CN209306509U - A kind of robot automatic loading and unloading mechanism - Google Patents

A kind of robot automatic loading and unloading mechanism Download PDF

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Publication number
CN209306509U
CN209306509U CN201821784287.1U CN201821784287U CN209306509U CN 209306509 U CN209306509 U CN 209306509U CN 201821784287 U CN201821784287 U CN 201821784287U CN 209306509 U CN209306509 U CN 209306509U
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China
Prior art keywords
jig
cylinder
delivery track
processing stations
product
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CN201821784287.1U
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Chinese (zh)
Inventor
肖大放
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Dayan Intelligent Robot (Huaihua) Co.,Ltd.
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Tamasec Technology Holding (hK) Co Ltd
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Abstract

The utility model discloses a kind of robot automatic loading and unloading mechanisms, the first processing stations and the second processing stations identical including two processing methods and be placed in parallel, second processing stations are mounted on the rear side of the first processing stations, the inside of first processing stations and the second processing stations is mounted on transfer robot, and the bottom of the transfer robot is connected with pedestal.The utility model is scientific and reasonable for structure, it is safe and convenient to use, by the way that double-station processing stations are arranged, and two delivery tracks are set, and it can be by product jig toward carrying out average mark stream on two delivery tracks, so that two processing stations are used cooperatively, it is independent of each other, the processing efficiency of product is improved, and improves machining accuracy in process, and cost is relatively low, and when maintenance, " one can be stopped with one ", not influence to continue to process product while maintaining machinery, be suitble to promote the use of.

Description

A kind of robot automatic loading and unloading mechanism
Technical field
The utility model relates to field of machining, specifically a kind of robot automatic loading and unloading mechanism.
Background technique
Infant industry's epoch, loading and unloading robot be able to satisfy " quickly, high-volume processing beat ", " saving human cost ", " improve production efficiency " etc. requires, and becomes the ideal chose of more and more factories, loading and unloading robot system have high efficiency and High stability, structure are simply more readily maintained, and can satisfy the production of variety classes product, for users, can quickly into It the adjustment of row product structure and enhances production capacities, and the labor intensity of industrial worker can be substantially reduced.
Existing robot automatic loading and unloading mechanism is mostly single-station processing, so that the processing efficiency of product is lower, and at This is higher, and the simultaneous processing time is longer, when maintenance, can not continue to process product, further influence product Processing efficiency.Therefore, those skilled in the art provide a kind of robot automatic loading and unloading mechanism, to solve above-mentioned background skill The problem of being proposed in art.
Summary of the invention
The purpose of this utility model is to provide a kind of robot automatic loading and unloading mechanisms, to solve in above-mentioned background technique The problem of proposition.
To achieve the above object, the utility model provides the following technical solutions:
A kind of robot automatic loading and unloading mechanism, and first processing stations that are placed in parallel identical including two processing methods With the second processing stations, second processing stations are mounted on the rear side of the first processing stations, first processing stations and The inside of two processing stations is mounted on transfer robot, and the bottom of the transfer robot is connected with pedestal, the pedestal The bottom position of the corresponding transfer robot in inside is provided with robotic arm installation position, and the two side ends of pedestal are mounted on folder Have, is provided with the first delivery track on front side of first processing stations and the second processing stations, first delivery track Front side is equipped with the second delivery track in parallel, and the side of second delivery track is provided with far from the side of the first delivery track Flow back track, is mounted on jig horizontal pushing mechanism between the both ends position of second delivery track and the first delivery track, described The both ends of first delivery track are mounted on jig reversing mechanism, and the top of the first delivery track and the second delivery track is close The lower position of transfer robot is provided with jig positioning mechanism.
As a further solution of the present invention: the fixture includes fixture base, the edge of the fixture base It is provided with fixed chuck, the side of the fixed chuck is provided with active chuck, and product is provided on the inside of fixed chuck, institute The top that active chuck is mounted on fixture base by active chuck installation axle is stated, and one end of active chuck is connected with movable folder Head pusher cylinder.
The jig reversing mechanism includes that clamping jaw, clamping jaw step up cylinder, folder as a further solution of the present invention, Pawl rotation cylinder and lifting cylinder, the clamping jaw are mounted on the bottom that clamping jaw steps up cylinder, and the clamping jaw steps up the top of cylinder Clamping jaw rotation cylinder is installed, the back side top of the clamping jaw rotation cylinder is equipped with lifting cylinder.
The jig horizontal pushing mechanism includes jig horizontal pushing cylinder as a further solution of the present invention, described to control Transfer plate is provided on front side of tool horizontal pushing cylinder, and the side of the first jig positioning cylinder is located at one end peace of the first delivery track Equipped with the first jig positioning cylinder, one end of the first jig positioning cylinder is connected with locating rod.
The jig positioning mechanism includes horizontal pushing away positioning mechanism, the cross as a further solution of the present invention, It pushes away and is provided with side on front side of positioning mechanism and pushes away positioning mechanism, the bottom end that the side pushes away positioning mechanism is located at the first delivery track Top position at be provided with side and push away locating piece, described horizontal one end for pushing away positioning mechanism is provided with fixed block, the fixed block Outside is provided with product jig, and the outside of first delivery track is provided with jig top at a side position of product jig Mechanism is risen, horizontal push away is equipped with the second jig positioning cylinder on rear side of positioning mechanism, and the one of the second jig positioning cylinder End is connected with locating piece.
The jig lifting body includes being mounted on outside the first delivery track as a further solution of the present invention, The raising plate of side, the bottom of the raising plate are equipped with jacking cylinder, and a side of the jacking cylinder is connected with lifting body Mounting plate.
Compared with prior art, the utility model has the beneficial effects that the utility model is scientific and reasonable for structure, use is safe It is convenient, by the way that double-station processing stations are arranged, and two delivery tracks are set, and can be by product jig toward two delivery tracks Upper progress average mark stream is independent of each other so that two processing stations are used cooperatively, and improves the processing efficiency of product, and processing Machining accuracy is improved in the process, and cost is relatively low, and when maintenance, " can stop one with one ", not influence in Maintenance machine Continue to process product while device, is suitble to promote the use of.
Detailed description of the invention
Fig. 1 is a kind of top view of robot automatic loading and unloading mechanism;
Fig. 2 is the mounting structure schematic diagram of transfer robot and fixture in a kind of robot automatic loading and unloading mechanism;
Fig. 3 is a kind of structural schematic diagram of fixture in robot automatic loading and unloading mechanism;
Fig. 4 is a kind of structural schematic diagram of jig reversing mechanism in robot automatic loading and unloading mechanism;
Fig. 5 is a kind of structural schematic diagram of jig horizontal pushing mechanism in robot automatic loading and unloading mechanism;
Fig. 6 is a kind of structural schematic diagram of jig positioning mechanism in robot automatic loading and unloading mechanism;
Fig. 7 is a kind of structural schematic diagram of jig lifting body in robot automatic loading and unloading mechanism.
In figure: 1, the first processing stations;2, the second processing stations;3, transfer robot;4, jig positioning mechanism;5, first Delivery track;6, the second delivery track;7, jig reversing mechanism;8, jig horizontal pushing mechanism;9, flow back track;10, fixture;101, Pedestal;102, robotic arm installation position;103, fixture base;104, fixed chuck;105, active chuck;106, product;107, Active chuck pusher cylinder;108, active chuck installation axle;701, clamping jaw;702, clamping jaw steps up cylinder;703, clamping jaw rotates gas Cylinder;704, lifting cylinder;801, jig horizontal pushing cylinder;802, the first jig positioning cylinder;803, locating rod;804, transfer plate; 401, horizontal to push away positioning mechanism;402, product jig;403, side pushes away positioning mechanism;404, locating piece;405, side pushes away locating piece;406, Jig lifting body;407, fixed block;408, the second jig positioning cylinder;4061, raising plate;4062, lifting body mounting plate; 4063, jacking cylinder.
Specific embodiment
Please refer to Fig. 1~7, in the utility model embodiment, a kind of robot automatic loading and unloading mechanism, including two processing Mode is identical and the first processing stations 1 and the second processing stations 2 that are placed in parallel, the second processing stations 2 are mounted on the first processing The inside of the rear side of station 1, the first processing stations 1 and the second processing stations 2 is mounted on transfer robot 3, transfer robot 3 Bottom be connected with pedestal 101, the bottom position that the inside of pedestal 101 corresponds to transfer robot 3 is provided with robotic arm peace Position 102 is filled, and the two side ends of pedestal 101 are mounted on fixture 10, the front side of the first processing stations 1 and the second processing stations 2 is set It is equipped with the first delivery track 5, the front side of the first delivery track 5 is equipped with the second delivery track 6 in parallel, the second delivery track 6 Side is provided with reflux track 9, the both ends of the second delivery track 6 and the first delivery track 5 far from the side of the first delivery track 5 It is mounted on jig horizontal pushing mechanism 8 between position, the both ends of the first delivery track 5 are mounted on jig reversing mechanism 7, and first is defeated Track 5 and the top of the second delivery track 6 is sent to be provided with jig positioning mechanism 4 close to the lower position of transfer robot 3.
In Fig. 3: fixture 10 includes fixture base 103, and the edge of fixture base 103 is provided with fixed chuck 104, Gu The side of clamp head 104 is provided with active chuck 105, and the inside of fixed chuck 104 is provided with product 106, active chuck 105 The top of fixture base 103 is mounted on by active chuck installation axle 108, and one end of active chuck 105 is connected with movable folder Head pusher cylinder 107, for clamping the product above jig, two groups of fixtures 10 are separately mounted to robotic arm installation position 102 Pedestal two sides, fixture base 103 are machined with fixed chuck 104 above, and active chuck 105 passes through 108 axis of active chuck installation axle It is mounted on above fixture base 103, pushes the other end of active chuck installation axle 108 to realize by active chuck pusher cylinder 107 The folding of collet.
In Fig. 4: jig reversing mechanism 7 steps up cylinder 702, clamping jaw rotation cylinder 703 including clamping jaw 701, clamping jaw and rises Sending down abnormally ascending cylinder 704, clamping jaw 701 are mounted on the bottom that clamping jaw steps up cylinder 702, and the top that clamping jaw steps up cylinder 702 is equipped with clamping jaw Rotation cylinder 703, the back side top of clamping jaw rotation cylinder 703 are equipped with lifting cylinder 704, since product jig 402 is first When delivery track 5 flows through next above, the position of product 106 is different from the position that processing stations require, so needing to produce in advance Product jig 402 commutates, and reversing arrangement clamping jaw 701 steps up to clamp product jig 402 under cylinder 702 acts in clamping jaw, rises The movement of sending down abnormally ascending cylinder 704, which promotes product jig 402, is detached from the first delivery track 5, and clamping jaw rotation cylinder 703 acts, product is controlled 402 180 ° of rotation of tool, after product jig 402 is commutated, lifting cylinder 704 is by product jig 402 putting back to above track.
In Fig. 5: jig horizontal pushing mechanism 8 includes jig horizontal pushing cylinder 801, and the front side of jig horizontal pushing cylinder 801 is provided with Transfer plate 804, and the side of the first jig positioning cylinder 802 is located at one end of the first delivery track 5 to be equipped with the first jig fixed Position cylinder 802, one end of the first jig positioning cylinder 802 are connected with locating rod 803, and product jig 402 is through jig reversing mechanism 7 When flowing at the position of jig horizontal pushing mechanism 8 after commutation, the first jig positioning cylinder 802 releases locating rod 803, by product Jig 402 limits, and jig horizontal pushing cylinder 801 pushes product jig 402 to 6 direction of the second delivery track, by transfer plate 804 Product jig 402 is pushed to the second delivery track 6 afterwards, realizes that product jig 402 shunts.
In Fig. 6: jig positioning mechanism 4 pushes away positioning mechanism 401 including horizontal, and the horizontal front side for pushing away positioning mechanism 401 is provided with Side pushes away positioning mechanism 403, and the bottom end that side pushes away positioning mechanism 403, which is located at the top position of the first delivery track 5, to be provided with Side pushes away locating piece 405, and horizontal one end for pushing away positioning mechanism 401 is provided with fixed block 407, and the outside of fixed block 407 is provided with product The outside of jig 402, the first delivery track 5 is provided with jig lifting body 406 at a side position of product jig 402, The horizontal rear side for pushing away positioning mechanism 401 is equipped with the second jig positioning cylinder 408, one end connection of the second jig positioning cylinder 408 There is locating piece 404, product jig 402 is flow at jig positioning mechanism 4, and the second jig positioning cylinder 408 is acted locating piece 404 It releases, product jig 402 is limited.
In Fig. 7: jig lifting body 406 includes the raising plate 4061 for being mounted on 5 outside of the first delivery track, raising plate 4061 bottom is equipped with jacking cylinder 4063, and a side of jacking cylinder 4063 is connected with lifting body mounting plate 4062, top It rises cylinder 4063 to act, raising plate 4061 is risen, product jig 402 is jacked up into the conveyer belt that de-orbits, it is horizontal to push away positioning mechanism gas Locating piece 404 is released in cylinder movement, withstands product jig 402, and side pushes away the movement of positioning mechanism 403, side is pushed away locating piece 405 and is stretched Out, so that side is pushed away locating piece 405 is combined track side plate that product jig 402 is stuck with locating piece 404, is prevented from shaking, is facilitated carrying Robot 3 clamps product.
The working principle of the utility model is: the first processing work that is identical by two processing methods of setting and being placed in parallel Position 1 and second processing stations 2, increase working efficiency, and the inside of the first processing stations 1 and the second processing stations 2 is mounted on Transfer robot 3, the bottom of transfer robot 3 are connected with pedestal 101, and the inside of pedestal 101 corresponds to the bottom of transfer robot 3 Robotic arm installation position 102 is provided at position, and the two side ends of pedestal 101 are mounted on fixture 10, being used for will be above jig Product clamping, two groups of fixtures 10 are separately mounted to 102 pedestal two sides of robotic arm installation position, and fixture base 103 is processed above There is fixed chuck 104, active chuck 105 is mounted on above fixture base 103 by active chuck installation axle 108, is pressed from both sides by activity Head pusher cylinder 107 push active chuck installation axle 108 the other end realize active chuck 105 folding, mechanism have two it is defeated Sending track and a reflux track 9, the parallel clipping room of two delivery tracks is away from smaller, and there are two jig horizontal pushing mechanisms 8 to connect, The two-end-point that jig horizontal pushing mechanism 8 is mounted on the first delivery track 5 is connect with the second delivery track 6, and product jig 402 is by first The conveying of delivery track 5 comes, and the product jig 402 above the first delivery track 5 is diverted to the second conveying by jig horizontal pushing mechanism 8 It above track 6, is evenly distributed in product jig 402 above two tracks, adds respectively for two transfer robots 3 and two The processing of work station, there are two jig reversing mechanisms 7 for mechanism setting, are separately mounted to the both ends of the first delivery track 5, two conveyings Close to 3 position of transfer robot, respectively jig positioning mechanism 4 is arranged in place respectively above track, for consolidating 402 position of product jig Fixed, transfer robot 3, which removes the product 106 above product jig 402, is carried to processing stations processing, after completing the process, Transfer robot 3 puts back to product above product jig 402, and jig positioning mechanism 4 decontrols fixture 10, makes product jig 402 It flows away, jig positioning mechanism 4 pushes away positioning mechanism 401 including horizontal, and the horizontal front side for pushing away positioning mechanism 401 is provided with side and pushes away positioning mechanism 403, the bottom end that side pushes away positioning mechanism 403, which is located at, to be provided with side at the top position of the first delivery track 5 and pushes away locating piece 405, horizontal one end for pushing away positioning mechanism 401 is provided with fixed block 407, and the outside of fixed block 407 is provided with product jig 402, the The outside of one delivery track 5 is provided with jig lifting body 406 at a side position of product jig 402, horizontal to push away localization machine The rear side of structure 401 is equipped with the second jig positioning cylinder 408, and one end of the second jig positioning cylinder 408 is connected with locating piece 404, product jig 402 is flow at jig positioning mechanism 4, and locating piece 404 is released in the movement of the second jig positioning cylinder 408, will Product jig 402 limit, jacking cylinder 4063 act, by raising plate 4061 rise by product jig 402 jack-up de-orbit it is defeated Band is sent, the horizontal positioning mechanism cylinder movement that pushes away releases locating piece 404, withstands product jig 402, and side pushes away the movement of positioning mechanism 403, Side is pushed away locating piece 405 to stretch out, so that side is pushed away locating piece 405 and is combined track side plate that product jig 402 is stuck with locating piece 404, It prevents from shaking, transfer robot 3 is facilitated to clamp product, jig horizontal pushing mechanism 8 includes jig horizontal pushing cylinder 801, and jig is horizontal to push away gas The front side of cylinder 801 is provided with transfer plate 804, and the side of the first jig positioning cylinder 802 is located at one end of the first delivery track 5 First jig positioning cylinder 802 is installed, one end of the first jig positioning cylinder 802 is connected with locating rod 803, product jig 402 through jig reversing mechanism 7 commutation after flow at the position of jig horizontal pushing mechanism 8 when, the first jig positioning cylinder 802 will be determined Position bar 803 is released, and product jig 402 is limited, and jig horizontal pushing cylinder 801 is by product jig 402 to 6 direction of the second delivery track Push, product jig 402 is pushed to the second delivery track 6 after transfer plate 804, realizes that product jig 402 shunts, Jig reversing mechanism 7 steps up cylinder 702, clamping jaw rotation cylinder 703 and lifting cylinder 704, clamping jaw 701 including clamping jaw 701, clamping jaw It is mounted on the bottom that clamping jaw steps up cylinder 702, the top that clamping jaw steps up cylinder 702 is equipped with clamping jaw rotation cylinder 703, and clamping jaw turns The back side top of cylinder 703 of taking offence is equipped with lifting cylinder 704, comes since product jig 402 flows through on the first delivery track 5 When, the position of product 106 is different from the position that processing stations require, so needing that product jig 402 commutates in advance, changes Step up to clamp product jig 402 under cylinder 702 acts in clamping jaw to device clamping jaw 701, product is controlled in the movement of lifting cylinder 704 Tool 402, which is promoted, is detached from the first delivery track 5, and clamping jaw rotation cylinder 703 acts, and product jig 402 is rotated 180 °, product is controlled After 402 commutation of tool, lifting cylinder 704 putting back to above track, after product 106 completes the process, carries product jig 402 Robot 3 puts back to product 106 above product jig 402, and jig positioning mechanism 4 send out product jig 402, makes product jig 402 flow away, the product jig 402 above the first delivery track 5 flow directly at jig reversing mechanism 7 after commutation flow to it is next A processing flow, after the product jig 402 at the second delivery track 6 completes the process, after the jig horizontal pushing mechanism 8 of end Jig reversing mechanism 7 is flowed to again to commutate.
It is above-described, the only preferable specific embodiment of the utility model, but the protection scope of the utility model is simultaneously It is not limited to this, anyone skilled in the art within the technical scope disclosed by the utility model, according to this reality It is subject to equivalent substitution or change with novel technical solution and its utility model design, should all covers the protection in the utility model Within the scope of.

Claims (6)

1. a kind of robot automatic loading and unloading mechanism, and first processing stations that are placed in parallel identical including two processing methods (1) and the second processing stations (2), which is characterized in that after second processing stations (2) are mounted on the first processing stations (1) The inside of side, first processing stations (1) and the second processing stations (2) is mounted on transfer robot (3), the carrying implement The bottom of device people (3) is connected with pedestal (101), and the inside of the pedestal (101) corresponds to the bottom position of transfer robot (3) It is provided with robotic arm installation position (102), and the two side ends of pedestal (101) are mounted on fixture (10), the first processing work It is provided with the first delivery track (5) on front side of position (1) and the second processing stations (2), the front side of first delivery track (5) is flat Row is equipped with the second delivery track (6), and the side of second delivery track (6) is set far from the side of the first delivery track (5) It is equipped with reflux track (9), is mounted on jig between second delivery track (6) and the both ends position of the first delivery track (5) The both ends of horizontal pushing mechanism (8), first delivery track (5) are mounted on jig reversing mechanism (7), and the first delivery track (5) and the top of the second delivery track (6) close to the lower position of transfer robot (3) is provided with jig positioning mechanism (4)。
2. a kind of robot automatic loading and unloading mechanism according to claim 1, which is characterized in that the fixture (10) includes The edge of fixture base (103), the fixture base (103) is provided with fixed chuck (104), the fixed chuck (104) Side be provided with active chuck (105), and product (106), the active chuck are provided on the inside of fixed chuck (104) (105) top of fixture base (103) is mounted on by active chuck installation axle (108), and one end of active chuck (105) connects It is connected to active chuck pusher cylinder (107).
3. a kind of robot automatic loading and unloading mechanism according to claim 1, which is characterized in that the jig reversing mechanism It (7) include that clamping jaw (701), clamping jaw step up cylinder (702), clamping jaw rotation cylinder (703) and lifting cylinder (704), the clamping jaw (701) it is mounted on the bottom that clamping jaw steps up cylinder (702), the clamping jaw steps up to be equipped with clamping jaw rotation at the top of cylinder (702) The back side top of cylinder (703), the clamping jaw rotation cylinder (703) is equipped with lifting cylinder (704).
4. a kind of robot automatic loading and unloading mechanism according to claim 1, which is characterized in that the jig horizontal pushing mechanism (8) include jig horizontal pushing cylinder (801), be provided with transfer plate (804) on front side of the jig horizontal pushing cylinder (801), and first One end that the side of jig positioning cylinder (802) is located at the first delivery track (5) is equipped with the first jig positioning cylinder (802), One end of the first jig positioning cylinder (802) is connected with locating rod (803).
5. a kind of robot automatic loading and unloading mechanism according to claim 1, which is characterized in that the jig positioning mechanism (4) include it is horizontal push away positioning mechanism (401), horizontal push away is provided with side and pushes away positioning mechanism (403) on front side of positioning mechanism (401), The bottom end that the side pushes away positioning mechanism (403), which is located at the top position of the first delivery track (5), is provided with side presumption position Block (405), described horizontal one end for pushing away positioning mechanism (401) are provided with fixed block (407), set on the outside of the fixed block (407) It is equipped with product jig (402), the outside of first delivery track (5) is arranged at a side position of product jig (402) Have jig lifting body (406), horizontal push away is equipped with the second jig positioning cylinder (408), institute on rear side of positioning mechanism (401) The one end for stating the second jig positioning cylinder (408) is connected with locating piece (404).
6. a kind of robot automatic loading and unloading mechanism according to claim 5, which is characterized in that the jig lifting body It (406) include the raising plate (4061) being mounted on the outside of the first delivery track (5), the bottom of the raising plate (4061) is equipped with One side of jacking cylinder (4063), the jacking cylinder (4063) is connected with lifting body mounting plate (4062).
CN201821784287.1U 2018-10-31 2018-10-31 A kind of robot automatic loading and unloading mechanism Active CN209306509U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201821784287.1U CN209306509U (en) 2018-10-31 2018-10-31 A kind of robot automatic loading and unloading mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201821784287.1U CN209306509U (en) 2018-10-31 2018-10-31 A kind of robot automatic loading and unloading mechanism

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CN209306509U true CN209306509U (en) 2019-08-27

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110683314A (en) * 2019-08-30 2020-01-14 上海大学 Automatic loading and unloading robot unit and method for automatic processing equipment
CN114890125A (en) * 2022-04-28 2022-08-12 苏州中科晨淞智能装备有限公司 Automatic feeding machine for special-shaped parts

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110683314A (en) * 2019-08-30 2020-01-14 上海大学 Automatic loading and unloading robot unit and method for automatic processing equipment
CN114890125A (en) * 2022-04-28 2022-08-12 苏州中科晨淞智能装备有限公司 Automatic feeding machine for special-shaped parts

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GR01 Patent grant
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TR01 Transfer of patent right

Effective date of registration: 20230221

Address after: 418000 No. 16, Fazhan Road, Industrial Development Zone, High-tech Industrial Park, Huaihua City, Hunan Province (in Hunan Hongshengyuan Oiltea Technology Co., Ltd.)

Patentee after: Dayan Intelligent Robot (Huaihua) Co.,Ltd.

Address before: 523000 area a, 1-3 / F, 61 Baihua Road, Yongkou village, Shijie Town, Dongguan City, Guangdong Province

Patentee before: DONGGUAN DAYAN AUTOMATION EQUIPMENT Co.,Ltd.

TR01 Transfer of patent right