CN207901153U - Manipulator and equipment with manipulator - Google Patents
Manipulator and equipment with manipulator Download PDFInfo
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- CN207901153U CN207901153U CN201820338351.7U CN201820338351U CN207901153U CN 207901153 U CN207901153 U CN 207901153U CN 201820338351 U CN201820338351 U CN 201820338351U CN 207901153 U CN207901153 U CN 207901153U
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Abstract
The utility model provides a kind of manipulator and the equipment with manipulator, is related to the technical field of automation equipment.Manipulator includes driving portion, interconnecting piece, gripper hand, control unit, the first detection part and the second detection part；One end of interconnecting piece is connect with driving portion, and driving portion is connect with control unit, and the other end of interconnecting piece is connect with one end of gripper hand, and the other end and the battery core pallet of gripper hand are oppositely arranged, and the first detection part is connect with interconnecting piece with the second detection part.It solves in the prior art, the position of gripper can not be detected, be easy to cause the technical issues of being collided between gripper and battery core pallet.First detection part of the utility model and the second detection part realize the detection of the movement to manipulator, realize the protection to manipulator.
Description
Technical field
The utility model is related to the technical fields of automation equipment, more particularly, to a kind of manipulator and with manipulator
Equipment.
Background technology
Modern industry manipulator is to be based on teaching playback and master-slave control method, adapts to product category change, has more
The flexible automation equipment of degree of freedom holding function.During battery core is assembled and produced, battery core needs to transport from an equipment
Onto another equipment, but it is existing by the way of manually carrying, and labor intensity is big, low production efficiency, and manipulator goes out
Now provide convenience for the process of battery core production and processing technology.
Battery core is transported to from a process equipment on another process equipment by existing manipulator on battery core pallet, is made
Used time, using the battery core on manipulator gripping battery core pallet, facilitates the life of battery core directly under the operation and control of control system
Production and processing.
But existing manipulator is when in use, can not detect the position of gripper, be easy to cause gripper and battery core
Collision between pallet；Simultaneously can not detect whether gripper grabs battery core or whether gripper damages, sometimes without
Method grabs battery core or the phenomenon that battery core is fallen occurs, and causes the idle stroke of manipulator, causes the waste of stroke.
Utility model content
The purpose of this utility model is to provide a kind of manipulators, existing in the prior art to solve, can not detection machine
The position of machinery claw be easy to cause the technical issues of being collided between gripper and battery core pallet.
The utility model additionally provides a kind of equipment with manipulator, manipulator existing in the prior art to solve
The position of gripper the technical issues of can not accurately detecting.
A kind of manipulator provided by the utility model, including driving portion, interconnecting piece, gripper hand, control unit, the first inspection
Survey component and the second detection part；
One end of the interconnecting piece is connect with driving portion, and the driving portion is connect with control unit, the interconnecting piece it is another
End is connect with one end of the gripper hand, and the other end and the battery core pallet of the gripper hand are oppositely arranged, and described the
One detection part is connect with the interconnecting piece with the second detection part；
First detection part detects the relative displacement of the interconnecting piece, when displacement is more than preset displacement, described the
One detection part sends the detection signal to the control unit, and the control unit control machinery cleft hand portion stops movement；It is described
Whether second detection part can detect the clamping of battery core, when detecting that gripper hand does not grab battery core, described second
Detection part sends detection signal to control unit, and the control unit control machinery cleft hand portion stops movement.
Further, the interconnecting piece includes the first connector and connection unit；
One end of first connector is connect with driving portion, the other end of first connector and the one of connection unit
End connection, the other end of the connection unit connect with one end of the gripper hand, second detection part with it is described
First connector connects.
Further, the connection unit includes connecting pole, the second connector and third connector, first test section
Part includes the first detection piece and detection plate；
One end of the connecting pole is connect with the other end of first connector, and the other end of the connecting pole passes through institute
It states the second connector to connect with the third connector, second connector is connect with one end of the gripper hand, institute
The first detection piece is stated to connect with second connector, the detection plate is connect with the third connector, the detection plate with
First detection piece is correspondingly arranged, to detect the distance between second connector and third connector.
Further, the connection unit further includes elastic element；
The elastic element is socketed on the connecting pole between the first connector and the second connector, the elastic element
One end connect with the other end of the first connector, the other end of the elastic element is connect with one end of the second connector.
Further, second detection part includes fixed link and the second detection piece；
One end of the fixed link is connect with first connector, the other end of the fixed link and the second detection piece
One end connects, and the other end of second detection piece is oppositely arranged with the gripping space of gripper hand.
Further, the quantity of second detection part is two, and two the second detection parts are oppositely arranged, one the
Two detection parts are connect with the side of the first connector, another second detection part is connect with the other side of the first connector.
Further, the gripper hand includes the first driver and claw clip component；
One end of first driver is connect with the other end of second connector, first driver it is another
End is connect with claw clip component, and the quantity of the claw clip component is two, between first driver control, two claw clip components
Distance.
Further, the claw clip component includes the second driver and claw clip；
One end of second driver is connect with the other end of the first driver, the other end of second driver with
Claw clip connects, the opening and closing of the second driver control claw clip.
Further, the claw clip includes the first cleft hand and the second cleft hand；
First cleft hand is connect with one end of the second driver, and the other end of second cleft hand and the second driver connects
It connects, the movement of the second driver control first cleft hand and the second cleft hand.
The utility model also provides a kind of equipment with manipulator, including body and manipulator as described above；
Installation position is equipped in the body, the manipulator is mounted in installation position.
The upper end of manipulator provided by the utility model, the interconnecting piece is connect with driving portion, the driving portion and control
Portion connects, and the lower end of the interconnecting piece is connect with the upper end of gripper hand, lower end and the battery core pallet of the gripper hand
It is oppositely arranged, the control unit control driving portion work, so that gripper hand moves under the action of driving portion, described first
Detection part is connect with interconnecting piece, detects the relative displacement of interconnecting piece, when the displacement of detection is more than preset displacement, described the
One detection part will detect signal and be sent to control unit, and control unit control machinery hand stops movement；Second detection part with connect
Portion connects, and whether detection battery core is clamped by gripper hand, and when not clamping, the second detection part sends detection signal to control
Portion, control machinery hand stop movement, realize protection to manipulator, avoid due to the collision between manipulator and battery core pallet and
Caused by manipulator damage.
Equipment provided by the utility model with manipulator, manipulator are mounted in the installation position of body, and described first
Detection part and the second detection part realize the detection of the movement to manipulator, realize the protection to manipulator.
Description of the drawings
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific implementation mode or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, other drawings may also be obtained based on these drawings.
Fig. 1 is the structural schematic diagram one for the manipulator that the utility model embodiment provides；
Fig. 2 is the structural schematic diagram two for the manipulator that the utility model embodiment provides；
Fig. 3 is the front view for the manipulator that the utility model embodiment provides；
Fig. 4 is the side view for the manipulator that the utility model embodiment provides.
Icon：100- interconnecting pieces；200- gripper hands；The first detection parts of 300-；The second detection parts of 400-；101-
First connector；102- connection units；103- connecting poles；The second connectors of 104-；105- third connectors；106- elasticity members
Part；The first drivers of 201-；202- claw clip components；The second drivers of 203-；204- claw clips；The first cleft hands of 205-；206- second
Cleft hand；The first detection pieces of 301-；302- detection plates；401- fixed links；The second detection pieces of 402-.
Specific implementation mode
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
The every other embodiment that field those of ordinary skill is obtained without making creative work, belongs to this practicality
Novel protected range.
In the description of the present invention, it should be noted that such as occur term "center", "upper", "lower", " left side ",
The orientation or positional relationship of the instructions such as " right side ", "vertical", "horizontal", "inner", "outside" is orientation based on ... shown in the drawings or position
Relationship is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply the indicated device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.This
Outside, such as there is term " first ", " second ", " third " are used for description purposes only, be not understood to indicate or imply relatively heavy
The property wanted.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, such as there is term
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
The utility model provides a kind of manipulator, and the manipulator includes driving portion, interconnecting piece 100, gripper hand
200, control unit, the first detection part 300 and the second detection part 400；One end of the interconnecting piece 100 is connect with driving portion,
The driving portion is connect with control unit, and the other end of the interconnecting piece 100 is connect with one end of the gripper hand 200, institute
The other end and battery core pallet for stating gripper hand 200 are oppositely arranged, first detection part, 300 and second detection part
400 connect with the interconnecting piece 100；First detection part 300 detects the relative displacement of the interconnecting piece 100, works as position
When moving more than preset displacement, first detection part 300 sends the detection signal to the control unit, the control unit control
Gripper hand 200 processed stops movement；Whether second detection part 400 can detect the clamping of battery core, when detecting machine
When machinery claw hand 200 does not grab battery core, second detection part 400 sends detection signal to control unit, the control unit
Control machinery cleft hand portion 200 stops movement.
As shown in Figs 1-4, the driving portion is cylinder, and the control unit is microcontroller.The upper end of the interconnecting piece 100 with
Driving portion connects, and the driving portion is connect with control unit, and the lower end of the interconnecting piece 100 connects with the upper end of gripper hand 200
It connects, lower end and the battery core pallet of the gripper hand 200 are oppositely arranged, the control unit control driving portion work, so that machine
Machinery claw hand 200 moves under the action of driving portion, and first detection part 300, the second detection part 400 are and interconnecting piece
100 connections, detect the relative displacement of interconnecting piece 100, when the displacement of detection is more than preset displacement, first detection part
Detection signal is sent to control unit by 300, and control unit control machinery hand stops movement；Second detection part 400 detects battery core
No to be clamped by gripper hand 200, when not clamping or battery core is fallen, the second detection part 400 sends detection signal to control
Portion processed, control machinery cleft hand portion 200 stop movement, realize protection to manipulator, avoid due to manipulator and battery core pallet it
Between collision and caused by manipulator damage.
Further, the interconnecting piece 100 includes the first connector 101 and connection unit 102；First connector
101 one end is connect with driving portion, and the other end of first connector 101 is connect with one end of connection unit 102, the company
The other end of order member 102 is connect with one end of the gripper hand 200, second detection part 400 and described first
Connector 101 connects.
As shown in Figs 1-4, first connector 101 is connecting plate, and second detection part 400 can be photoelectric transfer
The upper end of sensor, the connecting plate is connect with driving portion, and the lower end of the connecting plate is connect with the upper end of connection unit 102, institute
The lower end for stating connection unit 102 is connect with the upper end of gripper hand 200, second detection part, 400 and first connector
101 connections, when the battery core pawl in gripper hand 200 is tight, the signal of the photoelectric sensor is blocked, and signal is not sent；
When the non-pawl of battery core in the gripper hand 200 is tight, the photo-sensor signal is not blocked, and control is transmitted a signal to
Portion, control unit control driver stop motion, realize to the battery core of gripper hand 200 whether the tight detection of pawl.
Further, the connection unit 102 includes connecting pole 103, the second connector 104 and third connector 105, institute
It includes the first detection piece 301 and detection plate 302 to state the first detection part 300；One end of the connecting pole 103 connects with described first
The other end of fitting 101 connects, and the other end of the connecting pole 103 is connect across second connector 104 with the third
Part 105 connects, and second connector 104 connect with one end of the gripper hand 200, first detection piece 301 and
Second connector 104 connects, and the detection plate 302 is connect with the third connector 105, the detection plate 302 and the
One detection piece 301 is correspondingly arranged, to detect the distance between second connector 104 and third connector 105.
As shown in Figs 1-4, the second connector 104 is connecting plate, and third connector 105 is connecting plate, first detection
Part 301 is photoelectric sensor, and the upper end of the connecting pole 103 is connect with the bottom end of the first connector 101, the connecting pole 103
Lower end connect with third connector 105 across the second connector 104, the lower end of second connector 104 and mechanical claw hand
The upper end in portion 200 connects, and first detection piece 301 is connect with the side of the second connector 104, the detection plate 302 and the
The side of three connectors 105 connects；When the bottom end of the gripper hand 200 and battery core pallet contact, first connection
Part 101 drives third connector 105 to continue to decline under the action of driving portion, and second connector 104 is in gripper hand
It can not be continued to move under 200 control so that third connector 105 exists between the second connector 104 at a distance from movement, when
When first detection piece 301 detects that the distance between detection plate 302 is more than preset displacement, first detection piece 301
Controller is transmitted a signal to, the controller control machinery cleft hand portion 200 stops movement, avoids the damage of gripper hand 200.
Further, the connection unit 102 further includes elastic element 106；The elastic element 106 is socketed in the first company
On connecting pole 103 between fitting 101 and the second connector 104, one end of the elastic element 106 and the first connector 101
Other end connection, the other end of the elastic element 106 connect with one end of the second connector 104.
As shown in Fig. 2, the elastic element 106 is spring, the elastic element 106 is socketed in first connector
101 and the second connecting pole 103 between connector 104 on, the upper end of elastic element 106 and the bottom end of the first connector 101 connect
It connects, the lower end of the elastic element 106 is connect with the upper end of the second connector 104, is ensured in gripper hand 200 and battery core support
When disk contacts, the distance between the second connector 104 and the first connector 101 are constant, realize that third connector 105 and second connects
Relative movement between fitting 104 ensures the accuracy of detection.
Further, second detection part 400 includes fixed link 401 and the second detection piece 402；The fixed link
401 one end is connect with first connector 101, and one end of the other end of the fixed link 401 and the second detection piece 402 connects
It connects, the other end of second detection piece 402 is oppositely arranged with the gripping space of gripper hand 200.
As shown in Figs 1-4, the upper end of the fixed link 401 is connect with the side of the first connector 101, fixed link 401
Lower end is connect with the upper end of the second detection piece 402, the lower end of the second detection piece 402 and the gripping space phase of gripper hand 200
To setting, realize to whether there is or not the detections of battery core in gripping space.
Further, the quantity of second detection part 400 is two, and two the second detection parts 400 are oppositely arranged,
One the second detection part 400 is connect with the side of the first connector 101, another second detection part 400 is connect with first
The other side of part 101 connects.
As shown in Figs 1-4, second detection part 400 in left side is connect with the left side of the first connector 101, and the second of right side
Detection part 400 is connect with the right side of the first connector 101, at this point, second detection piece 402 is photoelectricity opposite type sensor,
If capturing battery core loosely or battery core not capturing, when battery core falls off, photoelectricity opposite type sensor on-state sends a signal to control
Portion, 200 stopping of gripper hand action are artificial to overhaul.
Further, the gripper hand 200 includes the first driver 201 and claw clip component 202；First driving
One end of device 201 is connect with the other end of second connector 104, the other end and the claw clip portion of first driver 201
Part 202 connects, and the quantity of the claw clip component 202 is two, first driver 201 control two claw clip components 202 it
Between distance.
As shown in Figs 1-4, first driver 201 is cylinder, and the upper end of first driver 201 is connect with second
The lower end of part 104 connects, and the lower end of the first driver 201 is connect with claw clip component 202, the control of the first driver 201 two
The distance between a claw clip component 202 realizes the adjustment of the distance between two claw clip components 202.
Further, the claw clip component 202 includes the second driver 203 and claw clip 204；Second driver 203
One end connect with the other end of the first driver 201, the other end of second driver 203 is connect with claw clip 204, described
Second driver 203 controls the opening and closing of claw clip 204.
As shown in Figs 1-4, second driver 203 is cylinder, the upper end of second driver 203 and the first driving
The lower end of device 201 connects, and the lower end of second driver 203 is connect with claw clip 204, and the second driver 203 controls claw clip 204
Open or close, realize the control that is opened and closed to claw clip 204.
Further, the claw clip 204 includes the first cleft hand 205 and the second cleft hand 206；First cleft hand 205 and
One end of two drivers 203 connects, and second cleft hand 206 is connect with the other end of the second driver 203, second driving
Device 203 controls the movement of the first cleft hand 205 and the second cleft hand 206.
As shown in Figs 1-4, first cleft hand 205 is connect with the left side of the second driver 203, the second cleft hand 206 and
The right side of two drivers 203 connects, and realizes the control of the distance between the first cleft hand 205 and the second cleft hand 206.
When the utility model at work, gripper hand 200 declines, if dropping distance is excessive, gripper hand 200 and electricity
Core pallet contacts, and can not decline, elastic element 106 is compressed, and the second connector 104 is not declining, and detection plate 302 connects with third
Fitting 105 moves down during the first connector 101 declines, and the distance of detection plate 302 and the first detection piece 301 increases, when
When mobile distance is more than preset displacement, 301 feedback signal of the first detection piece is to control unit, under control unit control machinery hand stops
Drop prevents damage manipulator and battery core production equipment.If manipulator dropping distance is normal, the second driver 203 action, when the
Two drivers 203 break down, and crawl battery core is loosely or when can not capture battery core, when battery core being caused to fall off, the second detection piece
402 on-states, send a signal to control unit, and manipulator stopping action is artificial to overhaul.If claw clip 204 clamps battery, carry out
It acts in next step.
The utility model additionally provides a kind of equipment with manipulator, the equipment with manipulator include body and
Manipulator as described above；Installation position is equipped in the body, the manipulator is mounted in installation position.
Equipment provided by the utility model with manipulator, manipulator are mounted in the installation position of body, and described first
Detection part 300 and the second detection part 400 realize the detection of the movement to manipulator, realize the protection to manipulator.
Finally it should be noted that：The above various embodiments is only to illustrate the technical solution of the utility model, rather than limits it
System；Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should
Understand：It still can be with technical scheme described in the above embodiments is modified, either to which part or whole
Technical characteristic carries out equivalent replacement；And these modifications or replacements, this practicality that it does not separate the essence of the corresponding technical solution are new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of manipulator, which is characterized in that including driving portion, interconnecting piece, gripper hand, control unit, the first detection part
With the second detection part；
One end of the interconnecting piece is connect with driving portion, and the driving portion is connect with control unit, the other end of the interconnecting piece with
One end of the gripper hand connects, and the other end and the battery core pallet of the gripper hand are oppositely arranged, first inspection
Component is surveyed to connect with the interconnecting piece with the second detection part；
First detection part detects the relative displacement of the interconnecting piece, when displacement is more than preset displacement, first inspection
It surveys component and sends the detection signal to the control unit, the control unit control machinery cleft hand portion stops movement；Described second
Whether detection part can detect the clamping of battery core, when detecting that gripper hand does not grab battery core, second detection
Component sends detection signal to control unit, and the control unit control machinery cleft hand portion stops movement.
2. manipulator according to claim 1, which is characterized in that the interconnecting piece includes that the first connector and connection are single
Member；
One end of first connector is connect with driving portion, and the other end of first connector and one end of connection unit connect
It connects, the other end of the connection unit is connect with one end of the gripper hand, second detection part and described first
Connector connects.
3. manipulator according to claim 2, which is characterized in that the connection unit includes connecting pole, the second connector
With third connector, first detection part includes the first detection piece and detection plate；
One end of the connecting pole is connect with the other end of first connector, and the other end of the connecting pole passes through described the
Two connectors are connect with the third connector, and second connector is connect with one end of the gripper hand, and described
One detection piece is connect with second connector, and the detection plate is connect with the third connector, the detection plate and first
Detection piece is correspondingly arranged, to detect the distance between second connector and third connector.
4. manipulator according to claim 3, which is characterized in that the connection unit further includes elastic element；
The elastic element is socketed on the connecting pole between the first connector and the second connector, and the one of the elastic element
End is connect with the other end of the first connector, and the other end of the elastic element is connect with one end of the second connector.
5. manipulator according to claim 3, which is characterized in that second detection part includes fixed link and the second inspection
Survey part；
One end of the fixed link is connect with first connector, one end of the other end of the fixed link and the second detection piece
Connection, the other end of second detection piece are oppositely arranged with the gripping space of gripper hand.
6. manipulator according to claim 4, which is characterized in that the quantity of second detection part is two, two
Second detection part is oppositely arranged, and second detection part is connect with the side of the first connector, another second test section
Part is connect with the other side of the first connector.
7. manipulator according to claim 3, which is characterized in that the gripper hand includes the first driver and claw clip
Component；
One end of first driver is connect with the other end of second connector, the other end of first driver with
Claw clip component connects, and the quantity of the claw clip component is two, between first driver control, two claw clip components away from
From.
8. manipulator according to claim 7, which is characterized in that the claw clip component includes the second driver and claw clip；
One end of second driver is connect with the other end of the first driver, the other end and claw clip of second driver
Connection, the opening and closing of the second driver control claw clip.
9. manipulator according to claim 8, which is characterized in that the claw clip includes the first cleft hand and the second cleft hand；
First cleft hand is connect with one end of the second driver, and second cleft hand is connect with the other end of the second driver,
The movement of second driver control first cleft hand and the second cleft hand.
10. a kind of equipment with manipulator, which is characterized in that including body and as claimed in any one of claims 1-9 wherein
Manipulator；
Installation position is equipped in the body, the manipulator is mounted in installation position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820338351.7U CN207901153U (en) | 2018-03-12 | 2018-03-12 | Manipulator and equipment with manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820338351.7U CN207901153U (en) | 2018-03-12 | 2018-03-12 | Manipulator and equipment with manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207901153U true CN207901153U (en) | 2018-09-25 |
Family
ID=63558978
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820338351.7U Active CN207901153U (en) | 2018-03-12 | 2018-03-12 | Manipulator and equipment with manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207901153U (en) |
-
2018
- 2018-03-12 CN CN201820338351.7U patent/CN207901153U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 210000 Binjiang Economic and Technological Development Zone, Jiangning District, Nanjing City, Jiangsu Province Patentee after: Nanjing Dolly Technology Development Co., Ltd. Address before: 210000 Binjiang Economic and Technological Development Zone, Jiangning District, Nanjing City, Jiangsu Province Patentee before: Nanjing Yodoly Logistics Equipments Manufacturing Co., Ltd. |
|
| 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: Manipulator and equipment that has manipulator Effective date of registration: 20190929 Granted publication date: 20180925 Pledgee: Bank of China, Limited by Share Ltd, Nanjing Jiangning branch Pledgor: Nanjing Dolly Technology Development Co., Ltd. Registration number: Y2019320000167 |
|
| 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: 20210406 Granted publication date: 20180925 Pledgee: Bank of China Limited by Share Ltd. Nanjing Jiangning branch Pledgor: Nanjing Dolly Technology Development Co.,Ltd. Registration number: Y2019320000167 |
|
| 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: Manipulator and equipment with manipulator Effective date of registration: 20210407 Granted publication date: 20180925 Pledgee: Bank of China Limited by Share Ltd. Nanjing Jiangning branch Pledgor: Nanjing Dolly Technology Development Co.,Ltd. Registration number: Y2021980002454 |