CN203077290U - Multifunctional mechanic gripper - Google Patents
Multifunctional mechanic gripper Download PDFInfo
- Publication number
- CN203077290U CN203077290U CN 201320025532 CN201320025532U CN203077290U CN 203077290 U CN203077290 U CN 203077290U CN 201320025532 CN201320025532 CN 201320025532 CN 201320025532 U CN201320025532 U CN 201320025532U CN 203077290 U CN203077290 U CN 203077290U
- Authority
- CN
- China
- Prior art keywords
- pawl
- pair
- guide rail
- claws
- paw
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a multifunctional mechanic gripper. The multifunctional mechanic gripper comprises multiple pairs of left grabbing claws and right grabbing claws, multiple pairs of left tidying claws and right tidying claws, and multiple pairs of front claws and back claws, wherein the multiple pairs of claws are adjacent and arranged in parallel. The left tidying claws and the right tidying claws suit to form a rectangular frame body. Each pair of left grabbing claw and right grabbing claw suit to move relatively, each pair of left tidying claw and right tidying claw suit to move relatively, and each pair of front claw and back claw suit to move relatively. The multifunctional mechanic gripper not only can grab and move a plurality of objects to appointed positions, but also can tidy and arrange the objects and then place the objects neatly. Friction plates are arranged on the left grabbing claws, elastic elements are arranged on the right grabbing claws, therefore not only can friction force be increased when the grabbing claws grab the objects, but also adaptive capacity of the grabbing claws to various objects can be enhanced. A robot with the multifunctional mechanic gripper can complete grabbing, tidying and transporting of the plurality of objects at one time, and therefore production efficiency of an enterprise is improved.
Description
Technical field
The utility model relates to a kind of multi-functional mechanical paw, can be installed in the robot, is used for once grasping a plurality of objects, and puts in order this its, reaches the purpose that moves and put in order, put object.
Background technology
At production line, warehouse, harbour, the mechanical paw that occasions such as brick field are extensive use of robot gets up block grasping body, at the mobile assigned address of putting.Owing to adopt the operation of computer control machinery paw, its process accurately and fast, than manually-operated save time, laborsaving.When mechanical paw grasps object, on vertical target object direction, grasp object earlier, movement of objects is decontroled object behind the target location.The existing mechanical paw follows the quantity according to paw to be divided into singlehanded pawl and many paws.Singlehanded pawl once can only grasp an object, and its operating efficiency is lower, is not suitable for the extracting of voluminous object.Though many paws can once grasp a plurality of objects, but because all paws are all controlled by a cover interlinked mechanism, can be because the differences in shape of block object when grasping a plurality of object, paw can not clamp the polylith object simultaneously or press from both sides object bad for the clamping force that clamps the polylith object and increase paw.The movement of objects of gripping need be arrived assigned address in some occasions simultaneously, put in order and put the back packing, the existing mechanical paw can't satisfy above-mentioned requirements.
The utility model content
Technical problem to be solved in the utility model provides a kind of multi-functional mechanical paw, and this paw can once grasp and clamp a plurality of objects, and movement of objects behind assigned address, can be put in order a plurality of objects and put.
In order to solve the problems of the technologies described above, the utility model provides a kind of multi-functional mechanical paw, and it comprises: many left and right extracting pawls that adjacent parallel is arranged, left and right arrangement pawl, forward and backward pawl; Each is suitable for relative displacement to left and right extracting pawl, and left and right arrangement pawl is suitable for relative displacement, and forward and backward pawl is suitable for relative displacement, and left and right arrangement pawl and forward and backward pawl are suitable for constituting the rectangle framework.
In order to solve the problems of the technologies described above, the utility model provides another kind of multi-functional mechanical paw, and it comprises: skeleton, many left and right extracting pawls that adjacent parallel is arranged, left and right arrangement pawl, forward and backward pawl, and be provided with along the skeleton length direction first, second to guide rail.
The two ends, top that pawl is grasped on a described left side are slidingly fitted on described first pair of guide rail by slide block respectively, and the right pawl that grasps is fixed on this first pair of guide rail, and the top that pawl is grasped on each left side is fixed on the drive link, and this drive link is connected with the piston drive of a hydraulic cylinder; The two ends, top of described left side arrangement pawl are slidingly fitted on this second pair of guide rail by slide block respectively, and right arrangement pawl is fixed on second pair of guide rail, and left and right arrangement pawl parallel alignment is provided with; Also be provided with the 3rd pair of guide rail that is suitable for constituting rectangle on the skeleton with described second pair of guide rail; The two ends, top of fore paw are slidingly fitted on the 3rd pair of guide rail by slide block respectively, and rear solid end is fixed on the 3rd pair of guide rail, and fore paw is connected with the piston drive of other two hydraulic cylinders respectively with right arrangement pawl.
The right flank that the middle and lower part of pawl is grasped on each left side is provided with friction plate, and the right left surface that grasps the middle and lower part of pawl is provided with flexible member.
A left side is grasped pawl and is connected with slide block, limiting plate respectively by bolt with the right pawl that grasps, and installation and removal are convenient, can increase or reduce a left side according to the quantity that grasps object and grasp pawl and the right number that grasps pawl.
On each left side extracting pawl, fore paw and right arrangement pawl, be respectively equipped with and be used to detect left and right extracting pawl, the laser sensor of the spacing of forward and backward pawl and left and right arrangement pawl.
The utility model provides a kind of robot in addition, and it comprises mechanical arm, is located at the mechanical paw on this mechanical arm, and this mechanical paw comprises: many left and right extracting pawls that adjacent parallel is arranged, left and right arrangement pawl, forward and backward pawl; Each is suitable for relative displacement to left and right extracting pawl, and left and right arrangement pawl is suitable for relative displacement, and forward and backward pawl is suitable for relative displacement, and left and right arrangement pawl and forward and backward pawl are suitable for constituting the rectangle framework.
With respect to prior art, the technique effect that the utlity model has is: the multi-functional mechanical paw in (1) the utility model comprises graping chaw and arrangement paw, can grasp, mobile object is to assigned address, object can be put in order, arranged again, puts neat then; (2) the multi-functional mechanical paw comprises a plurality of graping chaws, can grasp a plurality of objects simultaneously and move to assigned address; (3) each left side is grasped pawl and is provided with friction plate, can increase the frictional force when grasping object, strengthens the adaptive capacity of graping chaw to various objects; (4) each right pawl that grasps is provided with flexible member, can be when grasping a plurality of object because of the differences in shape of block object, and paw can't clamp the polylith object simultaneously; Can not press from both sides object bad simultaneously for the clamping force that clamps polylith object increase paw yet; (5) adopt the robot of mechanical paw can once finish, improved the production efficiency of enterprise the extracting of a plurality of objects and arrangement, carrying.
Description of drawings
In order to clearly demonstrate innovative principle of the present utility model and than the technical advantage of existing product, below by means of accompanying drawing by using two possible embodiment of limiting examples explanation of described principle.In the drawings:
Fig. 1 is the axonometric drawing of the multi-functional mechanical paw of embodiment 1;
Fig. 2 is the trip shaft mapping of the multi-functional mechanical paw of embodiment 1;
Fig. 3 is the ground plan of the multi-functional mechanical paw of embodiment 1;
Fig. 4 is the axonometric drawing of the multi-functional mechanical paw of embodiment 2;
Fig. 5 is the trip shaft mapping of the multi-functional mechanical paw of embodiment 2;
Fig. 6 is the ground plan of the multi-functional mechanical paw of embodiment 2.
The specific embodiment
Embodiment 1
As Fig. 1 and shown in Figure 2, the multi-functional mechanical paw that is installed in the robot of present embodiment comprises: skeleton 1, the first joint 2, pawl 3 is grasped on a left side, the right pawl 4 that grasps, left side arrangement pawl 5, right arrangement pawl 6, fore paw 7, rear solid end 8, laser sensor 9, friction plate 10, flexible member 11,13, the three pairs of guide rails 14 of 12, the second pairs of guide rails of first pair of guide rail, first slide block, 15, the second slide blocks, 16, the three slide blocks 17, limiting plate 18, limited block 19, drive link 20, the second joints 21, the 3rd joint 22, first hydraulic cylinder, 23, the second hydraulic cylinders, 24, the three hydraulic cylinders 25.
Parallel six left side extracting pawls 3 and the right pawl 4 that grasps of being provided with on the skeleton 1 of multi-functional mechanical paw, wherein pawl 3 and corresponding first slide block, 15 connections are grasped in six left sides, first slide block 15 is installed on first pair of guide rail 12 and can slides along it, first pair of guide rail 12 is connected with skeleton 1 by standard bolt, six right pawls 4 that grasp are connected with limited block 19, limited block 19 is installed on first pair of guide rail 12 and is stuck in the groove of limiting plate 18, limited block 19 is connected with skeleton 1 by standard bolt, the right flank that pawl 3 middle and lower parts are grasped on a left side is provided with friction plate 10, the right right flank that grasps pawl 4 middle and lower parts is provided with flexible member 11, skeleton 1 is provided with first hydraulic cylinder 23, it is by drive link 20, first joint 2 grasps pawl 3 with six left sides and is connected, when 23 work of first hydraulic cylinder, by drive link 20, first joint 2 drives six left sides and grasps pawl 3 reciprocating motions, grasps pawls 4 with six fixing right sides and finishes extracting, discharge the action of object.
As shown in Figure 3, utilizing second slide block 16 to put pawl 6 to the right in order along second pair of guide rail 13 by second hydraulic cylinder 24 by second joint, 21 control left side arrangement pawls 5 then moves, utilize the 3rd slide block 17 to move to rear solid end 8 by the 3rd hydraulic cylinder 25 by the 3rd joint 22 control fore paws 7 along the 3rd pair of guide rail 14, right arrangement pawl 6 is fixed on second pair of guide rail 13, rear solid end 8 is fixed on the 3rd pair of guide rail 14, and a plurality of objects are clamped in the described rectangle framework.
As shown in Figure 1, on six left side extracting pawls 3, be provided with laser sensor 9, be used to measure a left side and grasp the distance between pawl and the right extracting pawl and the distance of paw and ground or object, measuring-signal is passed to the computer of robot by lead, be used to judge the spacing of left and right sides graping chaw and the distance of paw and ground or object, can realize of the accurate control of robot computer left and right sides graping chaw displacement.As shown in Figure 2, on left side arrangement pawl 5 and fore paw 7, also be provided with same laser sensor 9, about being used to measure between the arrangement pawl, the spacing of front and back pawl and the distance of paw and ground or object, make things convenient for the robot computer to control.
The method of work of above-mentioned multi-functional mechanical paw comprises: at first according to the signal of laser sensor 9, pass through drive link 20 by first hydraulic cylinder 23, first joint 2 drives six left side extracting pawls 3 and is moved along first pair of guide rail 12 by first slide block 15, adjust it and grasp the distance of pawl 4 with the corresponding right side, to be fit to grasp the size of object, robot control multi-functional mechanical paw moves to a plurality of objects top and falls, by the distance of laser sensor 9 perception paws and object boundary and the distance between paw and ground, when being fit to grasp, pass through drive link 20 by first hydraulic cylinder 23, first joint 2 drives six left sides and grasps pawl 3, utilize first slide block 15 to move towards six right pawls 4 that grasp respectively along first pair of guide rail 12, the right pawl 4 that grasps is fixed on first pair of guide rail 12 by limiting plate 18 and limited block 19, left and right sides graping chaw draws in, by friction plate 10 and flexible member 11 grip objects.Robot rises the multi-functional mechanical paw and moves to assigned address then, fall the multi-functional mechanical paw, drive six left sides by first hydraulic cylinder 23 by drive link 20, first joint 2 and grasp pawl 3, unclamp the carrying that object is finished a plurality of objects away from six right pawls 4 that grasp.The robot computer position of putting then according to laser sensor 9 perceptual objects of arrangement on the paw, utilize the 3rd slide block 17 to move to rear solid end 8 by the 3rd hydraulic cylinder 25 by the 3rd joint 22 control fore paws 7 then along the 3rd pair of guide rail 14, utilizing second slide block 16 to put pawl 6 to the right in order along second pair of guide rail 13 by second hydraulic cylinder 24 by second joint, 21 control left side arrangement pawls 5 moves, rear solid end 8 is fixed on the 3rd pair of guide rail 14, right arrangement pawl 6 is fixed on second pair of guide rail 13, and the motion by above-mentioned paw is clamped in a plurality of objects in the described rectangle framework.The last order of placing according to object, move by the 3rd joint 22 control fore paws 7 or by second hydraulic cylinder, 24 control left side arrangement pawls 5 by the 3rd hydraulic cylinder 25, make a plurality of objects clampings after put with right arrangement pawl 6 or by fore paw 7 and rear solid end 8 by left side arrangement pawl 5 move to assigned address and put or pack, so repeat.
The right flank that pawl 3 middle and lower parts are grasped on a left side is provided with friction plate 10, can increase the frictional force when grasping object, strengthens the adaptive capacity of graping chaw to various objects.
The right right flank that grasps pawl 4 middle and lower parts is provided with flexible member 11, can be when grasping a plurality of object because of the differences in shape of block object, and paw can't clamp the polylith object simultaneously; Can not press from both sides object bad simultaneously for the clamping force that clamps polylith object increase paw yet.
See Fig. 4 to 6, the multi-functional mechanical paw that present embodiment provides is with respect to the modification part of embodiment 1:
As Fig. 4, shown in Figure 5, be provided with Four-slider 31 six right extractings between pawl 4 and first pair of guide rail 12, make six right pawls that grasp on first pair of guide rail 12, to be free to slide.On skeleton 1, be provided with first hydraulic cylinder 23, six right pawls 4 that grasp are connected with the 4th hydraulic cylinder 32 by second drive link 34 and the 4th joint 33, second drive link 34 has passed the through hole 35 of six left side extracting pawls 3, when 32 work of the 4th hydraulic cylinder, six right pawls 4 that grasp grasp pawl 3 motions in a left side relatively, and its motion mode is by robot computer control.This improvement can increase a left side and grasp pawl 3 and the right ultimate range that grasps between the pawl 4, adapts to bigger object; By free adjustment left side extracting pawl 3 and the right motion of grasping pawl 4, make that extracting object process is more flexible simultaneously, improved the accuracy rate and the grasp speed that grasp.
As shown in Figure 6, be provided with the 5th joint 37 on right side arrangement pawl 6, rear solid end 8 is provided with the 6th joint 38.Skeleton 1 is provided with the 5th hydraulic cylinder 36 by the right arrangement of the 5th joint 37 controls pawl 6, and it can be slided on second pair of guide rail 13 by the 5th slide block 40.Skeleton 1 is provided with the 6th hydraulic cylinder 39 by the 6th joint 38 control rear solid ends 8, and it can be slided on the 3rd pair of guide rail 14 by the 6th slide block 41.When hydraulic cylinder works, arrangement pawl 5 in a left side can move by right relatively arrangement pawl 6, rear solid end 8 fore paw 7 motions relatively, and its motion mode can be by robot computer control.This improvement can increase left arrangement pawl 5 and the maximum spacing of right arrangement pawl 6 and the maximum spacing of fore paw 7 and rear solid end 8, to adapt to bigger object; By the motion of left and right arrangement pawl of free adjustment and forward and backward pawl, make that arrangement object process is more flexible, convenient simultaneously, improved the accuracy rate and the arrangement speed of arrangement.
The modification part of present embodiment is: replace described first hydraulic cylinder 23 with six individual cylinder, second hydraulic cylinder 24, the 3rd hydraulic cylinder 25, the four hydraulic cylinders, 32, the five hydraulic cylinders 36 and the 6th hydraulic cylinder 39, on skeleton 1, be provided with small air pump and high pressure tank, utilize the power source of air pressure as mechanical paw, control rate is faster, and line arrangement is convenient, convenient kind according to object is regulated air accumulator air pressure, changes the grasp of mechanical paw.
The modification part of this example is: no longer be provided with hydraulic cylinder and drive link on the skeleton 1, six tooth bars by different length grasp pawl with a left side respectively, the right pawl that grasps, left side arrangement pawl, right arrangement pawl, fore paw, the top of rear solid end is fixedly connected, on skeleton 1, be provided with six servomotors, the motor rotor head is provided with pinion, pinion respectively with six above-mentioned tooth bar engagement fit, when servomotor is worked, rotor drives the pinion rotation, pinion drives tooth bar and moves, its moving direction turns to relevant with the servo-electric machine rotor, can change the tooth bar move left and right by the rotating of control servomotor, displacement was determined by the servomotor working time.This scheme is utilized the motion of servomotor control mechanical paw, and the control procedure sensitivity can accurately be controlled the displacement of paw, and the object adaptive capacity of having relatively high expectations for extracting is strong.
Above-mentioned explanation for the embodiment that uses the utility model innovative principle is for the limiting examples of described principle is provided in the exclusive authority scope that here requires.For example can be according to the position of the size adjusting hydraulic cylinder of paw body, adjust the position of drive link and joint according to the position of graping chaw, adjust the position of slide block and guide rail according to the position of arrangement paw, on left and right graping chaw, all arrange friction plate or flexible member, on four arrangement paws, all arrange friction plate or flexible member, according to the difference increase of application scenario or the number of minimizing graping chaw and arrangement paw etc.
Claims (4)
1. a multi-functional mechanical paw is characterized in that comprising: many left and right extracting pawls that adjacent parallel is arranged, left and right arrangement pawl, forward and backward pawl; Each is suitable for relative displacement to left and right extracting pawl, and left and right arrangement pawl is suitable for relative displacement, and forward and backward pawl is suitable for relative displacement, and left and right arrangement pawl and forward and backward pawl are suitable for constituting the rectangle framework.
2. multi-functional mechanical paw is characterized in that comprising: skeleton, many left and right extracting pawls that adjacent parallel is arranged, left and right arrangement pawl, forward and backward pawl, and be provided with along the skeleton length direction first, second to guide rail;
The two ends, top that pawl is grasped on a described left side are slidingly fitted on described first pair of guide rail by slide block respectively, and the right pawl that grasps is fixed on this first pair of guide rail, and the top that pawl is grasped on each left side is fixed on the drive link, and this drive link is connected with the piston drive of a hydraulic cylinder;
The two ends, top of described left side arrangement pawl are slidingly fitted on second pair of guide rail by slide block respectively, and right arrangement pawl is fixed on this second pair of guide rail, and left and right arrangement pawl parallel alignment is provided with;
Also be provided with the 3rd pair of guide rail that is suitable for constituting rectangle on the skeleton with described second pair of guide rail; The two ends, top of fore paw are slidingly fitted on the 3rd pair of guide rail by slide block respectively, and rear solid end is fixed on the 3rd pair of guide rail, and fore paw is connected with the piston drive of other two hydraulic cylinders respectively with right arrangement pawl.
3. multi-functional mechanical paw according to claim 2, its feature comprises: the right flank that the middle and lower part of pawl is grasped on each left side is provided with friction plate, and the right left surface that grasps the middle and lower part of pawl is provided with flexible member.
4. multi-functional mechanical paw according to claim 2, its feature comprises: grasp on each left side to be respectively equipped with on pawl, fore paw and the right arrangement pawl and be used to detect left and right extracting pawl, the laser sensor of the spacing of forward and backward pawl and left and right arrangement pawl.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320025532 CN203077290U (en) | 2013-01-18 | 2013-01-18 | Multifunctional mechanic gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320025532 CN203077290U (en) | 2013-01-18 | 2013-01-18 | Multifunctional mechanic gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203077290U true CN203077290U (en) | 2013-07-24 |
Family
ID=48823162
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320025532 Expired - Fee Related CN203077290U (en) | 2013-01-18 | 2013-01-18 | Multifunctional mechanic gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203077290U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103042534A (en) * | 2013-01-18 | 2013-04-17 | 江苏中科友特机器人科技有限公司 | Multifunctional manipulator claw |
| CN104552323A (en) * | 2014-12-30 | 2015-04-29 | 大连佳林设备制造有限公司 | Automatic gripper of box filling machine for special-shaped plastic bottles |
| CN106671114A (en) * | 2017-02-27 | 2017-05-17 | 湖南广播电视大学 | Industrial robot clamp |
| CN106743583A (en) * | 2017-02-27 | 2017-05-31 | 安徽信盟机电装备制造有限公司 | A kind of multi-joint adjustable conveying mechanism of single-power |
| CN106743545A (en) * | 2016-12-06 | 2017-05-31 | 苏州博众精工科技有限公司 | A kind of grasping mechanism |
-
2013
- 2013-01-18 CN CN 201320025532 patent/CN203077290U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103042534A (en) * | 2013-01-18 | 2013-04-17 | 江苏中科友特机器人科技有限公司 | Multifunctional manipulator claw |
| CN103042534B (en) * | 2013-01-18 | 2015-07-22 | 江苏中科友特机器人科技有限公司 | Multifunctional manipulator claw |
| CN104552323A (en) * | 2014-12-30 | 2015-04-29 | 大连佳林设备制造有限公司 | Automatic gripper of box filling machine for special-shaped plastic bottles |
| CN104552323B (en) * | 2014-12-30 | 2017-01-11 | 大连佳林设备制造有限公司 | Automatic gripper of box filling machine for special-shaped plastic bottles |
| CN106743545A (en) * | 2016-12-06 | 2017-05-31 | 苏州博众精工科技有限公司 | A kind of grasping mechanism |
| CN106671114A (en) * | 2017-02-27 | 2017-05-17 | 湖南广播电视大学 | Industrial robot clamp |
| CN106743583A (en) * | 2017-02-27 | 2017-05-31 | 安徽信盟机电装备制造有限公司 | A kind of multi-joint adjustable conveying mechanism of single-power |
| CN106671114B (en) * | 2017-02-27 | 2023-09-08 | 湖南开放大学(湖南网络工程职业学院、湖南省干部教育培训网络学院) | Industrial robot anchor clamps |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103042534B (en) | Multifunctional manipulator claw | |
| CN203077290U (en) | Multifunctional mechanic gripper | |
| CN203048165U (en) | Magnetic steel grabbing mechanism | |
| CN102909600B (en) | Cantilever servo manipulator | |
| CN102861697B (en) | Full automatic point gluing equipment | |
| CN206465097U (en) | It is a kind of to grip the good manipulator of adaptability | |
| CN105197293A (en) | Automatic electric energy meter boxing system | |
| CN106607891A (en) | Travelling mechanical gripper | |
| CN103187553A (en) | Automatic positioning and acid filling device for battery | |
| CN102699749A (en) | Automatic loading and unloading device | |
| CN201783936U (en) | Rotary clamp | |
| CN203622244U (en) | Floating vice device of band sawing machine | |
| CN103447408A (en) | Mechanical arm | |
| CN202780676U (en) | Full-automatic feeding andblanking device for bent shafts | |
| CN202763201U (en) | Double-faced clamping device for horizontal type band sawing machine | |
| CN203593195U (en) | Automatic packaging system for glass-reinforced plastic profiled bars | |
| CN102490325A (en) | Stack mold gripper | |
| CN209999221U (en) | high accuracy location panel manipulator | |
| CN108069250A (en) | A kind of comprehensive electromechanical clamping jaw | |
| CN209256935U (en) | Free-standing manipulator | |
| CN214524625U (en) | V-belt transfer device | |
| CN207509245U (en) | A kind of drop mould dismounting die clamper | |
| CN210551300U (en) | Servo drive elastic clamping jaw of truss robot | |
| CN202264838U (en) | Automatic grouping marking device | |
| CN202622432U (en) | Hydraulic plier clamping seat |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: JIANGSU ZHONGKE ROBOT TECHNOLOGY CO., LTD. Free format text: FORMER NAME: JIANGSU CAS YOUTE ROBOT TECHNOLOGY CO., LTD. |
|
| CP03 | Change of name, title or address |
Address after: 213164 Jiangsu city of Changzhou province Chang Wu Road No. 801 South Building Science City Hui. Patentee after: JIANGSU ZHONGKE ROBOT SCIENCE & TECHNOLOGY CO., LTD. Address before: 213164 Jiangsu city of Changzhou province Chang Wu Road No. 801 South Building Science City Hui research building Patentee before: Jiangsu Zhongke Youte Robot Technology Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130724 Termination date: 20160118 |
|
| EXPY | Termination of patent right or utility model |