CN207229700U - A kind of mechanical arm harmonic speed reducer - Google Patents
A kind of mechanical arm harmonic speed reducer Download PDFInfo
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- CN207229700U CN207229700U CN201721213374.7U CN201721213374U CN207229700U CN 207229700 U CN207229700 U CN 207229700U CN 201721213374 U CN201721213374 U CN 201721213374U CN 207229700 U CN207229700 U CN 207229700U
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- wave
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- wave producer
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Abstract
The utility model embodiment provides a kind of mechanical arm harmonic speed reducer, including：Wave producer, harmonic wave flexbile gear, output ring, output end cap, harmonic wave firm gear, reducer shell；Threaded hole is provided with the side wall of the reducer shell；The harmonic wave firm gear has inner cavity, and the wave producer and the harmonic wave flexbile gear are arranged in the inner cavity；The harmonic wave firm gear is fixedly connected with the reducer shell, and is fitted and connected, and the harmonic wave firm gear is rotatablely connected with the wave producer, and the harmonic wave firm gear is engaged with the harmonic wave flexbile gear internal tooth；The harmonic wave flexbile gear is fixedly connected with the output end cap, and is fitted and connected；The output ring is arranged between the output end cap and the reducer shell, and is provided with threaded hole on the side wall of the output ring.Compared with prior art, the harmonic speed reducer that the utility model embodiment provides exports power by the way of side exports, and can reduce the axial volume of harmonic speed reducer, so that the volume of joint of mechanical arm reduces.
Description
Technical field
The present invention relates to mechanical arm technical field, more particularly to a kind of mechanical arm harmonic speed reducer.
Background technology
Harmonic wave drive speed reducer, is that one kind makes flexible gear produce controlled elasticity deformation, and and rigid teeth by wave producer
Wheel is meshed to transmit the gear drive of movement and power.
At present in industrial robot field, harmonic speed reducer is widely applied to the joint part of mechanical arm.Traditional
Harmonic speed reducer generally comprises：Wave producer, harmonic wave flexbile gear, output end cap, harmonic wave firm gear, reducer shell.It is also, traditional
Harmonic speed reducer is generally adopted by the mode axially exported, therefore, is also set on the end face of the output end cap of harmonic speed reducer
The fixing pieces such as flange are equipped with, threaded hole is provided with fixing piece, harmonic speed reducer exports power by threaded hole.Therefore, pass
The axial volume of the harmonic speed reducer of system is larger, so cause to apply the volume of the joint of mechanical arm of conventional harmonic retarder compared with
Greatly.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of mechanical arm harmonic speed reducer, to reduce the body of joint of mechanical arm
Product.Concrete technical scheme is as follows：
A kind of harmonic speed reducer, the harmonic speed reducer have splicing structure, and the harmonic speed reducer includes：Ripple occurs
Device, harmonic wave flexbile gear, output ring, output end cap, harmonic wave firm gear, reducer shell；
Threaded hole is provided with the side wall of the reducer shell；
The harmonic wave firm gear has inner cavity, and the wave producer and the harmonic wave flexbile gear are arranged in the inner cavity；
The harmonic wave firm gear is fixedly connected with the reducer shell, and is fitted and connected, the harmonic wave firm gear and the ripple
Generator is rotatablely connected, and the harmonic wave firm gear is engaged with the harmonic wave flexbile gear internal tooth；
The harmonic wave flexbile gear is fixedly connected with the output end cap, and is fitted and connected；
The output ring is arranged between the output end cap and the reducer shell, and on the side wall of the output ring
It is provided with threaded hole.
Alternatively, further include：Wave producer locating shaft；
The wave producer locating shaft is coaxially disposed with the wave producer, and the wave producer locating shaft is sent out with the ripple
Raw device rotation connection, the wave producer locating shaft is arranged between the wave producer and the harmonic wave flexbile gear, and the ripple
Generator locating shaft is quill shaft.
Alternatively, the wave producer is specially quill shaft, and, the inner wall of the hollow hole of the quill shaft, along in described
The axial direction of emptying aperture, is provided through the groove of the hollow hole.
Alternatively, the quantity of the groove is two, and, described two grooves are symmetrical arranged.
Alternatively, the wave producer outer wall is provided with wave producer flexible bearing；
It is interference fit connection, the harmonic wave firm gear and institute between the wave producer flexible bearing and the wave producer
State and engaged for tooth form between harmonic wave flexbile gear.
Alternatively, the reducer shell includes the adjacent retainer ring being fixedly connected and input end cap；
The input end cap is adjacent with the wave producer, and the input end cap is rotatablely connected with the wave producer；
The retainer ring, the harmonic wave firm gear and the wave producer are sequentially connected with, and are set on the side wall of the retainer ring
It is equipped with threaded hole.
Alternatively, further include：X-shaped sealing ring, the first deep groove ball bearing, the second deep groove ball bearing, crossed roller bearing and
End ring；
Second deep groove ball bearing is located between the wave producer and the input end cap, the first deep-groove ball axis
Hold between the wave producer and the wave producer locating shaft, and first deep groove ball bearing and second zanjon
Pre-determined distance is separated between ball bearing；
The outer ring of the crossed roller bearing with the output ring, is fixedly connected, the friendship with the output end cap respectively
The inner ring of fork roller bearing is fixedly connected with the retainer ring；
The X-shaped sealing ring between the retainer ring and the output ring, the X-shaped sealing ring, the output ring,
The crossed roller bearing sequentially adjacent connection；
End ring is installed between the retainer ring and the output end cap, and the end ring intersects rolling with described
Sub- bearing is adjacent, the output ring, the crossed roller bearing, the output end cap sequentially adjacent connection.
Alternatively, the wave producer locating shaft, the harmonic wave flexbile gear sequentially pass through screw with output end cap and connect.
Alternatively, it is connected by screw between the output ring and the output end cap.
Alternatively, it is connected by screw between the end ring and the retainer ring.
Harmonic speed reducer provided in an embodiment of the present invention has splicing structure, and between output end cap and reducer shell
It is provided with output ring, threaded hole is provided with the side wall of output ring and reducer shell, it is suitable from the power of wave producer input
Secondary output of slowing down after harmonic wave flexbile gear, output end cap and output ring.
That is, harmonic speed reducer provided in an embodiment of the present invention exports power by the way of side exports, with showing
There is technology to compare, without being additionally provided with the fixing pieces such as flange on the end face of the output end cap of harmonic speed reducer, can reduce humorous
The axial volume of ripple retarder, so that the volume of joint of mechanical arm reduces.Also, between harmonic wave flexbile gear and output end cap,
And respectively it is fitted and connected between harmonic wave firm gear and reducer shell so that the harmonic speed reducer structure is compacter, overall
Volume reduces, and can further reduce the volume of harmonic speed reducer entirety, so that further such that the volume of joint of mechanical arm subtracts
It is small.
Certainly, implement any of the products of the present invention or method it is not absolutely required to reach all the above excellent at the same time
Point.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
The axial sectional structure that Fig. 1 is provided mechanical arm harmonic speed reducer specific embodiment by the utility model is illustrated
Figure；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is provided the dimensional structure diagram of mechanical arm harmonic speed reducer specific embodiment by the utility model.
Wherein, correspondences of the Fig. 1 into Fig. 3 between each component Name and respective drawings mark is：
1 first deep groove ball bearing；
2 wave producer flexible bearings；
3 harmonic wave firm gears；
4 output rings；
5 wave producer locating shafts；
6 harmonic wave flexbile gears；
7 second deep groove ball bearings；
8 input end caps；
9 wave producers；
10 retainer rings；
11X type sealing rings；
12 crossed roller bearings；
13 end rings；
14 output end caps.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
To reduce the volume of joint of mechanical arm, an embodiment of the present invention provides a kind of mechanical arm harmonic speed reducer.
Incorporated by reference to Fig. 1 and Fig. 2, Fig. 1 is provided the axis of mechanical arm harmonic speed reducer specific embodiment by the utility model
To schematic cross-sectional view；Fig. 2 is the top view of Fig. 1.
The mechanical arm that this specific embodiment is provided has splicing structure with harmonic speed reducer, which includes：
Harmonic wave firm gear 3, output ring 4, harmonic wave flexbile gear 6, wave producer 9, output end cap 14, reducer shell.
Wherein, it is provided with threaded hole on the side wall of fast device housing；Harmonic wave firm gear 3 has inner cavity, and wave producer 9 and harmonic wave are soft
Wheel 6 is arranged in the inner cavity；Harmonic wave firm gear 3 is fixedly connected with reducer shell, and is fitted and connected, and harmonic wave firm gear 3 is sent out with ripple
Raw device 9 is rotatablely connected, and harmonic wave firm gear 3 is engaged with 6 internal tooth of harmonic wave flexbile gear；Harmonic wave flexbile gear 6 is fixedly connected with output end cap 14, and is pasted
Close connection；Output ring 4 is arranged between output end cap 14 and reducer shell, and is provided with threaded hole on the side wall of output ring 4.
For the ease of more fully understanding the concrete structure of mechanical arm harmonic speed reducer, please also refer to Fig. 3, Fig. 3 is the utility model
The dimensional structure diagram of provided mechanical arm harmonic speed reducer specific embodiment.
Harmonic speed reducer provided in an embodiment of the present invention has a splicing structure, and output end cap 14 and reducer shell it
Between be provided with output ring 4, be provided with threaded hole on the side wall of output ring 4 and reducer shell, inputted from wave producer 9 dynamic
Power, sequentially through harmonic wave flexbile gear 6, output end cap 14 and output ring 4 after export.
That is, harmonic speed reducer provided in an embodiment of the present invention exports power by the way of side exports, with showing
There is technology to compare, without being additionally provided with the fixing pieces such as flange on the end face of the output end cap 14 of harmonic speed reducer, can reduce
The axial volume of harmonic speed reducer, so that the volume of joint of mechanical arm reduces.Also, harmonic wave flexbile gear 6 and output end cap 14
Between, and be respectively fitted and connected between harmonic wave firm gear 3 and reducer shell so that the harmonic speed reducer structure is more stepped up
Gather, overall volume reduces, can further reduce the volume of harmonic speed reducer entirety, so that further such that joint of mechanical arm
Volume reduces.
Further, in order to enable the work that wave producer 9 can be stablized, i.e., do not shift during the work time, this
Mechanical arm in embodiment is further included with harmonic speed reducer：Wave producer locating shaft 5.
Wave producer locating shaft 5 is coaxially disposed with wave producer 9, and wave producer locating shaft 5 is rotated with wave producer 9 to be connected
Connect, wave producer locating shaft 5 is arranged between wave producer 9 and harmonic wave flexbile gear 6, and wave producer locating shaft 5 is quill shaft.
Specifically, in order to which the connection of harmonic speed reducer and motor is carried out assembling simplification, i.e., easy to harmonic reduction
The connection of device and motor, reduces assembly difficulty, and in the present embodiment, wave producer 9 is specially quill shaft, and, in quill shaft
The inner wall of emptying aperture, along the axial direction of hollow hole, is provided through the groove of hollow hole (referring to Fig. 3).
In practical applications, convex block is provided with the output shaft of motor, in installation process, the output shaft of motor is inserted into
Into the hollow hole of wave producer 9, until the fit depressions of the convex block and hollow hole on motor output shaft.By groove and convex
Block, direct motor and harmonic speed reducer are linked together, and instead of traditional key connection, can substantially reduce the difficulty of assembling.
Preferably, the quantity of the groove of the inner wall of wave producer 9 can be two, and, the two grooves are symmetrical arranged.
Specifically, high-speed rotation can be preferably realized for the ease of wave producer 9, in the present embodiment, outside wave producer 9
Wall is provided with wave producer flexible bearing 2, is interference fit connection, harmonic wave between wave producer flexible bearing 2 and wave producer 9
Engaged between firm gear 3 and harmonic wave flexbile gear 6 for tooth form.
Alternatively, for the ease of dismounting, in the present embodiment, reducer shell includes adjacent 10 He of retainer ring being fixedly connected
Input end cap 8.
Wherein, it is adjacent with wave producer 9 to input end cap 8, and inputs end cap 8 and is rotatablely connected with wave producer 9；Retainer ring
10th, harmonic wave firm gear 3 and wave producer 9 are sequentially connected with, and are provided with threaded hole on the side wall of retainer ring 10.
Specifically, the mechanical arm in the present embodiment is further included with harmonic speed reducer：X-shaped sealing ring 11, the first deep-groove ball axis
Hold the 1, second deep groove ball bearing 7, crossed roller bearing 12 and end ring 13.
Wherein, the second deep groove ball bearing 7 is located between wave producer 9 and input end cap 8, and the first deep groove ball bearing 1 is located at
Between wave producer 9 and wave producer locating shaft 5, and between the first deep groove ball bearing 1 and the second deep groove ball bearing 7 between be separated with it is pre-
If distance.The high-speed rotation of wave producer 9 can be preferably realized by the first deep groove ball bearing 1 and the second deep groove ball bearing 7.
The outer ring of crossed roller bearing 12 with output ring 4, is fixedly connected, crossed roller bearing 12 with output end cap 14 respectively
Inner ring be fixedly connected with retainer ring 10.By crossed roller bearing 12 can stablize by retainer ring 10, output ring 4 and output
End cap 14 is fixed together, so that the overall volume of mechanical arm harmonic speed reducer diminishes.
X-shaped sealing ring 11 is between retainer ring 10 and output ring 4, and X-shaped sealing ring 11, output ring 4, crossed roller axis
Hold 12 sequentially adjacent connections.End ring 13 is installed between retainer ring 10 and output end cap 14, and end ring 13 is with intersecting
Roller bearing 12 is adjacent, output ring 4, crossed roller bearing 12, the output sequentially adjacent connection of end cap 14.Pass through X-shaped sealing ring 11
It can ensure the leakproofness of the mechanical arm harmonic speed reducer entirety with end ring 13.
Specifically, wave producer locating shaft 5, harmonic wave flexbile gear 6 sequentially pass through screw with output end cap 14 and connect.In order to incite somebody to action
Wave producer locating shaft 5, harmonic wave flexbile gear 6 and output end cap 14 are fixed together, and are convenient for dismantling.
Preferably, the mechanical interface on wave producer locating shaft 5, harmonic wave flexbile gear 6 and output end cap 14 can be specially：It is defeated
The mechanical interface for going out end cap 14 is 8 unthreaded holes, and the mechanical interface of harmonic wave flexbile gear 6 is 8 unthreaded holes, the machine of wave producer locating shaft 5
Tool interface is 8 threaded holes.During installation, mounting screw is sequentially through output end cap 14, harmonic wave flexbile gear 6 and wave producer locating shaft
5。
Specifically, it is connected by screw between output ring 4 and output end cap 14.In order to by output ring 4 and output end cap
14 are fixed together, and are dismantled easy to both.
Preferably, the mechanical interface on output ring 4 and output end cap 14 can be specially：The mechanical interface of output ring 4 is 6
A threaded hole, the mechanical interface of output end cap 14 is 6 unthreaded holes.
Specifically, it is connected by screw between end ring 13 and retainer ring 10.In order to by end ring 13 and fixed
Ring 10 is fixed together, and is dismantled easy to both.
Preferably, the mechanical interface on end ring 13 and retainer ring 10 can be specially：The machinery of end ring 13 connects
Mouth is 8 unthreaded holes, and the mechanical interface of retainer ring 10 is 8 threaded holes.
It should be noted that " first " in the first deep groove ball bearing 1 in above-described embodiment, and the first deep-groove ball
" second " in bearing 1 is used merely to distinguish two deep groove ball bearings from name, and does not have any limiting meaning.
It is understood that in the present embodiment, wave producer 9 is the importation of the mechanical arm harmonic speed reducer, humorous
Ripple flexbile gear 6, output ring 4 and output end cap 14 be the mechanical arm harmonic speed reducer output par, c, harmonic wave firm gear 3, retainer ring
10 fixed part with input end cap 8 for the mechanical arm harmonic speed reducer.Inputted from the wave producer 9 of importation dynamic
Power, exports after harmonic wave flexbile gear 6 sequentially through output par, c, output end cap 14 and output ring 4.
Compared with prior art, this mechanical arm is with the advantages of harmonic speed reducer：
1st, the method exported using side so that the axial volume of mechanical arm harmonic speed reducer diminishes.
2nd, can be directly connected by the groove of wave producer inner wall with motor, assembly difficulty is low.
3rd, there is splicing structure so that the overall volume after mechanical arm is installed with harmonic speed reducer diminishes.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-exclusive
Property includes, so that process, method, article or equipment including a series of elements not only you including those key elements, and
And other elements that are not explicitly listed are further included, or further include as this process, method, article or equipment institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including institute
State in process, method, article or the equipment of key element that also there are other identical element.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of harmonic speed reducer, it is characterised in that the harmonic speed reducer has splicing structure, the harmonic speed reducer bag
Include：Harmonic wave firm gear (3), output ring (4), harmonic wave flexbile gear (6), wave producer (9), output end cap (14), reducer shell；
Threaded hole is provided with the side wall of the reducer shell；
The harmonic wave firm gear (3) has inner cavity, and the wave producer (9) and the harmonic wave flexbile gear (6) are arranged in the inner cavity；
The harmonic wave firm gear (3) is fixedly connected with the reducer shell, and is fitted and connected, the harmonic wave firm gear (3) with it is described
Wave producer (9) is rotatablely connected, and the harmonic wave firm gear (3) is engaged with harmonic wave flexbile gear (6) internal tooth；
The harmonic wave flexbile gear (6) is fixedly connected with the output end cap (14), and is fitted and connected；
The output ring (4) is arranged between the output end cap (14) and the reducer shell, and the output ring (4)
Threaded hole is provided with side wall.
2. harmonic speed reducer according to claim 1, it is characterised in that further include：Wave producer locating shaft (5)；
The wave producer locating shaft (5) is coaxially disposed with the wave producer (9), the wave producer locating shaft (5) and institute
Wave producer (9) rotation connection is stated, the wave producer locating shaft (5) is arranged on the wave producer (9) and the harmonic wave is soft
Between taking turns (6), and the wave producer locating shaft (5) is quill shaft.
3. harmonic speed reducer according to claim 1, it is characterised in that the wave producer (9) is specially quill shaft,
And the inner wall of the hollow hole of the quill shaft, along the axial direction of the hollow hole, it is provided through the recessed of the hollow hole
Groove.
4. harmonic speed reducer according to claim 3, it is characterised in that the quantity of the groove is two, and, described two
A groove is symmetrical arranged.
5. according to claim 1-4 any one of them harmonic speed reducers, it is characterised in that wave producer (9) the outer wall peace
Equipped with wave producer flexible bearing (2)；
It is interference fit connection, the harmonic wave firm gear between the wave producer flexible bearing (2) and the wave producer (9)
(3) engaged between the harmonic wave flexbile gear (6) for tooth form.
6. harmonic speed reducer according to claim 5, it is characterised in that the reducer shell includes adjacent be fixedly connected
Retainer ring (10) and input end cap (8)；
The input end cap (8) is adjacent with the wave producer (9), and the input end cap (8) turns with the wave producer (9)
Dynamic connection；
The retainer ring (10), the harmonic wave firm gear (3) and the wave producer (9) are sequentially connected with, and the retainer ring (10)
Side wall on be provided with threaded hole.
7. harmonic speed reducer according to claim 6, it is characterised in that further include：X-shaped sealing ring (11), the first zanjon
Ball bearing (1), the second deep groove ball bearing (7), crossed roller bearing (12) and end ring (13)；
Second deep groove ball bearing (7) is located between the wave producer (9) and the input end cap (8), and described first is deep
Ditch ball bearing (1) is between the wave producer (9) and the wave producer locating shaft (5), and the first deep-groove ball axis
Pre-determined distance is separated between holding between (1) and second deep groove ball bearing (7)；
The outer ring of the crossed roller bearing (12) with the output ring (4), is fixedly connected with the output end cap (14) respectively,
The inner ring of the crossed roller bearing (12) is fixedly connected with the retainer ring (10)；
The X-shaped sealing ring (11) between the retainer ring (10) and the output ring (4), the X-shaped sealing ring (11),
The output ring (4), the crossed roller bearing (12) sequentially adjacent connection；
End ring (13), and the end ring (13) are installed between the retainer ring (10) and the output end cap (14)
It is adjacent with the crossed roller bearing (12), the output ring (4), the crossed roller bearing (12), the output end cap
(14) sequentially adjacent connection.
8. harmonic speed reducer according to claim 7, it is characterised in that the wave producer locating shaft (5), the harmonic wave
Flexbile gear (6) sequentially passes through screw with output end cap (14) and connects.
9. harmonic speed reducer according to claim 8, it is characterised in that the output ring (4) and the output end cap
(14) it is connected by screw between.
10. harmonic speed reducer according to claim 9, it is characterised in that the end ring (13) and the retainer ring
(10) it is connected by screw between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721213374.7U CN207229700U (en) | 2017-09-21 | 2017-09-21 | A kind of mechanical arm harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721213374.7U CN207229700U (en) | 2017-09-21 | 2017-09-21 | A kind of mechanical arm harmonic speed reducer |
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| Publication Number | Publication Date |
|---|---|
| CN207229700U true CN207229700U (en) | 2018-04-13 |
Family
ID=61863282
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721213374.7U Active CN207229700U (en) | 2017-09-21 | 2017-09-21 | A kind of mechanical arm harmonic speed reducer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110822056A (en) * | 2019-11-26 | 2020-02-21 | 北京工业大学 | Short-cylinder harmonic reducer with plane differential teeth meshed |
| CN112539260A (en) * | 2020-12-14 | 2021-03-23 | 深圳市山卓谐波传动科技有限公司 | Harmonic reducer |
| CN114537545A (en) * | 2020-11-24 | 2022-05-27 | 云南电网有限责任公司昆明供电局 | Mobile robot swing arm track driving device |
| WO2023051714A1 (en) * | 2021-09-30 | 2023-04-06 | 深圳市越疆科技有限公司 | Joint, mechanical arm and robot, and harmonic reducer device and mounting method therefor |
-
2017
- 2017-09-21 CN CN201721213374.7U patent/CN207229700U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110822056A (en) * | 2019-11-26 | 2020-02-21 | 北京工业大学 | Short-cylinder harmonic reducer with plane differential teeth meshed |
| CN114537545A (en) * | 2020-11-24 | 2022-05-27 | 云南电网有限责任公司昆明供电局 | Mobile robot swing arm track driving device |
| CN112539260A (en) * | 2020-12-14 | 2021-03-23 | 深圳市山卓谐波传动科技有限公司 | Harmonic reducer |
| WO2023051714A1 (en) * | 2021-09-30 | 2023-04-06 | 深圳市越疆科技有限公司 | Joint, mechanical arm and robot, and harmonic reducer device and mounting method therefor |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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: Harmonic speed reducer ware for arm Effective date of registration: 20180628 Granted publication date: 20180413 Pledgee: Beijing Jingxi Xinrong Cci Capital Ltd. Pledgor: AUBO (BEIJING) ROBOTICS TECHNOLOGY Co.,Ltd. Registration number: 2018990000503 |
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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: 20200421 Granted publication date: 20180413 Pledgee: Beijing Jingxi Xinrong Cci Capital Ltd. Pledgor: AUBO (BEIJING) ROBOTICS TECHNOLOGY Co.,Ltd. Registration number: 2018990000503 |
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| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Room 407, building 5, yard 98, lianshihu West Road, Mentougou District, Beijing 102300 Patentee after: AUBO (Beijing) Intelligent Technology Co.,Ltd. Address before: 102300 301a1, building 5, Shilong Yangguang building, 98 lianshihu West Road, Mentougou District, Beijing Patentee before: AUBO (BEIJING) ROBOTICS TECHNOLOGY Co.,Ltd. |