CN204366961U - A kind of driven by servomotor cantilever - Google Patents
A kind of driven by servomotor cantilever Download PDFInfo
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- CN204366961U CN204366961U CN201420842796.0U CN201420842796U CN204366961U CN 204366961 U CN204366961 U CN 204366961U CN 201420842796 U CN201420842796 U CN 201420842796U CN 204366961 U CN204366961 U CN 204366961U
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- cantilever
- servomotor
- bearing
- leading screw
- column
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- 238000009434 installation Methods 0.000 claims abstract description 16
- 230000008878 coupling Effects 0.000 claims abstract description 5
- 238000010168 coupling process Methods 0.000 claims abstract description 5
- 238000005859 coupling reaction Methods 0.000 claims abstract description 5
- 239000002184 metal Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000013011 mating Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 8
- 239000000463 material Substances 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The utility model relates to a kind of driven by servomotor cantilever, comprise bottom support seat, column, first servomotor, second servomotor, cantilever mechanism, leading screw, the top of bottom support seat is provided with flange seat, flange seat is provided with turntable, column is vertically fixed on turntable, column inside is hollow, leading screw is vertically arranged on column inside, first servomotor is arranged on the top of column, and the output shaft of the first servomotor is connected with the top of leading screw by shaft coupling, second servomotor is fixedly mounted in bottom support seat, the output shaft of the second servomotor is connected with the power shaft of reductor, the output shaft of reductor is connected with the bottom of turntable, the side of column is vertically provided with guide rail, one end of cantilever mechanism is provided with bindiny mechanism, bindiny mechanism is arranged on guide rail, and can at slide on rails, bindiny mechanism is also connected with leading screw.Beneficial effect is: structure is simple, easy for installation, uses flexibly, saves material, stable, operating efficiency is high.
Description
Technical field
The utility model relates to a kind of driven by servomotor cantilever that industry manufactures production equipment, particularly relates to the driven by servomotor cantilever of a kind of four axial cylindrical coordinates robot.
Background technology
Manufacture in industry in the manufacturing equipment of production field, often adopt robot to carry out supplement production.Multiarticulate industrial robot belongs to six axles (six joints) robot mostly in the market, and the product for four axle robots is less.If use six-joint robot can cause the waste of a large amount of resources of production in some manufacturing fields, four axle robots are applicable to the production of medium-sized and small enterprises more.In some industrial production, manufacture field, adopt six-joint robot can cause long, the later maintenance of the wasting of resources, secondary process time costly, improve production cost.
Four axle robots can replace six-joint robot to carry out processing completely, can also bring more high efficiency, reduce costs.Four axle robots have very strong rigidity, thus make it at a high speed competent and high strength repetitive work, alleviate labor strength and realize factory's full automation, and can production safety be guaranteed, raise labour productivity and product quality, the energy and raw-material loss can be reduced simultaneously, save the secondary process time, finally reduce cost of goods manufactured.Can various bad working environments be adapted to, and greatly reduce later maintenance expense.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of driven by servomotor cantilever, overcomes complex structure, poor stability, automation is low, cost is high defect.
The technical scheme that the utility model solves the problems of the technologies described above is as follows: a kind of driven by servomotor cantilever, comprise bottom support seat, column, first servomotor, second servomotor, reductor, cantilever mechanism, leading screw, the top of described bottom support seat is provided with flange seat, described flange seat is provided with turntable, described column is vertically fixedly mounted on described turntable, described column inside is hollow, it is inner that described leading screw is vertically arranged on described column, described first servomotor is fixedly mounted on the top of described column, and the output shaft of described first servomotor is connected by the top of shaft coupling with described leading screw, described second servomotor and described reductor are fixedly mounted in described bottom support seat, the output shaft of described second servomotor is connected with the power shaft of described reductor, the output shaft of described reductor is connected with the bottom of described turntable through described flange seat, the side of described column is vertically provided with guide rail, one end end winding support of described cantilever mechanism is provided with bindiny mechanism, described bindiny mechanism is arranged on described guide rail, and can at described slide on rails, described bindiny mechanism is also connected with described leading screw.
The beneficial effects of the utility model are: structure is simple, easy for installation, use flexibly, save material, stable, operating efficiency is high.
On the basis of technique scheme, the utility model can also do following improvement.
Further, described bindiny mechanism include slide block, with the installation sleeve of described leading screw mating shapes, described installation sleeve is fixedly connected with described slide block, described slide block is fixedly connected with described cantilever mechanism, described slide block is arranged on described guide rail, and can at described slide on rails, described installation sleeve is set on described leading screw, and is connected with described screw turns.
Adopt the beneficial effect of above-mentioned further scheme to be: the moving direction of guide rail to slide block leads, and slide block moves along guide rail, make installation sleeve mobile more stable on leading screw, the upper and lower rectilinear motion of cantilever mechanism is stablized flexibly.
Further, the two ends up and down of described leading screw are arranged on described column inside respectively by upper bearing (metal) supporting seat, lower bearing supporting seat, described upper bearing (metal) supporting seat, described lower bearing supporting seat inside are provided with bearing, described leading screw upper end is passed the described bearing in described upper bearing (metal) supporting seat and is installed on the bearing, and described leading screw lower end is passed described bearing and is arranged on described bearing.
Further, described column is covered with shell.
Adopt the beneficial effect of above-mentioned further scheme to be: protection column, makes the Stability Analysis of Structures of column inside run, improves security performance, be also conducive to keeping cleaning of column inside simultaneously.
The beneficial effect of above-mentioned further scheme is adopted to be: to install simply firm, easy to adjust, be conducive to leading screw stable rotation in running.
Further, described cantilever mechanism comprises the first cantilever, second cantilever, decelerator, driving pulley, 3rd servomotor, the two ends of described first cantilever are equipped with clutch shaft bearing seat, described decelerator is arranged on the described clutch shaft bearing seat of described first cantilever wherein one end, output shaft and the described driving pulley of described decelerator are in transmission connection, the power shaft of described decelerator and the output shaft of described 3rd servomotor are in transmission connection, the described clutch shaft bearing seat of described first cantilever away from one end of described decelerator is provided with the first deep groove ball bearing, described first cantilever is provided with the first belt, described first belt joins end to end ringwise, the two ends of described first belt are wrapped on described driving pulley and described first deep groove ball bearing respectively, described first cantilever is provided with slide rail, one end of described second cantilever is provided with sliding shoe, described sliding shoe is arranged on described slide rail, and can slide on slide rail, described sliding shoe is fixedly connected with described first belt.
The connection precision that adopt the beneficial effect of above-mentioned further scheme to be: by the 3rd rectilinear movement of driven by servomotor second cantilever on the first cantilever, structure is simple, improve each parts, stable, improve the service behaviour of cantilever mechanism.
Further, described first belt is provided with the latch segment adjusting described first belt tension.
Adopt the beneficial effect of above-mentioned further scheme to be: the degree of tightness being conducive to adjusting at any time the first belt, ensure that stable the carrying out of the second cantilever moves linearly.
Further, the middle part of described second cantilever is installed with the 4th servomotor, the second bearing block is installed in one end away from described sliding shoe to described second cantilever, described second bearing block is provided with the second deep groove ball bearing, described second deep groove ball bearing is provided with driven pulley, described second cantilever is provided with the second belt, described second belt joins end to end ringwise, on the output shaft that the two ends of described second belt are wrapped in described 4th servomotor respectively and described driven pulley, described driven pulley is fixedly connected with flange.
The beneficial effect of above-mentioned further scheme is adopted to be: to drive flange to rotate by the 4th servomotor, stable, flange and driven pulley are coaxially arranged, and the center of flange and driven pulley is provided with interstitial hole, the tracheae of external device can be passed by this interstitial hole, makes cabling convenient and safe.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of driven by servomotor cantilever of the utility model;
Fig. 2 is the front view of the cantilever mechanism of a kind of driven by servomotor cantilever of the utility model;
Fig. 3 is the top view of the cantilever mechanism of a kind of driven by servomotor cantilever of the utility model.
In accompanying drawing, the list of parts representated by each label is as follows:
1, second servomotor, 2, bottom support seat, 3, flange seat, 4, reductor, 5, turntable, 6, lower bearing supporting seat, 7, bearing, 8, leading screw, 9, column, 10, guide rail, 11, drag chain, 12, installation sleeve, 13, upper bearing (metal) supporting seat, 14, shaft coupling, 15, first servomotor, 16, bindiny mechanism, 17, slide block, 18, cantilever mechanism, 19, driving pulley, 20, 3rd servomotor, 21, decelerator, 22, sliding shoe, 23, slide rail, 24, second cantilever, 25, 4th servomotor, 26, second belt, 27, tracheae, 28, flange, 29, first belt, 30, first cantilever, 31, driven pulley, 32, latch segment.
Detailed description of the invention
Be described principle of the present utility model and feature below in conjunction with accompanying drawing, example, only for explaining the utility model, is not intended to limit scope of the present utility model.
As shown in Figure 1, the utility model comprises bottom support seat 2, column 9, first servomotor 15, second servomotor 1, reductor 4, cantilever mechanism 18, leading screw 8.Described column 9 is covered with shell, favourable maintenance column 9 cleaning inside, and ensures that column 9 internal security runs, improve safety coefficient.The top of described bottom support seat 2 is provided with flange seat 3, described flange seat 3 is provided with turntable 5, described column 9 is vertically fixedly mounted on described turntable 5, and described column 9 inside is hollow, and it is inner that described leading screw 8 is vertically arranged on described column 9.The two ends up and down of described leading screw 8 are arranged on described column 9 inside respectively by upper bearing (metal) supporting seat 13, lower bearing supporting seat 6, described upper bearing (metal) supporting seat 13, described lower bearing supporting seat 6 inside are all provided with bearing 7, described leading screw 8 upper end is passed the described bearing 7 in described upper bearing (metal) supporting seat 13 and is arranged on this bearing 7, described leading screw 8 lower end is passed the described bearing 7 in described lower bearing supporting seat 6 and is arranged on described bearing 7, and leading screw 8 can be rotated flexibly.Described first servomotor 15 is fixedly mounted on the top of described column 9, and the output shaft of described first servomotor 15 is connected with the top of described leading screw 8 by shaft coupling 14, and the first servomotor 15 rotates and just drives leading screw 8 to rotate.The side of described column 9 is vertically provided with guide rail 10, one end end winding support of described cantilever mechanism 18 is provided with bindiny mechanism 16, described bindiny mechanism 16 is arranged on described guide rail 10, and can slide on described guide rail 10, and described bindiny mechanism 16 is also connected with described leading screw 8.Column 9 opposite side leaves the space of installing drag chain 11, for installing drag chain protection circuit.Described bindiny mechanism 16 include slide block 17, with the installation sleeve 12 of described leading screw 8 mating shapes, described installation sleeve 12 is fixedly connected with described slide block 17, described slide block 17 is fixedly connected with described cantilever mechanism 18, described slide block 17 is arranged on described guide rail 10, and can slide on described guide rail 10, described installation sleeve 12 is set on described leading screw 8, and is rotatably assorted with described leading screw 8 and is connected, namely leading screw 8 rotates, and installation sleeve 12 just slides up and down.First servomotor 15 drives leading screw 8 to rotate, and leading screw 8 rotates and installation sleeve 12 is just slided up and down along leading screw 8, and slide block 17 also in the enterprising line slip guiding of guide rail 10, thus makes cantilever mechanism 18 move up and down along column 9 vertical direction.
As shown in Figure 1, described second servomotor 1 and reductor 4 are fixedly mounted in described bottom support seat 2, the output shaft of described second servomotor 1 is connected with the power shaft of described reductor 4 through flange seat 3, and the output shaft of described reductor 4 is connected with the bottom of described turntable 5.Second servomotor 1 is directly connected with reductor 4, column 9 is driven to rotate by turntable 5, thus cantilever mechanism 18 is rotated along with column 9, realize the rotation of cantilever mechanism 18, simple and reasonable, connect compact simplifying, improve the connection precision of structure and the job stability of this driven by servomotor cantilever.
As shown in Figure 2 and Figure 3, described cantilever mechanism 18 comprises the first cantilever 30, second cantilever 24, decelerator 21, the 3rd servomotor 20.The two ends of described first cantilever 30 are equipped with clutch shaft bearing seat, and bindiny mechanism 16 is connected with the clutch shaft bearing seat of the first cantilever 30 near bindiny mechanism 16 one end.Described decelerator 21 is arranged on the described clutch shaft bearing seat of described first cantilever 30 wherein one end, output shaft and the described driving pulley 19 of described decelerator 21 are in transmission connection, and the power shaft of described decelerator 21 and the output shaft of described 3rd servomotor 20 are in transmission connection.3rd servomotor 20 drives driving pulley 19 to rotate by decelerator 21, and the 3rd servomotor 20 is slowed down and driving pulley 19 transmission by decelerator 21, increases moment of torsion.The described clutch shaft bearing seat of the first cantilever 30 away from decelerator 21 one end is provided with the first deep groove ball bearing, described first cantilever 30 is provided with the first belt 29, described first belt 29 joins end to end ringwise, the two ends of described first belt 29 are wrapped on described driving pulley 19 and described first deep groove ball bearing respectively, and described first belt 29 is provided with the latch segment 32 adjusting described first belt 29 degree of tightness.Adjusted the degree of tightness of the first belt 29 by the screw on adjustment latch segment 32, after adjusting, drive driving pulley 19 to rotate by the 3rd servomotor 20 by decelerator 21, driving pulley 19 drives the first belt 29 to move.Described first cantilever 30 is provided with slide rail 23, and one end of described second cantilever 24 is provided with sliding shoe 22, and described sliding shoe 22 is arranged on described slide rail 23, and can slide on slide rail 23, and described sliding shoe 22 is fixedly connected with described first belt 29.First belt 29 moves and just drives the second cantilever 24 to slide on slide rail 23, achieves the linear slide of the second cantilever 24.
As shown in Figure 2 and Figure 3, the middle part of described second cantilever 24 is installed with the 4th servomotor 25, the second bearing block is installed in one end away from described sliding shoe 22 to second cantilever 24, described second bearing block is provided with the second deep groove ball bearing, described second deep groove ball bearing is provided with driven pulley 31, described second cantilever 24 is provided with the second belt 26, and described second belt 26 joins end to end ringwise.On the output shaft that the two ends of described second belt 26 are wrapped in described 4th servomotor 25 respectively and described driven pulley 31, described driven pulley 31 is fixedly connected with flange 28.4th servomotor 25 drives the second belt 26 to move, thus drives driven pulley 31 to rotate, and the flange 28 be connected with driven pulley 31 is rotated.Driven pulley 31 is connected with flange 28, driven pulley 31 all has interstitial hole with the center of flange 28, extraneous tracheae 27, the line of induction can pass from interstitial hole, make cabling convenient and safe, little, the compact conformation of circuit wearing and tearing, convenient installation, can bear larger axial force and radial load, can realize high-speed motion.
Its course of work is: the second servomotor 1 drives column 9 to rotate, and makes the entirety of cantilever mechanism 18 along with column 9 realization rotation.First servomotor 15 drives leading screw 8 to rotate, and cantilever mechanism 18 just moves up and down on leading screw 8, realizes moving up and down of cantilever mechanism 18.3rd servomotor 20 drives driving pulley 19 to rotate by decelerator 21, thus realizes the motion of the first belt 29, the second cantilever 24 is slidably reciprocated on slide rail 23, completes the horizontal rectilinear motion of the second cantilever 24.4th servomotor 25 drives the second belt 26 to run, thus makes driven pulley 31 rotate the rotation realizing flange 28.
The utility model is by simple anatomical connectivity, adopt servomotor as power source, achieve the vertically movement up and down of cantilever mechanism 18, moving horizontally and the rotation of flange 28 of cantilever mechanism 18, connection for transmission is simple, improve running precision, reduce cost, reduce equipment volume, the scope of application is wider.
The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model, all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (7)
1. a driven by servomotor cantilever, it is characterized in that, comprise bottom support seat (2), column (9), first servomotor (15), second servomotor (1), reductor (4), cantilever mechanism (18), leading screw (8), the top of described bottom support seat (2) is provided with flange seat (3), described flange seat (3) is provided with turntable (5), described column (9) is vertically fixedly mounted on described turntable (5), described column (9) inside is hollow, it is inner that described leading screw (8) is vertically arranged on described column (9), described first servomotor (15) is fixedly mounted on the top of described column (9), and the output shaft of described first servomotor (15) is connected with the top of described leading screw (8) by shaft coupling (14), described second servomotor (1) and described reductor (4) are fixedly mounted in described bottom support seat (2), the output shaft of described second servomotor (1) is connected with the power shaft of described reductor (4), the output shaft of described reductor (4) is connected with the bottom of described turntable (5) through described flange seat (3), the side of described column (9) is vertically provided with guide rail (10), one end end winding support of described cantilever mechanism (18) is provided with bindiny mechanism (16), described bindiny mechanism (16) is arranged on described guide rail (10), and can in the upper slip of described guide rail (10), described bindiny mechanism (16) is also connected with described leading screw (8).
2. a kind of driven by servomotor cantilever according to claim 1, it is characterized in that, described bindiny mechanism (16) includes slide block (17), with the installation sleeve (12) of described leading screw (8) mating shapes, described installation sleeve (12) is fixedly connected with described slide block (17), described slide block (17) is fixedly connected with described cantilever mechanism (18), described slide block (17) is arranged on described guide rail (10), and can in the upper slip of described guide rail (10), described installation sleeve (12) is set on described leading screw (8), and be rotatably assorted with described leading screw (8) and be connected.
3. a kind of driven by servomotor cantilever according to claim 1, it is characterized in that, the two ends up and down of described leading screw (8) are respectively by upper bearing (metal) supporting seat (13), it is inner that lower bearing supporting seat (6) is arranged on described column (9), described upper bearing (metal) supporting seat (13), described lower bearing supporting seat (6) inside is provided with bearing (7), described leading screw (8) upper end is passed the described bearing (7) in described upper bearing (metal) supporting seat (13) and is arranged on this bearing (7), described leading screw (8) lower end is passed the described bearing (7) in described lower bearing supporting seat (6) and is arranged on this bearing (7).
4. a kind of driven by servomotor cantilever according to claim 1, is characterized in that, (9) are covered with shell to described column.
5. a kind of driven by servomotor cantilever according to any one of Claims 1-4, it is characterized in that, described cantilever mechanism (18) comprises the first cantilever (30), second cantilever (24), decelerator (21), driving pulley (19), 3rd servomotor (20), the two ends of described first cantilever (30) are equipped with clutch shaft bearing seat, described decelerator (21) is arranged on the described clutch shaft bearing seat of described first cantilever (30) wherein one end, output shaft and the described driving pulley (19) of described decelerator (21) are in transmission connection, the power shaft of described decelerator (21) and the output shaft of described 3rd servomotor (20) are in transmission connection, away from the described clutch shaft bearing seat of described decelerator (21) one end, the first deep groove ball bearing is installed described first cantilever (30), described first cantilever (30) is provided with the first belt (29), described first belt (29) joins end to end ringwise, the two ends of described first belt (29) are wrapped on described driving pulley (19) and described first deep groove ball bearing respectively, described first cantilever (30) is provided with slide rail (23), one end of described second cantilever (24) is provided with sliding shoe (22), described sliding shoe (22) is arranged on described slide rail (23), and can in the upper slip of slide rail (23), described sliding shoe (22) is fixedly connected with described first belt (29).
6. a kind of driven by servomotor cantilever according to claim 5, is characterized in that, described first belt (29) is provided with the latch segment (32) adjusting described first belt (29) degree of tightness.
7. a kind of driven by servomotor cantilever according to claim 5, it is characterized in that, the middle part of described second cantilever (24) is installed with the 4th servomotor (25), the second bearing block is installed in one end away from described sliding shoe (22) to described second cantilever (24), described second bearing block is provided with the second deep groove ball bearing, described second deep groove ball bearing is provided with driven pulley (31), described second cantilever (24) is provided with the second belt (26), described second belt (26) joins end to end ringwise, on the output shaft that the two ends of described second belt (26) are wrapped in described 4th servomotor (25) respectively and described driven pulley (31), described driven pulley (31) is fixedly connected with flange (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420842796.0U CN204366961U (en) | 2014-12-26 | 2014-12-26 | A kind of driven by servomotor cantilever |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420842796.0U CN204366961U (en) | 2014-12-26 | 2014-12-26 | A kind of driven by servomotor cantilever |
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| Publication Number | Publication Date |
|---|---|
| CN204366961U true CN204366961U (en) | 2015-06-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420842796.0U Expired - Fee Related CN204366961U (en) | 2014-12-26 | 2014-12-26 | A kind of driven by servomotor cantilever |
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| Country | Link |
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| CN (1) | CN204366961U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113080A (en) * | 2016-07-28 | 2016-11-16 | 苏州优银机械有限公司 | The industrial cantilever of a kind of concentric connection connects assembly |
| CN110040500A (en) * | 2019-04-03 | 2019-07-23 | 苏州优备精密智能装备股份有限公司 | The conveying device that 180 degree rotates horizontally |
| CN112676076A (en) * | 2020-12-10 | 2021-04-20 | 哈尔滨工业大学 | Variable-deflection cantilever throwing rod device with large span and liftable function |
| CN113927577A (en) * | 2021-11-04 | 2022-01-14 | 无锡鑫金雨智能制造有限公司 | High-load two-axis robot |
-
2014
- 2014-12-26 CN CN201420842796.0U patent/CN204366961U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113080A (en) * | 2016-07-28 | 2016-11-16 | 苏州优银机械有限公司 | The industrial cantilever of a kind of concentric connection connects assembly |
| CN110040500A (en) * | 2019-04-03 | 2019-07-23 | 苏州优备精密智能装备股份有限公司 | The conveying device that 180 degree rotates horizontally |
| CN112676076A (en) * | 2020-12-10 | 2021-04-20 | 哈尔滨工业大学 | Variable-deflection cantilever throwing rod device with large span and liftable function |
| CN113927577A (en) * | 2021-11-04 | 2022-01-14 | 无锡鑫金雨智能制造有限公司 | High-load two-axis robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210806 Address after: 400000 14-4, No. 218, Kangning Road, Beibei District, Chongqing Patentee after: Chongqing Qiwei robot Co.,Ltd. Address before: 400714 No. 5-69, Yunhan Avenue, Shuitu high tech Industrial Park, Beibei District, Chongqing Patentee before: CHONGQING HUASHU ROBOT Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150603 |