CN207281896U - Automatic vending machine picking mechanism - Google Patents
Automatic vending machine picking mechanism Download PDFInfo
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- CN207281896U CN207281896U CN201721045245.1U CN201721045245U CN207281896U CN 207281896 U CN207281896 U CN 207281896U CN 201721045245 U CN201721045245 U CN 201721045245U CN 207281896 U CN207281896 U CN 207281896U
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- synchronous belt
- suction nozzle
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- rotary shaft
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Abstract
The utility model discloses a kind of automatic vending machine picking mechanism, including suction nozzle delivery platform, negative pressure component suction nozzle, lift module peace shifting formwork group, wherein, suction nozzle delivery platform is equipped with translation conveyors structure, negative pressure component suction nozzle includes the suction nozzle mounting base being installed on translation conveyors structure and the negative pressure suction nozzle installed in suction nozzle mounting base front end, the suction nozzle mounting base can move in the horizontal direction under the drive of translation conveyors structure, lifting module is connected with suction nozzle delivery platform, for driving suction nozzle delivery platform vertically to move, translation module is connected with lifting module, for driving lifting module to move in the horizontal direction, and the direction of motion is vertical with the direction of motion of suction nozzle mounting base.It is novel using automatic vending machine picking mechanism provided by the utility model, structure, it is easy to accomplish, there is three-dimensional locomotivity, can accurately and reliably capture the kinds of goods of various packagings, and be smoothly transported to output port.
Description
Technical field
The utility model belongs to automatic vending machine technical field, and in particular to a kind of automatic vending machine picking mechanism.
Background technology
Automatic vending machine is a kind of brand-new retailing form, is grown up from Japan and America and Europe the 1970s,
It is otherwise known as the micro supermarket of 24 HOUR ACCESS.From the point of view of the development trend of automatic vending machine, its appearance is due to work
Intensive industry constructs the product to technology-intensive social transformation.A large amount of productions, a large amount of consumption and consumption mode and pin
Sell the change of environment, it is desirable to new circulation occur；And the production of the new circulation such as opposite supermarket, general merchandise shopping center
Raw, labour cost also constantly rises；Along with the restriction of these factors of the limitation and the convenience etc. of shopping in place, nobody
Automatic vending machine is stepped up as a kind of popularity of necessary product just in China.
Traditional automatic vending machine using the form of rotation shipment, released beyond shelf, made by it by swivel mount by kinds of goods
Kinds of goods drop to output port.Therefore, the kinds of goods that automatic vending machine requires to sell must have the function of shatter-resistant, and use such as glass
The kinds of goods of the packagings such as glass bottle can not just be applied to automatic vending machine, cause the kinds of goods type that automatic vending machine can be sold not wide enough
It is general.Solving problem above becomes the task of top priority.
Utility model content
To solve above technical problem, the utility model provides a kind of automatic vending machine picking mechanism, it has three-dimensional move
Kinetic force, can capture the kinds of goods of various packagings, have a wide range of application, and reliability is high.
To achieve the above object, technical solutions of the utility model are as follows：
A kind of automatic vending machine picking mechanism, it is characterized by, including：Suction nozzle delivery platform, it is equipped with translation conveyors
Structure；Negative pressure component suction nozzle, it includes the suction nozzle mounting base being installed on translation conveyors structure and before suction nozzle mounting base
The negative pressure suction nozzle at end, the suction nozzle mounting base can move in the horizontal direction under the drive of translation conveyors structure, and make negative pressure
Suction nozzle is stretched out beyond suction nozzle delivery platform；Module is lifted, it is connected with suction nozzle delivery platform, for driving suction nozzle delivery platform edge
Vertical direction moves；And translation module, it is connected with lifting module, for driving lifting module to move in the horizontal direction, and
The direction of motion is vertical with the direction of motion of suction nozzle mounting base.
Using above structure, by translating module and translation conveying mechanism, negative pressure component suction nozzle is set to realize X-axis and Y
Movement on direction of principal axis, by lifting module, enables negative pressure component suction nozzle to realize the movement in Z-direction, and then common right
Three-dimensional regulation is realized in the position of negative pressure suction nozzle, realizes the accurate adjusting of negative pressure suction nozzle position, to capture kinds of goods exactly, and ties
Structure is simple, reliable, it is easy to accomplish；Negative pressure suction nozzle can reliably adsorb a variety of kinds of goods by the way of negative-pressure adsorption
Packaging, kinds of goods are smoothly sent to output port, avoid kinds of goods and the risk that eminence falls damage occurs.
As preferred：The lifting platform that the balladeur train and balladeur train that the lifting module includes vertically setting are slidably matched
And the lifting drive component that lift along balladeur train of lifting platform is driven, the suction nozzle delivery platform, and can be on balladeur train
Lifted under the drive of balladeur train.Using above structure, the structure of control lifting of lifting table has been implemented, it is simple, reliable, it is easy to real
It is existing.
As preferred：The lifting drive component includes lifting motor, intermediate rotary shaft one, intermediate rotary shaft two, synchronous belt group
First, synchronous belt group two and synchronous belt group three；The synchronous belt group one connects with the motor shaft of intermediate rotary shaft one and lifting motor respectively
Connect, and under the drive of the motor shaft of lifting motor intermediate rotary shaft one can be driven to rotate；The synchronous belt group two and synchronous belt
Group three is connected with intermediate rotary shaft one and intermediate rotary shaft two respectively, the equal lifting platform of synchronous belt of the synchronous belt group two and synchronous belt group three
Connection, the synchronous belt group two and synchronous belt group three can drive lifting platform along balladeur train liter under the drive in intermediate rotary shaft one
Drop.Using above structure, the both ends of intermediate rotary shaft one and intermediate rotary shaft two are respectively controlled by one group of synchronous belt group, are substantially increased
Lift the reliability that drive component drives lifting of lifting table.
As preferred：Upper slide that the translation module includes being slidably matched with balladeur train upper end, match somebody with somebody with balladeur train lower slide
The glidepath of conjunction and the driven in translation component translated for drive carriage along upper slide and glidepath.Using above structure, tool
Body realizes the structure that control lifting platform translates together with lifting module, and the design of upper and lower slide makes structure relatively reliable.
As preferred：The driven in translation component includes translation motor, intermediate rotary shaft three, synchronous belt group four, synchronous belt group
5th, synchronous belt group six, synchronous belt group seven and synchronous belt group eight；The synchronous belt group four respectively with intermediate rotary shaft three and translation motor
Motor axis connection, and under the drive of the motor shaft of translation motor intermediate rotary shaft three can be driven to rotate；The synchronous belt group seven
On upper slide, the synchronous belt of the synchronous belt group seven and the upper end of balladeur train connect, a synchronizing wheel of the synchronous belt group seven
Synchronous belt group five is connected between intermediate rotary shaft three, which can drive synchronous under the drive of intermediate rotary shaft three
Band group seven, and balladeur train is slided along upper slide；The synchronous belt group octet on glidepath, the synchronous belt of the synchronous belt group eight with
The lower end connection of balladeur train, synchronous belt group six is connected between the synchronizing wheel and intermediate rotary shaft three of the synchronous belt group eight, should
Synchronous belt group six can drive synchronous belt group eight under the drive of intermediate rotary shaft three, and balladeur train is slided along glidepath.Use with
Upper structure, translation motor and intermediate rotary shaft three are fixed on the fixed frame of automatic vending machine between, reliable and stable, then are led to
The cooperation of intermediate rotary shaft three and each synchronous belt group is crossed, realizes balladeur train at the same time along the slip of upper and lower slide.
As preferred：What the translation conveyors structure was slidably matched including two guide rods being arranged in parallel, with two guide rods
The drive component that sliding block and driving sliding block are slided along guide rod, the suction nozzle mounting base are fixed on sliding block.Using above structure,
It is rational in infrastructure, it is reliable and stable, the adjusting of negative pressure suction nozzle position is realized, to capture kinds of goods exactly.
As preferred：The driving component includes synchronous belt group nine and driving motor, the synchronous belt of the synchronous belt group nine
It is connected with sliding block, which driving sliding block can slide under the drive of driving motor along guide rod.Using above structure,
It is simple in structure, reliable, it is easy to accomplish.
As preferred：The front end of the suction nozzle delivery platform is provided with sensor.Using above structure, pass through sensor
It can accurately learn the distance between suction nozzle delivery platform and shelf information, negative pressure suction nozzle is captured kinds of goods exactly.
Compared with prior art, the beneficial effects of the utility model are：
It is novel using automatic vending machine picking mechanism provided by the utility model, structure, it is easy to accomplish, have three-dimensional mobile
Ability, can accurately and reliably capture the kinds of goods of various packagings, and smoothly be transported to output port.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model；
Fig. 2 is the planar structure schematic diagram of the utility model；
Fig. 3 is the enlarged drawing at A in Fig. 1；
Fig. 4 is the enlarged drawing at B in Fig. 1；
Fig. 5 is the installation relation schematic diagram of suction nozzle delivery platform and negative pressure component suction nozzle.
Embodiment
The utility model is described in further detail with attached drawing with reference to embodiments.
Refer to Fig. 1 and Fig. 2, a kind of automatic vending machine picking mechanism, including suction nozzle delivery platform 1, negative pressure component suction nozzle
2nd, the peaceful shifting formwork group 4 of module 3 is lifted.Wherein, negative pressure component suction nozzle 2 is adsorbed and is captured kinds of goods using negative pressure mode, can be reliable
Ground adsorbs a variety of kinds of goods packagings, and kinds of goods are smoothly sent to output port, avoids kinds of goods generation eminence and falls damage
Risk.Translation module 4 is used to drive negative pressure component suction nozzle 2 to move along X-direction, and suction nozzle delivery platform 1 is used to support negative pressure to inhale
Nozzle assembly 2, and negative pressure component suction nozzle 2 can be driven to be moved along Y direction, lifting module 3 is used to drive 2 edge of negative pressure component suction nozzle
Z-direction moves, so as to realize three-dimensional regulation to the position of negative pressure component suction nozzle 2 jointly, realizes 2 position of negative pressure component suction nozzle
Accurate adjusting, to capture kinds of goods exactly.
Fig. 2, Fig. 4 and Fig. 5 are referred to, the lifting module 3 is connected with suction nozzle delivery platform 1, for driving suction nozzle to convey
Platform 1 vertically moves.Specifically, the lifting module 3 includes the balladeur train 31 and balladeur train 31 vertically set
The lifting platform 32 being slidably matched and the lifting drive component 33 for driving lifting platform 32 to be lifted along balladeur train 31, the suction nozzle conveying are flat
Platform 1 is installed on balladeur train 31, and can be lifted under the drive of balladeur train 31.The lifting drive component 33 includes lifting motor
331st, intermediate rotary shaft 1, intermediate rotary shaft 2 333, synchronous belt group 1, synchronous belt group 2 335 and synchronous belt group 3 336；Institute
Synchronous belt group 1 is stated respectively with intermediate rotary shaft 1 and the motor axis connection of lifting motor 331, and can be in lifting motor
Intermediate rotary shaft 1 is driven to rotate under the drive of 331 motor shaft；Synchronous belt group 2 335 and synchronous belt group 3 336 difference
It is connected with intermediate rotary shaft 1 and intermediate rotary shaft 2 333, the synchronous belt of the synchronous belt group 2 335 and synchronous belt group 3 336 rises
Drop platform 32 connects, and the synchronous belt group 2 335 and synchronous belt group 3 336 can drive under the drive in intermediate rotary shaft 1
Lifting platform 32 is lifted along balladeur train 31.
The motor shaft of lifting motor 331 rotates, and drives intermediate rotary shaft 1 to rotate by synchronous belt group 1, so that by
Intermediate rotary shaft 1 drives synchronous belt group 2 335 and synchronous belt group 3 336 starts and intermediate rotary shaft 2 333 rotates, finally by
Synchronous belt group 2 335 and synchronous belt group 3 336 drive lifting platform 32 to be lifted along balladeur train 31.
Fig. 1~Fig. 4 is referred to, the translation module 4 is connected with lifting module 3, for driving lifting module 3 along level side
To movement, and the direction of motion is vertical with the direction of motion of suction nozzle mounting base 21.Specifically, the translation module 4 includes and cunning
Upper slide 41 that 31 upper end of frame is slidably matched, the glidepath 42 coordinated with 31 lower slide of balladeur train and for 31 edge of drive carriage
The driven in translation component 43 of upper slide 41 and glidepath 42 translation.The driven in translation component 43 includes translation motor 431, centre
Shaft 3 432, synchronous belt group 4 433, synchronous belt group 5 434, synchronous belt group 6 435, synchronous belt group 7 436 and synchronous belt group eight
437；The synchronous belt group 4 433 with intermediate rotary shaft 3 432 and the motor axis connection of translation motor 431, and can translate respectively
Intermediate rotary shaft 3 432 is driven to rotate under the drive of the motor shaft of motor 431；The synchronous belt group 7 436 is located on upper slide 41,
The synchronous belt of the synchronous belt group 7 436 is connected with the upper end of balladeur train 31, a synchronizing wheel and the centre of the synchronous belt group 7 436
Synchronous belt group 5 434 is connected between shaft 3 432, which can drive under the drive of intermediate rotary shaft 3 432
Dynamic synchronous belt group 7 436, and balladeur train 31 is slided along upper slide 41；The synchronous belt group 8 437 is located on glidepath 42, this is same
Walk the synchronous belt with group 8 437 to be connected with the lower end of balladeur train 31, the synchronizing wheel and intermediate rotary shaft of the synchronous belt group 8 437
Synchronous belt group 6 435 is connected between 3 432, which can drive together under the drive of intermediate rotary shaft 3 432
Step band group 8 437, and balladeur train 31 is slided along glidepath 42.
The motor shaft of translation motor 431 rotates, and drives intermediate rotary shaft 3 432 to rotate by synchronous belt group 4 433, so that in
Between shaft 3 432 drive the synchronous belt group 5 434 at lower both ends disposed thereon respectively and synchronous belt group 6 435 to start at the same time, then together
When by synchronous belt group 5 434 drive synchronous belt group 7 436 to start, synchronous belt group 6 435 drives synchronous belt group 8 437 to start, most
Balladeur train 31 is driven to be translated along upper slide 41 and glidepath 42 at the same time by synchronous belt group 7 436 and synchronous belt group 8 437 eventually.
Fig. 2 and Fig. 5 are referred to, the suction nozzle delivery platform 1 is fixedly mounted on lifting platform 32, the negative pressure component suction nozzle
2 are located at the top of suction nozzle delivery platform 1, are equipped with the suction nozzle delivery platform 1 and are used to drive negative pressure component suction nozzle 2 along level
The translation conveyors structure 11 of direction movement, also, the front end of the suction nozzle delivery platform 1 is provided with sensor 12.Specifically
Say, the translation conveyors structure 11 includes two guide rods 111 being arranged in parallel, the sliding block 112 being slidably matched with two guide rods 111
And the drive component 113 that driving sliding block 112 is slided along guide rod 111, the suction nozzle mounting base 21 are fixed on sliding block 112.Institute
Stating drive component 113 includes nine 113a of synchronous belt group and driving motor 113b, the synchronous belt and cunning of nine 113a of synchronous belt group
Block 112 connects, and nine 113a of the synchronous belt group driving sliding block 112 can be slided under the drive of driving motor 113b along guide rod 111.
When sensor 12 detects the location matches of suction nozzle delivery platform 1 and shelf, driving motor 113b starts, and passes through
Synchronous belt group among several groups drives nine 113a of synchronous belt group to start, and negative pressure suction nozzle group is driven eventually through nine 113a of synchronous belt group
Part 2 translates forward, and part is stretched out beyond suction nozzle delivery platform 1, its negative pressure suction nozzle 22 absorption kinds of goods, complete crawl.Need to refer to
Go out, be equipped with pressure sensor in negative pressure component suction nozzle 2, can detect negative pressure suction nozzle 22 by pressure sensor whether may be used
Kinds of goods are adsorbed by ground.
Refer to Fig. 5, the negative pressure component suction nozzle 2 include the suction nozzle mounting base 21 that is installed on translation conveyors structure 11 with
And the negative pressure suction nozzle 22 installed in 21 front end of suction nozzle mounting base, the suction nozzle mounting base 21 can be in the bands of translation conveyors structure 11
Moved in the horizontal direction under dynamic, and negative pressure suction nozzle 22 is stretched out beyond suction nozzle delivery platform 1.
Finally it should be noted that foregoing description is only the preferred embodiment of the utility model, the common skill of this area
Art personnel on the premise of without prejudice to the utility model aims and claim, can make under the enlightenment of the utility model
Expression, such conversion are each fallen within the scope of protection of the utility model as multiple types.
Claims (8)
- A kind of 1. automatic vending machine picking mechanism, it is characterised in that including：Suction nozzle delivery platform (1), it is equipped with translation conveyors structure (11)；Negative pressure component suction nozzle (2), it includes the suction nozzle mounting base (21) being installed on translation conveyors structure (11) and is installed on The negative pressure suction nozzle (22) of suction nozzle mounting base (21) front end, the suction nozzle mounting base (21) can be in the band of translation conveyors structure (11) Moved in the horizontal direction under dynamic, and negative pressure suction nozzle (22) is stretched out beyond suction nozzle delivery platform (1)；Module (3) is lifted, it is connected with suction nozzle delivery platform (1), for driving suction nozzle delivery platform (1) vertically to move It is dynamic；AndModule (4) is translated, it is connected with lifting module (3), for driving lifting module (3) to move in the horizontal direction, and moves Direction is vertical with the direction of motion of suction nozzle mounting base (21).
- 2. automatic vending machine picking mechanism according to claim 1, it is characterised in that：The lifting module (3) includes edge The lifting platform (32) and drive lifting platform (32) along balladeur train that the balladeur train (31) and balladeur train (31) of vertical direction setting are slidably matched (31) the lifting drive component (33) of lifting, the suction nozzle delivery platform (1) are installed on balladeur train (31), and can be in balladeur train (31) lifted under drive.
- 3. automatic vending machine picking mechanism according to claim 2, it is characterised in that：Lifting drive component (33) bag Include lifting motor (331), intermediate rotary shaft one (332), intermediate rotary shaft two (333), synchronous belt group one (334), synchronous belt group two (335) and synchronous belt group three (336)；The synchronous belt group one (334) respectively with intermediate rotary shaft one (332) and the motor axis connection of lifting motor (331), and energy It is enough to drive intermediate rotary shaft one (332) to rotate under the drive of the motor shaft of lifting motor (331)；The synchronous belt group two (335) and synchronous belt group three (336) respectively with intermediate rotary shaft one (332) and intermediate rotary shaft two (333) connect, the equal lifting platform of synchronous belt (32) connection of the synchronous belt group two (335) and synchronous belt group three (336), the synchronization With two (335) of group and synchronous belt group three (336) can under the drive in intermediate rotary shaft one (332) driving lifting platform (32) along cunning Frame (31) lifts.
- 4. the automatic vending machine picking mechanism according to Claims 2 or 3, it is characterised in that：The translation module (4) includes The upper slide (41) that is slidably matched with balladeur train (31) upper end, the glidepath (42) coordinated with balladeur train (31) lower slide and it is used for The driven in translation component (43) that drive carriage (31) is translated along upper slide (41) and glidepath (42).
- 5. automatic vending machine picking mechanism according to claim 4, it is characterised in that：Driven in translation component (43) bag Include translation motor (431), intermediate rotary shaft three (432), synchronous belt group four (433), synchronous belt group five (434), synchronous belt group six (435), synchronous belt group seven (436) and synchronous belt group eight (437)；The synchronous belt group four (433) respectively with intermediate rotary shaft three (432) and the motor axis connection of translation motor (431), and energy Intermediate rotary shaft three (432) is driven to rotate under the drive of the motor shaft of translation motor (431)；The synchronous belt group seven (436) is located on upper slide (41), synchronous belt and the balladeur train (31) of the synchronous belt group seven (436) Upper end connects, and synchronous belt group five is connected between the synchronizing wheel and intermediate rotary shaft three (432) of the synchronous belt group seven (436) (434), which can drive synchronous belt group seven (436) under the drive of intermediate rotary shaft three (432), and make Balladeur train (31) is slided along upper slide (41)；The synchronous belt group eight (437) is located on glidepath (42), synchronous belt and the balladeur train (31) of the synchronous belt group eight (437) Lower end connects, and synchronous belt group six is connected between the synchronizing wheel and intermediate rotary shaft three (432) of the synchronous belt group eight (437) (435), which can drive synchronous belt group eight (437) under the drive of intermediate rotary shaft three (432), and make Balladeur train (31) is slided along glidepath (42).
- 6. according to automatic vending machine picking mechanism according to any one of claims 1 to 3, it is characterised in that：The translation is defeated Send mechanism (11) include two guide rods (111) being arranged in parallel, the sliding block (112) being slidably matched with two guide rods (111) and The drive component (113) that driving sliding block (112) is slided along guide rod (111), the suction nozzle mounting base (21) are fixed on sliding block (112) On.
- 7. automatic vending machine picking mechanism according to claim 6, it is characterised in that：The driving component (113) includes Synchronous belt group nine (113a) and driving motor (113b), the synchronous belt of the synchronous belt group nine (113a) are connected with sliding block (112), The synchronous belt group nine (113a) can drive sliding block (112) to be slided along guide rod (111) under the drive of driving motor (113b).
- 8. according to automatic vending machine picking mechanism according to any one of claims 1 to 3, it is characterised in that：In the suction nozzle The front end of delivery platform (1) is provided with sensor (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721045245.1U CN207281896U (en) | 2017-08-21 | 2017-08-21 | Automatic vending machine picking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721045245.1U CN207281896U (en) | 2017-08-21 | 2017-08-21 | Automatic vending machine picking mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN207281896U true CN207281896U (en) | 2018-04-27 |
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ID=61984425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721045245.1U Active CN207281896U (en) | 2017-08-21 | 2017-08-21 | Automatic vending machine picking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207281896U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108629898A (en) * | 2018-07-16 | 2018-10-09 | 中瑞福宁机器人（沈阳）有限公司 | A kind of automatic vending machine based on nano adsorption formula goods taking device |
| CN109903460A (en) * | 2019-01-11 | 2019-06-18 | 浩科机器人（苏州）有限公司 | Unmanned supermarket's automatically vending system |
| CN112242021A (en) * | 2019-07-19 | 2021-01-19 | 威海新北洋数码科技有限公司 | Goods delivery method and vending machine |
-
2017
- 2017-08-21 CN CN201721045245.1U patent/CN207281896U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108629898A (en) * | 2018-07-16 | 2018-10-09 | 中瑞福宁机器人（沈阳）有限公司 | A kind of automatic vending machine based on nano adsorption formula goods taking device |
| CN108629898B (en) * | 2018-07-16 | 2024-03-12 | 中瑞福宁机器人（沈阳）有限公司 | Automatic vending machine based on nano adsorption type goods taking device |
| CN109903460A (en) * | 2019-01-11 | 2019-06-18 | 浩科机器人（苏州）有限公司 | Unmanned supermarket's automatically vending system |
| CN112242021A (en) * | 2019-07-19 | 2021-01-19 | 威海新北洋数码科技有限公司 | Goods delivery method and vending machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210609 Address after: 401320 no.11-6, Yuqing Road, Banan District, Chongqing Patentee after: Yan Qi Address before: 400050 Chongqing Jiulongpo Xingsheng Road No. 4 Patentee before: CHONGQING LEBA CONVENIENT TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211011 Address after: 400020 building A1, No. 158, Hongen Road, Jiangbei District, Chongqing Patentee after: Chongqing taoranju Digital Technology Group Co.,Ltd. Address before: 401320 no.11-6, Yuqing Road, Banan District, Chongqing Patentee before: Yan Qi |
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| TR01 | Transfer of patent right |