CN206117207U - Infrared automatic charging system in robot - Google Patents
Infrared automatic charging system in robot Download PDFInfo
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- CN206117207U CN206117207U CN201621031195.7U CN201621031195U CN206117207U CN 206117207 U CN206117207 U CN 206117207U CN 201621031195 U CN201621031195 U CN 201621031195U CN 206117207 U CN206117207 U CN 206117207U
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- infrared
- robot
- contact
- receiving end
- charging pile
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Abstract
The utility model discloses an infrared automatic charging system in robot, this system holds including filling electric pile and mobile reception, the mobile reception end sets up in the robot, can remove along with the robot fill to be provided with on the electric pile and be used for the infrared diode who discharges the contact with be used for the authentication that charges mobile reception serves and is provided with assorted response contact and the 2nd infrared diode with it, battery in response contact and the robot links to each other, carries out the authentication through an infrared diode and the 2nd infrared diode, is confirming that the robot has arrived booking area and has carried out recharging operation behind contact and the response contact butt of each other again and discharge to the harm that the maloperation brought has been avoidd to the safety that the assurance is charged.
Description
Technical field
This utility model is related to robot control field, and in particular to the infrared automatic charging system in a kind of robot.
Background technology
The intelligent charge of the electrical equipments such as robot is current popular project, the wireless charging of robot, is automatically positioned
The methods and apparatus such as identification are also increasingly used in actual productive life, however, on current wireless charging device
Although electric discharge contact be under normal conditions it is uncharged, if subjected to external interference, maloperation etc. affect, such as child or
The false touch of person's toy, is easily caused equipment short circuit, and two electric discharge contacts of charging pile are powered into charge mode, so as to occur
Danger, also can the excessively perfect ripe scheme for solving the above problems in current equipment.
For above-mentioned reasons, the present inventor furthers investigate to existing robot automatic charging equipment, to design
The infrared automatic charging system gone out in a kind of new robot that can solve the problem that the problems referred to above.
Utility model content
In order to overcome the problems referred to above, present inventor has performed studying with keen determination, design infrared automatic in a kind of robot
Charging system, the system includes charging pile and mobile receiving end, and the mobile receiving end is arranged in robot, can be with machine
People moves, and electric discharge contact and the first infrared diode for authentication for charging are provided with the charging pile,
Matched sensing contact and the second infrared diode, the sensing contact and machine are provided with the mobile receiving end
Accumulator on device people is connected, and by the first infrared diode and the second infrared diode authentication is carried out, and is confirming machine
Charging operation is performed again after people has reached presumptive area and the contact that discharges mutually is abutted against with sensing contact, so as to ensure what is charged
Safety, has evaded the harm that maloperation brings, so as to complete this utility model.
Specifically, the purpose of this utility model is to provide following aspect：
(1), the infrared automatic charging system of a kind of robot, it is characterised in that the system includes that charging pile 1 and movement connect
Receiving end 2, wherein, the charging pile 1 includes bottom and main part thereon,
The bottom of the charging pile 1 is provided with electric discharge contact 3, the main part of the charging pile 1 first is provided with red
Outer diode 4, the electric discharge contact is connected with charging by relay 11 with power supply, and the first infrared diode control is described
Relay is turned on and off；
The mobile receiving end 2 is arranged in robot, is moved as robot is moved, at the bottom of mobile receiving end 2
Portion is provided with sensing contact 5, and the sidepiece of mobile receiving end 2 is provided with the second infrared diode 6, the sensing contact and robot
On storage battery be connected, and charge when it is electrically connected with the electric discharge contact 3 on charging pile 1.
(2) automatic charging system according to above-mentioned (1), it is characterised in that
The mobile receiving end 2 includes laser radar, laser radar transmitting iraser；
Fringe area 7 is provided with the main body of the charging pile 1, the iraser scattering that it sends laser radar.
(3) automatic charging system according to above-mentioned (1), it is characterised in that
First infrared diode has RF transmitter and infrared remote receiver, and second infrared diode has
RF transmitter and infrared receiver, it is red that the infrared receiver of the second infrared diode can receive the first infrared diode
The infrared ray that outside line emitter is launched, it is infrared that the infrared receiver of the first infrared diode can receive the second infrared diode
The infrared ray that line emitter is launched.
(4) automatic charging system according to above-mentioned (3), it is characterised in that
Electric discharge contact 3 is arranged at the upper base surface of charging pile 1, raises up；
Sensing contact 5 is arranged at the bottom lower surface of mobile receiving end 2, downwardly convex.
(5) automatic charging system according to above-mentioned (1), it is characterised in that
Electric discharge contact 3 is matched with the sensing electrical connection of contact 5, and in the infrared receiver of the second infrared diode first is received
The infrared ray that infrared diode RF transmitter is launched, and the infrared receiver of the first infrared diode can receive second
During the infrared ray that infrared diode RF transmitter is launched, electric discharge contact 3 is mutually abutted against with sensing contact 5 and is electrically connected.
(6) automatic charging system according to above-mentioned (1), it is characterised in that
During charging, opened by the first infrared diode control relay, electric discharge contact one end directly electrically connects with power supply,
The electric discharge contact other end is electrically connected with sensing contact, and sensing contact is connected with the storage battery in robot.
(7) automatic charging system according to above-mentioned (1), it is characterised in that
Two the first infrared diodes 4 are provided with the charging pile 1, one has RF transmitter, another
With infrared receiver, the two ends of charging pile 1 are distributed in；
Two the second infrared diodes 6 in the mobile receiving end 2, one has infrared receiver, another tool
There is RF transmitter, be distributed in the mobile receiving end two ends,
Wherein, the position of two the first infrared diodes is corresponding with the position of two the second infrared diodes 6 respectively.
(8) automatic charging system according to above-mentioned (1), it is characterised in that
The fringe area 7 is placed at the surface of the charging pile 1, caves inward, and female is formed and inclines shiny surface, scattering
Iraser.
(9) automatic charging system according to above-mentioned (7), it is characterised in that
The fringe area 7 is located between two the first infrared diodes 4.
(10) automatic charging system according to above-mentioned (1), it is characterised in that
The mobile receiving end 2 is arranged on the chassis of robot, and the driving machine of robot is provided with the chassis
Structure, the drive mechanism drives the mobile receiving end 2 near charging pile, and electric discharge contact 3 is mutually offseted with sensing contact 5
Connect and be electrically connected.
This utility model have the advantage that including：
(1) can be in identification machine person part according to the infrared automatic charging system in the robot of this utility model offer
On the basis of perform charging operation, it is to avoid the risk that maloperation brings, there is provided safety coefficient；
(2) according to this utility model provide robot on infrared automatic charging system can automatic identification charging pile,
And the movement of machine people is automatically controlled, is allowed to that charging operation is moved near charging pile and performed automatically when needing and charging.
Description of the drawings
Fig. 1 illustrates filling according to the infrared automatic charging system in a kind of robot of preferred implementation of this utility model
Electric pilework schematic diagram；
Fig. 2 is illustrated according to the whole of the infrared automatic charging system in a kind of robot of preferred implementation of this utility model
Body structural representation；
Fig. 3 is illustrated according to the infrared automatic charging system logic in a kind of robot of preferred implementation of this utility model
Circuit diagram；
Fig. 4 illustrates the drive according to the infrared automatic charging system in a kind of robot of preferred implementation of this utility model
Motivation structure structural representation；
Fig. 5 illustrates the rotation according to the infrared automatic charging system in a kind of robot of preferred implementation of this utility model
The connection diagram of flap and fixed plate.
Drawing reference numeral explanation：
1- charging piles
2- mobile receiving ends
3- electric discharge contacts
The infrared diodes of 4- first
5- senses contact
The infrared diodes of 6- second
7- fringe areas
8- chassis
81- driving wheels
82- driven pulleys
83- motors
84- output shafts
9- swivel plates；
91- longitudinal plates；
911- is raised；
92- transverse plates；
921- risers；
10- fixed plates；
101- longitudinal plates；
102- transverse plates；
1021- risers；
11- shaft coupling pieces；
12- springs.
Specific embodiment
This utility model is further described below by drawings and Examples.By these explanations, this practicality is new
The characteristics of type and advantage will become more apparent from clearly.
Here special word " exemplary " means " being used as example, embodiment or illustrative ".Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.Although each of embodiment is shown in the drawings
In terms of kind, but unless otherwise indicated, it is not necessary to accompanying drawing drawn to scale.
According to this utility model provide robot on infrared automatic charging system, as shown in Figure 1, Figure 2 with shown in Fig. 3,
The system includes charging pile 1 and mobile receiving end 2, wherein, the mobile receiving end 2 is arranged in robot, can be with machine
People moves, and the bottom of robot is preferably provided in, near the wheel in robot；
The charging pile 1 includes bottom and main part thereon,
The bottom of the charging pile 1 is provided with electric discharge contact 3, the main part of the charging pile 1 first is provided with red
Outer diode 4, the electric discharge contact is connected with charging by relay with power supply, first infrared diode control described in after
Electrical equipment is turned on and off；When relay is opened, electric discharge contact and power electric connection, when cut-off, electric discharge contact with
Power supply is disconnected, i.e., be to disconnect between electric discharge contact and power supply under non-charged state, not charged on electric discharge contact.
The bottom of mobile receiving end 2 is provided with sensing contact 5, the sidepiece of mobile receiving end 2 second is provided with infrared by two
Pole pipe 6, the sensing contact is connected with the accumulator in robot, and it is electrically connected with the electric discharge contact 3 on charging pile 1 when charging
Connect.
Electric discharge contact and sensing contact in the automatic charging system matches each other, and when charging, electric discharge contact is located at
The lower section of sensing contact, the two all has resilient contact chip, ensure that fully connecing between electric discharge contact and sensing contact
Touch, it is ensured that steady, the safety of charging process.Electric discharge contact 3 is arranged at the upper base surface of charging pile 1, raises up；Sensing is touched
Piece 5 is arranged at the bottom lower surface of mobile receiving end 2, downwardly convex.
.First infrared diode has RF transmitter and infrared remote receiver, the second infrared diode tool
The infrared receiver for having RF transmitter and infrared receiver, the second infrared diode can receive the first infrared diode
The infrared ray that RF transmitter is launched, it is red that the infrared receiver of the first infrared diode can receive the second infrared diode
The infrared ray that outside line emitter is launched.
In one preferred embodiment, as shown in Figures 1 and 2, laser thunder is included in the mobile receiving end 2
Reach, laser radar transmitting iraser；The scattering of the iraser that scattering laser radar sends is provided with the charging pile 1
Area 7, by the cooperation of laser radar and fringe area, enables to the more convenient position that must know charging pile of robot,
And control robot and move to relevant position, in order to charge.
In one preferred embodiment, the laser radar robot need charge when with the fringe area as mesh
Mark control robot is moved near the charging pile 1, and electric discharge contact 3 is mutually abutted against with sensing contact 5 such that it is able to
Perform charging operation.
In one preferred embodiment, first infrared diode and the second infrared diode are moved in robot
To near the charging pile 2, and the contact 3 that discharges carries out authentication when mutually abutting against with sensing contact 5, and in authentication
Control relay is opened after success, electric discharge contact and power electric connection, so that it is guaranteed that the safety charged, it is to avoid because other
Disturb and mistakenly start charging operation, cause danger.
In one preferred embodiment, the authentication includes：Second infrared diode is in the machine
People sends the infrared signal of " having reached charge position " when moving near the charging pile 2, and is connect by the first infrared diode
Receive；First infrared diode receives the infrared signal that " having been received by " is sent after the infrared signal of " having reached charge position ", and
Received by the second infrared diode.The infrared signal of " having reached charge position " described in this utility model and " having been received by "
Infrared signal is all infrared signal, wherein specific presupposed information can be included, wherein described " having reached charge position " and "
Receive " for representing that the information stored in the infrared signal to be played a part of, it is distinguish between by its effect.
Preferably, two the first infrared diodes 4 are provided with the charging pile 1, one has RF transmitter,
Another has infrared receiver, is distributed in the two ends of charging pile 1；
Two the second infrared diodes 6 in the mobile receiving end 2, one has infrared receiver, another tool
There is RF transmitter, be distributed in the mobile receiving end two ends,
Wherein, the position of two the first infrared diodes is corresponding with the position of two the second infrared diodes 6 respectively.
It is further preferred that after authentication passes through, the second infrared diode circulation in robot sends and " starts to fill
After the infrared signal of electricity " is to the first infrared diode on charging pile, after the first infrared diode on charging pile is received, its
Internal relay is connected, and is started as robot charging, if waiting 10s still not receive charge command, whole infrared identity
Verification process stops, and need to restart first step certification；Meanwhile, robot persistently sends order, after there is uncharged situation,
Reenter charging process.
In one preferred embodiment, when abutting between the electric discharge contact 3 and sensing contact 5, the electric energy of power supply
Pass sequentially through electric discharge contact 3 and sensing contact 5 is transferred in accumulator.Connecing described in this utility model refer to two contacts it
Between have contact physically, and contact area is sufficiently large, can transmit electric energy.
In one preferred embodiment, the fringe area 7 is placed at the surface of the charging pile 1, caves inward, depression
Part forms and inclines shiny surface, scatters iraser, can be convenient to laser radar and find target.
The fringe area 7 is located between two the first infrared diodes 4；
In one preferred embodiment, the mobile receiving end 2 is arranged on the chassis of robot, on the chassis
On be provided with the drive mechanism of robot, the drive mechanism drives the mobile receiving end 2 near charging pile, and causes electric discharge
Contact 3 is mutually abutted against with sensing contact 5 and is electrically connected.
Specifically, as shown in Figures 4 and 5, the drive mechanism includes being located at two drivings at the anterior two ends in chassis 8
The motor 83 of a wheel 81, driven pulley 82 positioned at the rear end of chassis 8 and drive driving wheel 81；The drive mechanism
Realize turning by the speed difference of two driving wheels 81, radius of turn can be from 0 to infinity；Preferably, the motor 83
For motor.
In a preferred embodiment, the front end both sides of the chassis 8 are provided with groove, are respectively used to install two relatively
Driving wheel；Preferably, multiple through holes are distributed with chassis, for by various connecting lines or fixing line.The setting of through hole is also
Have the function of radiating concurrently, and alleviate the weight of robot to a certain extent.Chassis by with certain thickness steel plate or
Duralumin plate is processed into, and is unlikely to deform, can the load at least quality of 150kg, the movement of robot is not affected under heavy burden.
In a preferred embodiment, motor 83 is by the output shaft through driving wheel 81 and motor 83
84 drive driving wheels 81 operate.Driving wheel can be rotated forward or reversely rotated under motor drive so that robot advance or after
Move back.The driven pulley 7 is universal wheel, and the distance of 82 to two driving wheel corresponding sites of driven pulley is equal, makes robot chassis weight
The heart is stablized.The corresponding site can be two driving wheels inner side and the intersection point or two driving wheels outside of output shaft and the friendship of output shaft
Point.
In one preferred embodiment, as shown in Figures 4 and 5, upset is provided between driving wheel and motor
Component.The upset component includes swivel plate 9 and fixed plate 10.One end of the swivel plate 9 is by shaft coupling piece 11 and fixes
One end of plate 10 is connected.The longitudinal cross-section of the fixed plate 10 is L-shaped, including longitudinal plate 101 and transverse plate 102, by passing through
The connector of transverse plate 102 is arranged on chassis 1, and position will not change in robot moving process.
In one preferred embodiment, the swivel plate 9 is similar to the structure of fixed plate 10, the longitudinal direction of swivel plate 9
Section is L-shaped, including longitudinal plate 91 and transverse plate 92.What the longitudinal plate 91 and transverse plate 92 integrated can be processed,
Or to be formed by being welded to connect, longitudinal plate 91 and the joint of transverse plate 92 arrange ribs, for increasing the strong of swivel plate 9
Degree.
In one preferred embodiment, as shown in Figure 4, the longitudinal plate 91 is provided with circle towards the side of driving wheel
Shape boss, longitudinal plate 91 is provided with the phase of circular groove, the round boss and circular groove towards the side of motor
Agree with, i.e., described round boss and the circular groove center of circle and radius all same.Bearing, the circle are placed in the circular groove
Boss center opens up manhole, and swivel plate 9 is made with driving wheel and motor phase by the output shaft through bearing and through hole
Even.
In one preferred embodiment, the transverse plate 92 of the swivel plate 9 is provided with riser 921 upwards, described
Through hole is set on riser 921；The transverse plate 102 of the fixed plate 10 is provided with riser 1021 upwards, on the riser 1021
Through hole is set；Spring 12 is connected between two through hole, the spring 12 plays a part of damping in robot movement.
In one preferred embodiment, the one end in the longitudinal plate 91 away from fixed plate 10 is provided with driving electricity
The projection 911 of machine, described raised 911 above chassis.The swivel plate 9 in the groove of chassis both sides, the front end of transverse plate 92
A part is located at chassis lower section, and in robot resting state, the overall of swivel plate 9 is not contacted with chassis 1.
When pit, driving wheel sink, and is moved down by the plate 9 that is rotated of output shaft for robot, and swivel plate 9 connects around axle
Fitting 11 is rotated, the tension change of spring 12, slows down decrease speed, after driving wheel declines to a certain extent, the projection on swivel plate 9
911 contact with chassis 1, and driving wheel no longer declines, and in the case where motor drives pit is crossed.
Above in association with being preferred embodiment illustrated to this utility model, but these embodiments are only models
Example property, only play illustrative effect.On this basis, various replacements and improvement can be carried out to this utility model, these
Each fall within protection domain of the present utility model.
Claims (10)
1. the infrared automatic charging system of a kind of robot, it is characterised in that the system includes charging pile (1) and mobile receiving end
(2), wherein, the charging pile (1) main part including bottom and thereon,
The bottom of the charging pile (1) is provided with electric discharge contact (3), the main part of the charging pile (1) is provided with first
Infrared diode (4), the electric discharge contact is connected with charging by relay (11) with power supply, the first infrared diode control
Make the relay to be turned on and off；
The mobile receiving end (2) is arranged in robot, is moved as robot is moved, at the bottom of mobile receiving end (2)
Portion is provided with sensing contact (5), and mobile receiving end (2) sidepiece is provided with the second infrared diode (6), the sensing contact with
Storage battery in robot is connected, and it is electrically connected with the electric discharge contact (3) on charging pile (1) when charging.
2. automatic charging system according to claim 1, it is characterised in that
The mobile receiving end (2) includes laser radar, laser radar transmitting iraser；
Fringe area (7) is provided with the main body of the charging pile (1), the iraser scattering that it sends laser radar.
3. automatic charging system according to claim 1, it is characterised in that
First infrared diode has RF transmitter and infrared remote receiver, and second infrared diode has infrared
Line emitter and infrared receiver, the infrared receiver of the second infrared diode can receive the first infrared diode infrared ray
The infrared ray that emitter is launched, the infrared receiver of the first infrared diode can receive the second infrared diode infrared ray and send out
The infrared ray that emitter is launched.
4. automatic charging system according to claim 3, it is characterised in that
Electric discharge contact (3) is arranged at the upper base surface of charging pile (1), raises up；
Sensing contact (5) is arranged at mobile receiving end (2) bottom lower surface, downwardly convex.
5. automatic charging system according to claim 1, it is characterised in that
Electric discharge contact (3) is matched with sensing contact (5) electrical connection, and in the infrared receiver of the second infrared diode first is received
The infrared ray that infrared diode RF transmitter is launched, and the infrared receiver of the first infrared diode can receive second
During the infrared ray that infrared diode RF transmitter is launched, electric discharge contact (3) is mutually abutted against with sensing contact (5) and is electrically connected.
6. automatic charging system according to claim 1, it is characterised in that
During charging, opened by the first infrared diode control relay, electric discharge contact one end directly electrically connects with power supply, discharges
The contact other end is electrically connected with sensing contact, and sensing contact is connected with the storage battery in robot.
7. automatic charging system according to claim 1, it is characterised in that
Two the first infrared diodes (4) are provided with the charging pile (1), one has RF transmitter, another
With infrared receiver, charging pile (1) two ends are distributed in；
In upper two the second infrared diodes (6) of the mobile receiving end (2), one has infrared receiver, another tool
There is RF transmitter, be distributed in the mobile receiving end two ends,
Wherein, the position of two the first infrared diodes is corresponding with the position of two the second infrared diodes (6) respectively.
8. automatic charging system according to claim 1, it is characterised in that
The fringe area (7) is placed at the charging pile (1) surface, caves inward, and female is formed and inclines shiny surface, scattering
Iraser.
9. automatic charging system according to claim 7, it is characterised in that
The fringe area (7) is between two the first infrared diodes (4).
10. automatic charging system according to claim 1, it is characterised in that
The mobile receiving end (2) is arranged on the chassis of robot, and the drive mechanism of robot is provided with the chassis,
The drive mechanism drives the mobile receiving end (2) near charging pile, and causes electric discharge contact (3) with sensing contact (5) mutually
Abut against and be electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621031195.7U CN206117207U (en) | 2016-08-31 | 2016-08-31 | Infrared automatic charging system in robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621031195.7U CN206117207U (en) | 2016-08-31 | 2016-08-31 | Infrared automatic charging system in robot |
Publications (1)
| Publication Number | Publication Date |
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| CN206117207U true CN206117207U (en) | 2017-04-19 |
Family
ID=58519261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201621031195.7U Active CN206117207U (en) | 2016-08-31 | 2016-08-31 | Infrared automatic charging system in robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108398947A (en) * | 2018-02-09 | 2018-08-14 | 弗徕威智能机器人科技（上海）有限公司 | A kind of cradle recognition methods |
| CN109474041A (en) * | 2018-12-25 | 2019-03-15 | 荷贝克电源系统（溧阳）有限公司 | A kind of on-line Full intelligent industrial charger of industrial robot and its charging method |
| CN110690745A (en) * | 2019-10-28 | 2020-01-14 | 杭州艾米机器人有限公司 | Automatic charging system of robot |
| CN110757446A (en) * | 2018-07-25 | 2020-02-07 | 深圳市优必选科技有限公司 | Robot recharging login method and device and storage device |
| CN112311027A (en) * | 2019-07-29 | 2021-02-02 | 惠州拓邦电气技术有限公司 | Robot automatic charging control method, device and system and robot |
-
2016
- 2016-08-31 CN CN201621031195.7U patent/CN206117207U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108398947A (en) * | 2018-02-09 | 2018-08-14 | 弗徕威智能机器人科技（上海）有限公司 | A kind of cradle recognition methods |
| CN110757446A (en) * | 2018-07-25 | 2020-02-07 | 深圳市优必选科技有限公司 | Robot recharging login method and device and storage device |
| US11072072B2 (en) | 2018-07-25 | 2021-07-27 | Ubtech Robotics Corp | Robot recharge docking method and robot with the same |
| CN110757446B (en) * | 2018-07-25 | 2021-08-27 | 深圳市优必选科技有限公司 | Robot recharging login method and device and storage device |
| CN109474041A (en) * | 2018-12-25 | 2019-03-15 | 荷贝克电源系统（溧阳）有限公司 | A kind of on-line Full intelligent industrial charger of industrial robot and its charging method |
| CN112311027A (en) * | 2019-07-29 | 2021-02-02 | 惠州拓邦电气技术有限公司 | Robot automatic charging control method, device and system and robot |
| CN112311027B (en) * | 2019-07-29 | 2022-11-22 | 惠州拓邦电气技术有限公司 | Robot automatic charging control method, device and system and robot |
| CN110690745A (en) * | 2019-10-28 | 2020-01-14 | 杭州艾米机器人有限公司 | Automatic charging system of robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180411 Address after: 250101 Ji'nan high tech Zone, Shandong Road, No. 2350 Patentee after: JINAN ROBOT PHOENIX AUTOMATION SCIENCE & TECHNOLOGY CO., LTD. Address before: 100079 room 1309, Nanfu building, Fengtai District, Beijing Co-patentee before: Dan Jianqiang Patentee before: Lu Kun |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Infrared automatic charging system in robot Effective date of registration: 20181210 Granted publication date: 20170419 Pledgee: Qilu bank Limited by Share Ltd branch of the southern suburbs of Ji'nan Pledgor: JINAN ROBOT PHOENIX AUTOMATION SCIENCE & TECHNOLOGY CO., LTD. Registration number: 2018990001175 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20191224 Granted publication date: 20170419 Pledgee: Qilu bank Limited by Share Ltd branch of the southern suburbs of Ji'nan Pledgor: JINAN ROBOT PHOENIX AUTOMATION SCIENCE & TECHNOLOGY CO., LTD. Registration number: 2018990001175 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Infrared automatic charging system in robot Effective date of registration: 20191231 Granted publication date: 20170419 Pledgee: Qilu bank Limited by Share Ltd branch of the southern suburbs of Ji'nan Pledgor: JINAN ROBOT PHOENIX AUTOMATION SCIENCE & TECHNOLOGY CO., LTD. Registration number: Y2019370000137 |
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