the truss and the mechanical arm is positioned between any two groups of guide pieces, the current working area is a partial circular surface, the circular surface takes the center/connection point of the basic unit as a circular point, and the maximum distance from the guide piece to the center/connection point of the basic unit is a radius;
if the connection point of the truss and the mechanical arm is located outside each group of guide pieces, the current working area is a part of sector, and the radial length of the sector is the maximum distance between the guide pieces; and the partial circular surface and the partial sector both dig out the interference area of the basic unit to the linear control unit.
In a further embodiment, the spatial transfer mode is implemented by moving the position of the base unit when there is a rotational degree of freedom between the base unit and the arm unit, or between the arm unit and the drive-by-wire unit.
In a further embodiment, when rotational degrees of freedom exist between the base unit and the arm unit, and between the arm unit and the drive-by-wire unit, the spatial transfer mode includes a primary spatial transfer mode and a secondary spatial transfer mode;
the primary space transfer mode rotates relative to the base unit through the arm unit, and the line control unit rotates along with the primary space transfer mode in space to complete the rotation of the current working area in space;
the secondary spatial transfer mode is implemented by moving the location of the base unit.
In a further embodiment, the method further comprises the steps of:
acquiring a working coverage surface S of a current space region after one circle of rotation by using a primary space transfer mode 1 If P S ,P e ∈S 1 Selecting a first-level space transfer mode;
if P S ∈S 1 ,
Then the space transfer is carried out according to the priorities of the first-level space transfer mode and the second-level space transfer mode; on the contrary, let(s)>
P e ∈S 1 Performing space transfer according to the priorities of the second-level space transfer mode and the first-level space transfer mode;
The invention has the beneficial effects that: the invention uses the plane wire control robot to realize the transportation in the appointed space, and can also realize the transportation with the preset gesture by configuring the wire control controllers with the required number when in use. Not only saves the use space, but also greatly reduces the number of components required to be configured as a whole and reduces the installation cost. The application range is wide, and the operating surface can meet the normal carrying requirement.
And a space scheduling mode with multiple dimensions is created based on the plane wire control robot, so that the space scheduling of the articles is completed in the most convenient and quick mode.
Drawings
Fig. 1 is a schematic configuration diagram of a robot-by-wire having two sets of execution lines in embodiment 1.
Fig. 2 is a plan view of the multiple degree of freedom planar steer-by-wire robot in example 1.
Fig. 3 is a schematic structural view of a robot-by-wire having three sets of execution lines in embodiment 1.
Fig. 4 is a schematic structural diagram of a robot-by-wire having two sets of execution lines in embodiment 2.
Fig. 5 is a top view of a robot-by-wire having two sets of execution lines in embodiment 2.
Fig. 6 is a second plan view of the robot-by-wire of embodiment 2 having two sets of execution lines.
Fig. 7 is a top view of the robot-by-wire of embodiment 3 having two sets of execution lines.
Fig. 8 is a flow chart of a line control method of the multi-degree-of-freedom planar line control robot of embodiment 4.
Each labeled in fig. 1-7 is: base 1, arm 2, truss 3, rotary mechanism 4, controller 5, actuating line 6, axis of rotation 7, pulley 8, interference region 9, current work area 10, work coverage 11.
Detailed Description
The invention is further described below with reference to the drawings and examples of the specification.
Example 1
In order to solve the technical problems of large installation space, multiple components, high cost and the like of the existing transfer robot, the embodiment discloses a multi-degree-of-freedom planar wire control robot, which comprises: the device comprises a base unit, an arm unit which is in connection with the base unit, and a wire control unit which is in connection with the arm unit. In this embodiment, there is one degree of rotational freedom between the arm unit and the drive-by-wire unit.
In a further embodiment, a base 1 is provided in the base unit as a carrier for the robot. The base 1 may be arranged to be movable or liftable according to requirements, i.e. the base 1 has at least one degree of freedom of movement in the horizontal plane and at least one degree of freedom of lifting in the vertical plane. The robot can meet different horizontal planes and different heights, and the application range of the wire control robot is increased. In a further embodiment, the movement is achieved by a brake roller and the lifting is achieved by an existing telescopic device.
The arm unit is provided with a mechanical arm 2, one end of which is connected to the top of the base 1; the tail end of the mechanical arm 2 is provided with a rotating mechanism, and the rotating mechanism is connected with the truss 3 in a transmission manner and is used for realizing the rotation of the truss 3 on a designated plane. That is, in this embodiment, the mechanical arm 2 and the base 1 are fixedly connected, the rotation mechanism may be a rotation shaft 7, that is, the mechanical arm 2 and the truss 3 are connected through the rotation shaft 7, when rotation is required, an external force can be applied by a worker, and if no external force exists, the mechanical arm is locked at the current position. In another embodiment, the rotation mechanism may also be a gear transmission mechanism in the prior art, when the rotation is needed, the power source of the gear can be started, and when the power source is in a closed state, the gear transmission mechanism locks, and the truss 3 is stationary at the current position.
Correspondingly, the drive-by-wire unit includes: truss 3, two sets of guides mounted at designated positions of truss 3, and when the actuators and pulleys 8 are two sets, simple object handling, i.e., position transfer, can be achieved.
In this embodiment, the guide is a pulley 8. Each group of pulleys 8 is provided with a corresponding executing wire 6, the fixed end of each group of executing wires is in transmission connection with the output end of the controller 5, and the output end of the executing wire 6 passes through the corresponding pulley 8 and is connected with a connecting piece. In this embodiment, the connecting member is a hook, a clamping jaw, or the like. The controller 5 may be mounted on the robot arm 2 or the base 1, which is not limited herein.
Based on the above description, the specified position is the middle position of the truss 3 in the present embodiment. I.e. two sets of guides are mounted at the two ends of the truss 3, respectively, i.e. the connection point of the truss 3 and the robot arm 2 is located between the two guides. The robot-operable surface (current working area 10) is a part of a circle, the circle is a circle point with the center of the connection point, and the maximum distance from the guide to the connection point is a radius; both part of the circular surface and part of the sector plane remove the interference area 9 of the base unit to the linear control unit. In order to better illustrate the interference area 9, as shown in fig. 2, the base unit occupies a certain space, and when the object is located at the other side of the base unit, i.e. the opposite direction to the location of the truss 3, i.e. the interference area 9 in fig. 2, the truss 3 cannot be transferred into the interference space, so that the interference area 9 is removed from the current working area 10.
When the line control controllers 5 are three groups or more, the objects can be ensured to move according to the preset postures in the carrying process, and even the required posture adjustment can be completed, as shown in fig. 3. The truss 3 has three movable ends, the guide members are installed at the corresponding movable ends, and then the length of the corresponding execution lines 6 is adjusted through the controller 5, and the interaction of each group of execution lines 6 completes the posture adjustment and the position transfer. In other embodiments, the wire controller 5 may be installed at other positions of the truss 3, which is not described herein.
Example 2
Based on the robot-by-wire of embodiment 1, when the start position or the end position of the object is located in the direction perpendicular to the truss 3 and on the other side of the base 1 (i.e., the back of the truss 3), the conveyance cannot be directly completed under the interference of the base 1, i.e., a certain interference area 9 exists.
The present embodiment makes a modification that there is also a degree of freedom of rotation between the base unit and the arm unit on the basis of embodiment 1. I.e. the base unit further comprises: a rotation mechanism 4 mounted on the base 1; the output end of the rotating mechanism 4 is in transmission connection with the mechanical arm 2. In this embodiment, as shown in fig. 4, the rotation mechanism 4 drives the truss 3 to rotate by adopting a motor and a gear transmission, which is not described in detail in the prior art.
Namely, when an obstacle or other requirements appear, such as properly increasing the area of the wire control operation surface, the rotating mechanism 4 can drive the mechanical arm 2 and the wire control unit to rotate, so that the avoidance of the base 1 is realized, and meanwhile, the operation area is increased. As shown in fig. 5, the current working area 10 of the robot is transferred by the rotation of the arm 2, and is transferred from the implementation part to the dotted line part in the figure. The disturbance of the disturbance zone 9 in example 1 is solved by an overall transfer of the control unit.
Based on the above description, when in use, the rotating mechanism and the driving mechanism can act simultaneously, that is, the truss 3 can rotate relative to the mechanical arm 2, the mechanical arm 2 can rotate relative to the base 1, so that the flexibility of carrying is increased, the number of times of rotation of the mechanical arm 2 relative to the base 1 is effectively reduced, and the carrying efficiency is improved, as shown in fig. 6.
Example 3
Based on the specified position described in embodiment 1, the specified position is one end of the truss 3 in the present embodiment, and the drive-by-wire controller 5 is correspondingly installed on one side as shown in fig. 7. The operation surface of the line control unit is a part of sector, and the radial length of the sector is the maximum distance between the guide pieces; part of the sectors each digs out the interference area 9 of the base unit to the control unit, as described in connection with example 1.
At least one degree of rotational freedom between the base unit and the arm unit, and between the arm unit and the drive-by-wire unit described in embodiment 1 and embodiment 2 is also applicable in this embodiment.
Example 4
Based on the robot-by-wire disclosed in embodiments 1 to 3, the present embodiment discloses a method for controlling a robot-by-wire of a plane-with-multiple-degree-of-freedom, as shown in fig. 8, comprising the steps of:
step one, creating a working mode related to a drive-by-wire robot, wherein the working mode at least comprises a target scheduling mode and a space transfer mode; the target scheduling mode includes: position transfer and pose adjustment with respect to the target object. It should be noted that the position transfer is achieved by controlling the relative lengths of the two sets of execution lines, and the pose adjustment is achieved by adjusting the lengths of at least three sets of execution lines, such as a horizontal schedule, a tilt schedule, and the like.
Step two, determining a current working area based on the connection relation among the base unit, the arm unit and the line control unit and the corresponding internal structure;
step three, judging the initial position P of the target object s And end position P t Whether it belongs to the current working area: if so, starting a target scheduling mode; on the contrary, the method is switched to the space transfer mode and is based on the initial position P of the target object s And end position P t Transferring the current space position to enable the current working area to cover the initial position P of the target object in sequence/simultaneously s And end position P t And finishing the wire control transfer by combining the target scheduling mode.
In a further embodiment, the working area in each set of embodiments is different, as embodiments 1 to 3 illustrate the internal structure of two different drive-by-wire units and the corresponding number of rotational freedom. It is necessary to obtain the corresponding current operating region based on the above conditions.
The current working area acquisition flow is as follows:
step 201, based on the internal structure of the line control unit, acquiring the position relationship between the connecting point of the truss and the mechanical arm and the guide piece;
step 202, if the connection point between the truss and the mechanical arm is located between any two sets of guiding elements, the current working area is a partial circular surface, the circular surface uses the center/connection point of the base unit as a circular point, and the maximum distance from the guiding element to the center/connection point of the base unit is a radius. As further described in connection with embodiment 1, as shown in fig. 1 to 3, the connection point of the truss and the mechanical arm is located between two or three sets of guiding elements, that is, the truss rotates around the connection point, so that the current working area is a partial circular surface, the circular surface uses the center of the connection point as a circular point, and the maximum distance from the guiding element to the connection point is a radius.
As further described in connection with embodiment 2, the robot arm is rotatable about the base, i.e. the drive-by-wire unit is also rotatable about the base, and the connection point of the truss to the robot arm is located between two or three sets of guides. The corresponding round surface takes the center of the base unit as a round point, and the maximum distance from the guide piece to the center of the base unit is a radius.
Step 203, if the connection point between the truss and the mechanical arm is located outside each group of guide members, the current working area is a part of sector, and the radial length of the sector is the maximum distance between the guide members; and the partial circular surface and the partial sector both dig out the interference area of the basic unit to the linear control unit. As further described in connection with example 3, as shown in fig. 7, the connection point of the truss to the robot arm is located outside of two or three sets of guides, i.e., the truss rotates about the connection point. The current operating area is correspondingly sector and the interference area in fig. 7 is removed.
Similarly, the implementation of the spatial transfer mode is also different based on the number of rotational degrees of freedom, and is embodied as: when there is a degree of freedom of rotation between the base unit and the arm unit, or between the arm unit and the drive-by-wire unit, the spatial transfer mode is implemented by moving the position of the base unit. In other words, if the mechanical arm is fixedly connected with the truss, and the mechanical arm is rotatably connected with the base, the current working area is the coverage area of the line control unit plus the rotation area of the mechanical arm, so if the transfer of the operation space is to be realized, the rotation area is replaced by moving the position of the base unit. If the mechanical arm is rotationally connected with the truss, the mechanical arm is fixedly connected with the base, the current working area is the coverage area of the line control unit, and if the transfer of the operation space is to be realized, the coverage area is replaced by moving the position of the basic unit.
In another embodiment, the spatial transfer modes include a primary spatial transfer mode and a secondary spatial transfer mode when rotational degrees of freedom exist between the base unit and the arm unit, and between the arm unit and the drive-by-wire unit. The first-level space transfer mode rotates relative to the base unit through the arm unit, and the line control unit rotates along with the arm unit in space to complete the rotation of the current working area in space; the secondary spatial transfer mode is implemented by moving the location of the base unit. In connection with fig. 6, the so-called primary space transfer mode, i.e. changing the coverage area by rotation of the robot arm, is shown in the current working area in fig. 6, resulting in the desired working coverage area 11. When the operation is still not performed in the working coverage area, the operation is switched to the secondary space transfer mode.
Step three is further understood as: when the initial position P s And end position P t Belonging to the current working area, the execution line control clamping piece in the line control unit can complete the initial position P on the premise of not changing the space s And end position P t And scheduling in between.
However, if the initial position P s And end position P t At least one of the two modes is not in the current working area, and the space transfer mode is required to be started to complete the cooperation so as to realize the starting position P s And end position P t And (3) completing scheduling according to the following specific judgment criteria:
acquiring a working coverage surface S of a current space region after one circle of rotation by using a primary space transfer mode 1 Taking the working coverage in fig. 6 as an example; if P S ,P e ∈S 1 Selecting a first-level space transfer mode; in other words, the current working area is updated to any one of the working coverage areas, so that the target object can be at the initial position P s And end position P t And scheduling in between.
If P s ∈S 1 ,
Then the space transfer is carried out according to the priorities of the first-level space transfer mode and the second-level space transfer mode; on the contrary, let(s)>
P e ∈S 1 And performing space transfer according to the priorities of the secondary space transfer mode and the primary space transfer mode.
In other words, the target object cannot be realized at the start position P even if the current working area is updated to any one of the working coverage areas s And end position P t And (3) scheduling, namely, the whole movement is needed, namely, the position of the base unit is replaced.
Claims (10)
1. A multiple degree of freedom planar steer-by-wire robot, comprising: a base unit, an arm unit having a connection relationship with the base unit, and a line control unit having a connection relationship with the arm unit; wherein at least one degree of rotational freedom exists between the base unit and the arm unit and between the arm unit and the drive-by-wire unit;
the drive-by-wire unit includes: the truss is provided with at least two groups of guide pieces;
at least two groups of execution wires, the movable ends of which pass through the corresponding guide pieces and are connected with connecting pieces; the fixed end of the execution line is in transmission connection with a controller, and the controller is arranged at a designated position of the truss; the posture adjustment or/and the position transfer of the object are realized through the actions among the base unit, the arm unit and the line control unit.
2. The multiple degree of freedom planar steer-by-wire robot of claim 1 wherein the base unit comprises: a base;
the arm unit includes: and the mechanical arm is connected with the base.
3. The multiple degree of freedom planar steer-by-wire robot of claim 2 wherein when there is rotational freedom between the base unit and the arm unit, the base unit further comprises:
a rotation mechanism mounted to the base; the output end of the rotating mechanism is in transmission connection with the mechanical arm.
4. A multiple degree of freedom planar steer-by-wire robot according to any one of claims 2 or 3, wherein when there is a rotational degree of freedom between the arm unit and the steer-by-wire unit, the arm unit further comprises:
the rotating mechanism is arranged at the tail end of the mechanical arm; the output end of the rotating mechanism is connected with the truss in a transmission way; the rotating mechanism has a self-locking function.
5. A multiple degree of freedom planar steer-by-wire robot as claimed in claim 1 wherein said base has at least one degree of freedom of movement in either or both of the horizontal and vertical planes.
6. A drive-by-wire method using the multiple degree of freedom planar drive-by-wire robot of claim 4, comprising at least the steps of:
creating an operating mode for the drive-by-wire robot, the operating mode including at least a target scheduling mode and a spatial transfer mode; the target scheduling mode includes: position transfer and pose adjustment with respect to the target;
determining a current working area based on the connection relation among the base unit, the arm unit and the wire control unit and the corresponding internal structure;
judging the initial position P of the target object s And end position P t Whether it belongs to the current working area: if so, starting a target scheduling mode; on the contrary, the method is switched to the space transfer mode and is based on the initial position P of the target object s And end position P t Transferring the current space position to enable the current working area to cover the initial position P of the target object in sequence/simultaneously s And end position P t And finishing the wire control transfer by combining the target scheduling mode.
7. The method for controlling a multi-degree-of-freedom planar-based-robot-by-wire of claim 6, wherein the current working area obtaining process is as follows:
based on the internal structure of the wire control unit, acquiring the position relationship between the connecting point of the truss and the mechanical arm and the guide piece;
if the connection point of the truss and the mechanical arm is positioned between any two groups of guide pieces, the current working area is a partial circular surface, the circular surface takes the center/connection point of the basic unit as a circular point, and the maximum distance from the guide piece to the center/connection point of the basic unit is a radius;
if the connection point of the truss and the mechanical arm is located outside each group of guide pieces, the current working area is a part of sector, and the radial length of the sector is the maximum distance between the guide pieces; and the partial circular surface and the partial sector both dig out the interference area of the basic unit to the linear control unit.
8. The method for controlling a planar steer-by-wire robot with multiple degrees of freedom according to claim 6, wherein,
when there is a degree of freedom of rotation between the base unit and the arm unit, or between the arm unit and the drive-by-wire unit, the spatial transfer mode is implemented by moving the position of the base unit.
9. The method for controlling a planar steer-by-wire robot with multiple degrees of freedom according to claim 6, wherein,
when rotational degrees of freedom exist between the base unit and the arm unit and between the arm unit and the drive-by-wire unit, the space transfer mode comprises a primary space transfer mode and a secondary space transfer mode;
the primary space transfer mode rotates relative to the base unit through the arm unit, and the line control unit rotates along with the primary space transfer mode in space to complete the rotation of the current working area in space;
the secondary spatial transfer mode is implemented by moving the location of the base unit.
10. The method of controlling a multi-degree of freedom planar steer-by-wire robot of claim 9, further comprising the steps of:
acquiring a working coverage surface S of a current space region after one circle of rotation by using a primary space transfer mode 1 If P S ,P e ∈S 1 Selecting a first-level space transfer mode;
if P S ∈S 1 ,
Then the space transfer is carried out according to the priorities of the first-level space transfer mode and the second-level space transfer mode; on the contrary, let(s)>
P e ∈S 1 Performing space transfer according to the priorities of the second-level space transfer mode and the first-level space transfer mode;
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Effective date of registration: 20230821 Address after: Room 1116, Building A, Tengfei Building, No. 88 Jiangmiao Road, Yanchuangyuan, Nanjing Area, China (Jiangsu) Pilot Free Trade Zone, Nanjing City, Jiangsu Province, 210000 Applicant after: Nanjing Wire Control Robot Technology Co.,Ltd. Address before: Building 18, Jingfeng Smart Industrial Park, No. 98 Chengxin Avenue, Moling Street, Jiangning District, Nanjing City, Jiangsu Province, 210000 (Jiangning Development Zone) Applicant before: Nanjing Intelligent Technology Research Institute Co.,Ltd. |