CN204819505U - Five swing arm joint robot - Google Patents
Five swing arm joint robot Download PDFInfo
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- CN204819505U CN204819505U CN201520623063.2U CN201520623063U CN204819505U CN 204819505 U CN204819505 U CN 204819505U CN 201520623063 U CN201520623063 U CN 201520623063U CN 204819505 U CN204819505 U CN 204819505U
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Abstract
The utility model relates to a five swing arm joint robot, including the base subassembly, the upper end of base subassembly is provided with two spool rotatable subassemblies, two subassemblies can be rotatory around its axial, one side of two subassemblies is connected with the triaxial subassembly, the triaxial subassembly can be followed the axial displacement of two subassemblies, the triaxial subassembly is kept away from the one end of two subassemblies is connected with the four -axis subassembly, the four -axis subassembly can around its with the junction of triaxial subassembly is rotatory, the one end that the triaxial subassembly was kept away from to the four -axis subassembly is provided with can wind four -axis subassembly axial five rotatory subassemblies. Compared with the prior art, the utility model discloses the rigidity is strong, functioning speed is fast, be competent at the work of high strength repeatability, the flexibility is strong, just with low costs.
Description
Technical field
The utility model relates to robotics, is particularly a kind ofly applied in industry manufacture, produces and five axle swing arm articulated robots of correlative technology field.
Background technology
Multi-joint industrial robot belongs to six axles (six joints) robot mostly in the market, price is relatively high, wu-zhi-shan pig production cost is relatively low, and price has its absolute predominance, and some field uses six-joint robot that a large amount of resources of production can be caused to waste; But use four axle robots, then lack one and realize workpiece turning action, as really needed use four axle robot to complete this action, then necessary and outside positioner conbined usage, increase robot environment for use, general control system difficulty, increase extra cost, increase and run pitch time so that do not reach production task requirement.
Utility model content
Technical problem to be solved in the utility model is to provide that a kind of rigidity is strong, the speed of service is fast, competent high strength repetitive operation, flexibility are strong and the five axle swing arm articulated robots that cost is low.
The technical scheme that the utility model solves the problems of the technologies described above is as follows: a kind of five axle swing arm articulated robots, and comprise base assembly, the upper end of described base assembly is provided with two rotatable shafts assembly, and described two shaft assemblies can around its axial-rotation; The side of described two shaft assemblies is connected with three shaft assemblies, and described three shaft assemblies can moving axially along described two shaft assemblies; Described three shaft assemblies are connected with four shaft assemblies away from one end of described two shaft assemblies, described four shaft assemblies can rotate around the junction of itself and described three shaft assemblies, and described four shaft assemblies are provided with away from one end of three shaft assemblies can around five shaft assemblies of described four shaft assembly axial-rotations.
The beneficial effects of the utility model are: base assembly drives two shaft assemblies around its axial-rotation, three shaft assemblies move axially along two shaft assemblies, four shaft assemblies can horizontally rotate around the junction of itself and three shaft assemblies, five shaft member groups around four shaft assemblies axially, pass through base assembly, two shaft assemblies, three shaft assemblies, the cooperation of four shaft assemblies and five shaft assemblies, rigidity is connected strong between assembly, the speed of service is fast, competent high strength repetitive operation, five assemblies coordinate and can realize flexible operation, also modularized production assembling is convenient to, reduce the production cycle, effectively reduce production cost.
On the basis of technique scheme, the utility model can also do following improvement.
Further, described base assembly comprises pedestal, the first servomotor, the first reductor and turntable, described first servomotor is placed in the inner side of described pedestal, described first reductor is placed in the upper end of described pedestal, and the output shaft of described first servomotor is connected with the input of described first reductor through the upper end of described pedestal; The rotatable upper end being placed in described first reductor of described turntable, the output of described first reductor drives described turntable to rotate; Described rotation edge of table is fixedly installed the first limited block to described turntable rotary stopper.
The beneficial effect of above-mentioned further scheme is adopted to be: the rotation of the first servo motor output shaft, the rotation controlling turntable can be realized by the first reductor, thus realizing drive two shaft assembly, three shaft assemblies, four shaft assemblies and the five shaft assemblies axial-rotation around two shaft assemblies, rotary speed is fast; First limited block can carry out spacing to turntable rotation, promotes this device running precision.
Further, described two shaft assemblies comprise column, the second servomotor, shaft coupling and lead screw transmission mechanism, described column is fixedly placed in the upper end of described turntable, described second servomotor is fixedly placed in the upper end of described column, the all rotating inner side being placed in described column of described shaft coupling and lead screw transmission mechanism, the upper end of described shaft coupling is connected with the output shaft of described second servomotor, the lower end of described shaft coupling is connected with described lead screw transmission mechanism, and the output shaft of described second servomotor is linked by shaft coupling and described lead screw transmission mechanism; Described lead screw transmission mechanism is connected with described three shaft assemblies, and the axis of described column near the side of described three shaft assemblies along described column is provided with guide track transmission mechanism, and described lead screw transmission mechanism can drive described three shaft assemblies to slide along described guide track transmission mechanism.
The beneficial effect of above-mentioned further scheme is adopted to be: the output shaft of the second servomotor rotates, lead screw transmission mechanism is driven to rotate by shaft joint, lead screw transmission mechanism drives described three shaft assemblies moving axially along described column, guide track transmission mechanism effectively can reduce the resistance in three shaft assembly moving process, make this plant running speed fast, guide track transmission mechanism also can strengthen the bonding strength of two shaft assemblies and three shaft assemblies.
Further, described three shaft assemblies comprise armshaft, the 3rd servomotor and the second reductor, one end of described armshaft is connected with described guide track transmission mechanism, the other end of described armshaft is connected with described four shaft assemblies, described 3rd servomotor is fixedly placed in the upper end of described armshaft near described four shaft assembly sides, described second reductor is placed in the inner side at the corresponding described 3rd servomotor place of described armshaft, the output shaft of described 3rd servomotor is connected with the input of described second reductor, and the output of described second reductor is connected with described four shaft assemblies; Described armshaft is fixedly installed the second limited block near the lower end of described four shaft assembly sides.
The beneficial effect of above-mentioned further scheme is adopted to be: the output shaft of the 3rd servomotor rotates, four shaft assemblies can be driven to horizontally rotate around three shaft assemblies and four shaft assembly junctions by the second reductor, by independent Serve Motor Control, speed and the flexibility of four shaft assembly runnings can be promoted; Second limited block can carry out spacing to the rotation of four shaft assemblies, promotes this device running precision.
Further, be connected with the drag chain in sealing shape between described column and described armshaft, one end of described drag chain is connected with described column, and the other end is connected with described armshaft, and described drag chain is in being inverted U-shaped.
The beneficial effect of above-mentioned further scheme is adopted to be: to realize, in two shaft assemblies and three shaft assembly relative movement, making the associated communication circuit geo-stationary on three shaft assemblies, thus avoiding relative motion to damage communication line.
Further, described four shaft assemblies comprise turntable, pivoted arm, the 4th servomotor and the 3rd reductor, and one end of described turntable is connected with the output of described second reductor, and the other end of described turntable is connected with described pivoted arm; Described 4th servomotor is placed in the side away from described pivoted arm in described turntable, described 3rd reductor is placed in the side near described pivoted arm in described turntable, the output shaft of described 4th servomotor is connected with the input of described 3rd reductor, the output of described 3rd reductor is connected with described pivoted arm, and the output of described 3rd reductor can drive described pivoted arm around the axial rotation of described pivoted arm.
The beneficial effect of above-mentioned further scheme is adopted to be: the output shaft of the 4th servomotor rotates, pivoted arm is driven to rotate the axial rotation of arm by the 3rd reductor, the axial rotation of arm thus drive five shaft assemblies rotate, by independent Serve Motor Control, speed and the flexibility of five shaft assembly runnings can be promoted.
Further, be provided with and be connected joint between described armshaft with described turntable, the one end in described connection joint is fixedly connected with described armshaft, and to be that horn-like and described turntable is unsettled be connected the other end in described connection joint.
The beneficial effect of above-mentioned further scheme is adopted to be: to realize, in three shaft assemblies and four shaft assembly relative movement, making the associated communication circuit geo-stationary on four shaft assemblies, thus avoiding relative motion to damage communication line.
Further, described five shaft assemblies comprise housing, 5th servomotor, 4th reductor, wrist body and flange, described housing is fixedly connected with described pivoted arm one end away from described turntable, described housing is with the axial rotation of described pivoted arm around described pivoted arm, described 5th servomotor, 4th reductor, wrist body is all placed in the inner side of described housing, the output shaft of described 5th servomotor is connected with the input of described 4th reductor, the output of described 4th reductor is connected with described wrist body, described flange is placed in described housing one end away from described pivoted arm, described wrist body and described Flange joint.
Adopt the beneficial effect of above-mentioned further scheme to be: the output shaft of the 5th servomotor rotates, drive the running of wrist body by the 4th reductor, wrist body drives flange running, and realizing this device can flexible operation; Housing is fixedly connected with pivoted arm, promotes the bonding strength of this device, fast, the competent high strength repetitive operation of the speed of service; Flange is multipurpose flange, can be connected with multiple terminal-collecting machine simultaneously, provides multiple connected mode to select for user, also promotes the scope of application of this device.
Further, the wiring on described base assembly, two shaft assemblies, three shaft assemblies, four shaft assemblies and five shaft assemblies is totally enclosed type.
The beneficial effect of above-mentioned further scheme is adopted to be: totally enclosed type wiring can avoid external environment condition to disturb connection, makes this device adapt to bad working environments completely, promotes the scope of application.
Accompanying drawing explanation
Fig. 1 is the front view of a kind of five axle swing arm articulated robots of the utility model;
Fig. 2 is the side view of a kind of five axle swing arm articulated robots of the utility model;
Fig. 3 is the structural representation of a kind of five axle swing arm articulated robots of the utility model.
In accompanying drawing, the list of parts representated by each label is as follows:
1, base assembly, 11, pedestal, the 12, first servomotor, the 13, first reductor, 14, turntable, the 15, first limited block;
2, two shaft assemblies, 21, column, the 22, second servomotor, 23, shaft coupling, 24, lead screw transmission mechanism, 25, guide track transmission mechanism;
3, three shaft assemblies, 31, armshaft, the 32, the 3rd servomotor, the 33, second reductor, the 34, second limited block;
4, four shaft assemblies, 41, turntable, 42, pivoted arm, the 43, the 4th servomotor, the 44, the 3rd reductor;
5, five shaft assemblies, 51, housing, the 52, the 5th servomotor, the 53, the 4th reductor, 54, wrist body, 55, flange;
6, drag chain.
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 to Figure 3, a kind of five axle swing arm articulated robots, comprise base assembly 1, the upper end of described base assembly 1 is provided with two rotatable shafts assembly 2, and described two shaft assemblies 2 can around its axial-rotation; The side of described two shaft assemblies 2 is connected with three shaft assemblies 3, and described three shaft assemblies 3 can moving axially along described two shaft assemblies 2; Described three shaft assemblies 3 are connected with four shaft assemblies 4 away from one end of described two shaft assemblies 2, described four shaft assemblies 4 can rotate around the junction of itself and described three shaft assemblies 3, and described four shaft assemblies 4 are provided with away from one end of three shaft assemblies 3 can around five shaft assemblies 5 of described four shaft assembly 4 axial-rotations.
Preferably, described base assembly 1 comprises pedestal 11, first servomotor 12, first reductor 13 and turntable 14, described first servomotor 12 is placed in the inner side of described pedestal 11, described first reductor 13 is placed in the upper end of described pedestal 11, and the output shaft of described first servomotor 12 is connected with the input of described first reductor 13 through the upper end of described pedestal 11; The rotatable upper end being placed in described first reductor 13 of described turntable 14, the output of described first reductor 13 drives described turntable 14 to rotate; The edge of described turntable 14 is fixedly installed the first limited block 15 to described turntable 14 rotary stopper.
Preferably, described two shaft assemblies 2 comprise column 21, second servomotor 22, shaft coupling 23 and lead screw transmission mechanism 24, described column 21 is fixedly placed in the upper end of described turntable 14, described second servomotor 22 is fixedly placed in the upper end of described column 21, described shaft coupling 23 and all rotating inner side being placed in described column 21 of lead screw transmission mechanism 24, the upper end of described shaft coupling 23 is connected with the output shaft of described second servomotor 22, the lower end of described shaft coupling 23 is connected with described lead screw transmission mechanism 24, the output shaft of described second servomotor 22 is linked by shaft coupling 23 and described lead screw transmission mechanism 24, described lead screw transmission mechanism 24 is connected with described three shaft assemblies 3, the axis of described column 21 near the side of described three shaft assemblies 3 along described column 21 is provided with guide track transmission mechanism 25, and described lead screw transmission mechanism 24 can drive described three shaft assemblies 3 to slide along described guide track transmission mechanism 25.
Preferably, described three shaft assemblies 3 comprise armshaft 31, 3rd servomotor 32 and the second reductor 33, one end of described armshaft 31 is connected with described guide track transmission mechanism 25, the other end of described armshaft 31 is connected with described four shaft assemblies 4, described 3rd servomotor 32 is fixedly placed in the upper end of described armshaft 31 near described four shaft assembly 4 sides, described second reductor 33 is placed in the inner side at corresponding described 3rd servomotor 32 place of described armshaft 31, the output shaft of described 3rd servomotor 32 is connected with the input of described second reductor 33, the output of described second reductor 33 is connected with described four shaft assemblies 4, described armshaft 31 is fixedly installed the second limited block 34 near the lower end of described four shaft assembly 4 sides.
Preferably, be connected with the drag chain 6 in sealing shape between described column 21 and described armshaft 31, one end of described drag chain 6 is connected with described column 21, and the other end is connected with described armshaft 31, and described drag chain 6 is in being inverted U-shaped.
Preferably, described four shaft assemblies 4 comprise turntable 41, pivoted arm 42, the 4th servomotor 43 and the 3rd reductor 44, and one end of described turntable 41 is connected with the output of described second reductor 44, and the other end of described turntable 41 is connected with described pivoted arm 42; Described 4th servomotor 43 is placed in the side away from described pivoted arm 42 in described turntable 41, described 3rd reductor 44 is placed in described turntable 41 near the side of described pivoted arm 42, the output shaft of described 4th servomotor 43 is connected with the input of described 3rd reductor 44, the output of described 3rd reductor 44 is connected with described pivoted arm 42, and the output of described 3rd reductor 44 can drive described pivoted arm 42 around the axial rotation of described pivoted arm 42.
Preferably, be provided with and be connected joint between described armshaft 31 with described turntable 41, the one end in described connection joint is fixedly connected with described armshaft 31, and to be that horn-like and described turntable 41 is unsettled be connected the other end in described connection joint.
Preferably, described five shaft assemblies 5 comprise housing 51, 5th servomotor 52, 4th reductor 53, wrist body 54 and flange 55, described housing 51 is fixedly connected with described pivoted arm 42 one end away from described turntable 41, described housing 51 is with the axial rotation of described pivoted arm 42 around described pivoted arm 42, described 5th servomotor 52, 4th reductor 53, wrist body 54 is all placed in the inner side of described housing 51, the output shaft of described 5th servomotor 52 is connected with the input of described 4th reductor 53, the output of described 4th reductor 53 is connected with described wrist body 54, described flange 55 is placed in described housing 51 one end away from described pivoted arm 42, described wrist body 54 is connected with described flange 55.
Preferably, the wiring on described base assembly 1, two shaft assembly 2, three shaft assembly 3, four shaft assembly 4 and five shaft assemblies 5 is totally enclosed type.
The operation principles of this device: base assembly 1 drives two shaft assemblies 2 around its axial-rotation, three shaft assemblies 3 move axially along two shaft assemblies 2, four shaft assemblies 4 can horizontally rotate around the junction of itself and three shaft assemblies 3, five shaft assemblies 5 around four shaft assemblies 4 axially, by base assembly 1, two shaft assemblies 2, three shaft assemblies 3, the cooperation of four shaft assemblies 4 and five shaft assemblies 5, rigidity is connected strong between assembly, the speed of service is fast, competent high strength repetitive operation, five assemblies coordinate and can realize flexible operation, also modularized production assembling is convenient to, reduce the production cycle, effectively reduce production cost.
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 (9)
1. an axle swing arm articulated robot, comprise base assembly (1), it is characterized in that: the upper end of described base assembly (1) is provided with two rotatable shafts assembly (2), described two shaft assemblies (2) can around its axial-rotation; The side of described two shaft assemblies (2) is connected with three shaft assemblies (3), and described three shaft assemblies (3) can moving axially along described two shaft assemblies (2); Described three shaft assemblies (3) are connected with four shaft assemblies (4) away from one end of described two shaft assemblies (2), described four shaft assemblies (4) can rotate around the junction of itself and described three shaft assemblies (3), and described four shaft assemblies (4) are provided with away from one end of three shaft assemblies (3) can around five shaft assemblies (5) of described four shaft assemblies (4) axial-rotation.
2. a kind of five axle swing arm articulated robots according to claim 1, it is characterized in that: described base assembly (1) comprises pedestal (11), the first servomotor (12), the first reductor (13) and turntable (14), described first servomotor (12) is placed in the inner side of described pedestal (11), described first reductor (13) is placed in the upper end of described pedestal (11), and the output shaft of described first servomotor (12) is connected with the input of described first reductor (13) through the upper end of described pedestal (11); The rotatable upper end being placed in described first reductor (13) of described turntable (14), the output of described first reductor (13) drives described turntable (14) to rotate; The edge of described turntable (14) is fixedly installed the first limited block (15) to described turntable (14) rotary stopper.
3. a kind of five axle swing arm articulated robots according to claim 2, it is characterized in that: described two shaft assemblies (2) comprise column (21), second servomotor (22), shaft coupling (23) and lead screw transmission mechanism (24), described column (21) is fixedly placed in the upper end of described turntable (14), described second servomotor (22) is fixedly placed in the upper end of described column (21), described shaft coupling (23) and all rotating inner side being placed in described column (21) of lead screw transmission mechanism (24), the upper end of described shaft coupling (23) is connected with the output shaft of described second servomotor (22), the lower end of described shaft coupling (23) is connected with described lead screw transmission mechanism (24), the output shaft of described second servomotor (22) is linked by shaft coupling (23) and described lead screw transmission mechanism (24), described lead screw transmission mechanism (24) is connected with described three shaft assemblies (3), the axis of described column (21) near the side of described three shaft assemblies (3) along described column (21) is provided with guide track transmission mechanism (25), and described lead screw transmission mechanism (24) can drive described three shaft assemblies (3) to slide along described guide track transmission mechanism (25).
4. a kind of five axle swing arm articulated robots according to claim 3, it is characterized in that: described three shaft assemblies (3) comprise armshaft (31), 3rd servomotor (32) and the second reductor (33), one end of described armshaft (31) is connected with described guide track transmission mechanism (25), the other end of described armshaft (31) is connected with described four shaft assemblies (4), described 3rd servomotor (32) is fixedly placed in the upper end of described armshaft (31) near described four shaft assemblies (4) side, described second reductor (33) is placed in the inner side at corresponding described 3rd servomotor (32) place of described armshaft (31), the output shaft of described 3rd servomotor (32) is connected with the input of described second reductor (33), the output of described second reductor (33) is connected with described four shaft assemblies (4), described armshaft (31) is fixedly installed the second limited block (34) near the lower end of described four shaft assemblies (4) side.
5. a kind of five axle swing arm articulated robots according to claim 4, it is characterized in that: between described column (21) and described armshaft (31), be connected with the drag chain (6) in sealing shape, one end of described drag chain (6) is connected with described column (21), the other end is connected with described armshaft (31), and described drag chain (6) is in being inverted U-shaped.
6. a kind of five axle swing arm articulated robots according to claim 4, it is characterized in that: described four shaft assemblies (4) comprise turntable (41), pivoted arm (42), the 4th servomotor (43) and the 3rd reductor (44), one end of described turntable (41) is connected with the output of described second reductor (44), and the other end of described turntable (41) is connected with described pivoted arm (42), described 4th servomotor (43) is placed in the side away from described pivoted arm (42) in described turntable (41), described 3rd reductor (44) is placed in the side near described pivoted arm (42) in described turntable (41), the output shaft of described 4th servomotor (43) is connected with the input of described 3rd reductor (44), the output of described 3rd reductor (44) is connected with described pivoted arm (42), the output of described 3rd reductor (44) can drive described pivoted arm (42) axial rotation around described pivoted arm (42).
7. a kind of five axle swing arm articulated robots according to claim 6, it is characterized in that: be provided with between described armshaft (31) with described turntable (41) and be connected joint, the one end in described connection joint is fixedly connected with described armshaft (31), and to be that horn-like and described turntable (41) is unsettled be connected the other end in described connection joint.
8. a kind of five axle swing arm articulated robots according to claim 6, it is characterized in that: described five shaft assemblies (5) comprise housing (51), 5th servomotor (52), 4th reductor (53), wrist body (54) and flange (55), described housing (51) is fixedly connected with described pivoted arm (42) one end away from described turntable (41), described housing (51) is with described pivoted arm (42) axial rotation around described pivoted arm (42), described 5th servomotor (52), 4th reductor (53), wrist body (54) is all placed in the inner side of described housing (51), the output shaft of described 5th servomotor (52) is connected with the input of described 4th reductor (53), the output of described 4th reductor (53) is connected with described wrist body (54), described flange (55) is placed in described housing (51) one end away from described pivoted arm (42), described wrist body (54) is connected with described flange (55).
9. a kind of five axle swing arm articulated robots according to any one of claim 1 to 8, is characterized in that: the wiring on described base assembly (1), two shaft assemblies (2), three shaft assemblies (3), four shaft assemblies (4) and five shaft assemblies (5) is totally enclosed type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520623063.2U CN204819505U (en) | 2015-08-18 | 2015-08-18 | Five swing arm joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520623063.2U CN204819505U (en) | 2015-08-18 | 2015-08-18 | Five swing arm joint robot |
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| Publication Number | Publication Date |
|---|---|
| CN204819505U true CN204819505U (en) | 2015-12-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520623063.2U Active CN204819505U (en) | 2015-08-18 | 2015-08-18 | Five swing arm joint robot |
Country Status (1)
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| CN (1) | CN204819505U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058377A (en) * | 2015-08-18 | 2015-11-18 | 重庆华数机器人有限公司 | Five-shaft swing arm joint robot |
| CN105463458A (en) * | 2016-01-11 | 2016-04-06 | 安徽工业大学 | Automatic enameling device |
| CN105479456A (en) * | 2016-01-11 | 2016-04-13 | 安徽工业大学 | Movable four-axis robot |
| CN105557198A (en) * | 2015-12-15 | 2016-05-11 | 青岛海特新蓝生物科技有限公司 | Picker |
-
2015
- 2015-08-18 CN CN201520623063.2U patent/CN204819505U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058377A (en) * | 2015-08-18 | 2015-11-18 | 重庆华数机器人有限公司 | Five-shaft swing arm joint robot |
| CN105557198A (en) * | 2015-12-15 | 2016-05-11 | 青岛海特新蓝生物科技有限公司 | Picker |
| CN105463458A (en) * | 2016-01-11 | 2016-04-06 | 安徽工业大学 | Automatic enameling device |
| CN105479456A (en) * | 2016-01-11 | 2016-04-13 | 安徽工业大学 | Movable four-axis robot |
| CN105463458B (en) * | 2016-01-11 | 2018-01-09 | 安徽工业大学 | A kind of automatic application of slip device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210809 Address after: 400000 14-4, No. 218, Kangning Road, Beibei District, Chongqing Patentee after: Chongqing Qiwei robot Co., Ltd Address before: 401121 No. 5-69, Yunhan Avenue, Shuitu hi tech Industrial Park, Beibei District, Chongqing Patentee before: CHONGQING HUASHU ROBOT Co.,Ltd. |
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| TR01 | Transfer of patent right |