CN209648708U - A kind of intelligence Handling device - Google Patents
A kind of intelligence Handling device Download PDFInfo
- Publication number
- CN209648708U CN209648708U CN201920254505.9U CN201920254505U CN209648708U CN 209648708 U CN209648708 U CN 209648708U CN 201920254505 U CN201920254505 U CN 201920254505U CN 209648708 U CN209648708 U CN 209648708U
- Authority
- CN
- China
- Prior art keywords
- vehicle frame
- pick
- handling device
- electrical turntable
- mechanism unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of intelligence Handling devices, including vehicle frame, idler wheel, electrical turntable, pick-and-place mechanism unit and intelligent control unit, idler wheel includes four, the quadrangle of vehicle frame is set, electrical turntable is arranged on vehicle frame, and the pick-and-place mechanism unit for clamping crawl material is provided on electrical turntable；The intelligent control unit being arranged on vehicle frame is connect with idler wheel, electrical turntable and pick-and-place mechanism unit respectively, realizes crawl for controlling vehicle frame, electrical turntable and pick-and-place mechanism unit.The utility model structure is simple, easy to use, suitable for carrying to cargo, pass through clamping device, clamping carrying directly can be carried out to cargo, institute's loaded material will not skid, and meet the function of robot autonomous identification material information, meet complex work environment, accurate crawl cargo can enter complex region and work, not need loading machine and carry out cooperating, the efficiency that cargo carrying will be effectively improved in this way, reduces the transportation cost of cargo.
Description
Technical field
The utility model belongs to material and carries technical field, and in particular to a kind of intelligence Handling device.
Background technique
Transfer robot is the new and high technology that modern age automation field occurs, and has been related to mechanics, mechanics, liquid
Press Voltage Technique, automatic control technology, sensor technology, the ambits such as singlechip technology and computer technology, it has also become existing
For an important component in machine-building production system.Its advantages are that various expected can be completed by programming
Business, has the respective advantage of people and machine in self structure and performance, has especially embodied artificial intelligence and adaptability.When
Being that existing majority conveying robot does not have per capita carries out the function that information scanning directly clamps carrying to cargo, needs to load
Mechanical engagement loads and unloads it, so that cargo landed cost improves, and efficiency reduces.
Under the unstable state of clamping plate, partial material can skid for present robot, not be able to satisfy robot autonomous identification
The function of material information, is unsatisfactory for some of complex working environment, telescopic rod flexibility ratio deficiency lead to not accurately to grab cargo or
It cannot be introduced into and grab cargo in complex region, clamping carrying directly cannot be carried out to cargo, loading machine is needed to carry out cargo
It loads, so that inefficient operation, is unfavorable for the problem of improving the efficiency that cargo is carried, is based on this, the utility model is set
A kind of intelligence Handling device is counted, to solve the above problems.
Utility model content
The technical problem to be solved by the utility model is in view of the deficiency of the prior art, provide a kind of intelligence
Handling device accurately grabs material function, it can be achieved that onlapping heterocycle within the border.
The utility model uses following technical scheme:
A kind of intelligence Handling device, including vehicle frame, idler wheel, electrical turntable, pick-and-place mechanism unit and intelligent control unit, rolling
Wheel includes four, and the quadrangle of vehicle frame is arranged in, and electrical turntable is arranged on vehicle frame, is provided on electrical turntable and grabs for clamping
Take the pick-and-place mechanism unit of material；The intelligent control unit being arranged on vehicle frame respectively with idler wheel, electrical turntable and pick-and-place mechanism
Unit connection realizes crawl for controlling vehicle frame, electrical turntable and pick-and-place mechanism unit.
Specifically, pick-and-place mechanism unit includes the first steering engine, the first steering engine is arranged in the center of electrical turntable, passes through first
Mechanical arm is sequentially connected second mechanical arm and angle adjustment arm, and angle adjustment arm is connect with clamping device.
Further, the second steering engine, second mechanical arm and angle tune are provided between first mechanical arm and second mechanical arm
Third steering engine is provided between joint arm, the first steering engine, the second steering engine and third steering engine are connect with intelligent control unit respectively.
Further, the retaining part of clamping device is provided with rubber pad.
Further, camera is provided in angle adjustment arm, camera is electrically connected with the vision module being arranged on vehicle frame
It connects, is connect by vision module with intelligent control unit.
Further, both direction mutually orthogonal laser or ultrasonic distance-measuring sensor, laser are provided on vehicle frame
Or ultrasonic distance-measuring sensor is connect by vision module with intelligent control unit.
Specifically, intelligent control unit includes drive circuit board, single-chip microcontroller and expander board, single-chip microcontroller passes through drive respectively
Dynamic circuit board and expander board are connect with idler wheel, electrical turntable and pick-and-place mechanism unit.
Further, intelligent control unit further includes external power supply, external power supply respectively with drive circuit board, single-chip microcontroller and
Expander board connection.
Specifically, four rolling is connect with the motor of vehicle frame inner cavity top setting respectively, pass through axis between idler wheel and vehicle frame
Hold connection.
Further, idler wheel is omni-directional wheel.
Compared with prior art, the utility model at least has the advantages that
A kind of intelligence Handling device of the utility model, idler wheel are responsible for the movement of vehicle, and electrical turntable is responsible for pick-and-place mechanism
It rotates to the suitable carrying angle of material to be transported, pick-and-place mechanism unit is responsible for material and stablizes crawl and stablize placement, intelligence
Control unit acquires information by sensor and controls rotating mechanism unit and pick-and-place mechanism unit reality after single-chip microcontroller analysis processing
Existing above-mentioned function, pick-and-place mechanism unit is mounted on rotating mechanism unit, rotating mechanism unit is mounted on vehicle frame, is realized
Carrying grabbing integration, greatly reduces manual handling, realizes operation operation procedure, intelligence.
Further, pick-and-place mechanism unit in complex environment for accurately grabbing cargo, and accomplishes any angle
Stablize crawl cargo, it is non-slip, and steadily placed after reaching designated position.
Further, multiple steering engines can accomplish the Multi-directional telescopic in complex environment, can meet most of complex work environment.
Further, retaining part is evenly arranged with rubber pad, is conducive to carry out stable holding to cargo.
Further, by the camera of setting can video acquisition goods information, realize precisely clamping operation.
Further, intelligent control unit controls rotating mechanism after single-chip microcontroller analysis processing by sensor acquisition information
Unit and pick-and-place mechanism unit realize crawl.
Further, setting external power supply can provide lasting stabilization power support for carrier.
Further, the idler wheel of vehicle frame quadrangle is conducive to realize turning function in narrow space.
In conclusion the utility model structure is simple, and it is easy to use, suitable for being carried to cargo, filled by clamping
It sets, clamping carrying directly can be carried out to cargo, institute's loaded material will not skid, and meet the function of robot autonomous identification material information
Can, meet complex work environment, accurately grab cargo, complex region can be entered and worked, loading machine is not needed and carry out cooperation work
Make, the efficiency of cargo carrying will be effectively improved in this way, reduce the transportation cost of cargo.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Detailed description of the invention
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the utility model side structure schematic view；
Fig. 3 is the utility model overlooking structure diagram；
Fig. 4 is the utility model walking mechanism unit, intelligent control unit structural schematic diagram；
Fig. 5 is the utility model rotating mechanism cellular construction schematic diagram；
Fig. 6 is the utility model pick-and-place mechanism cellular construction schematic diagram.
Wherein: 1. vehicle frames；2. idler wheel；3. motor；4. control circuit board；41. drive circuit board；42. single-chip microcontroller；43. expanding
Open up circuit board；5. vision module；6. electrical turntable；7. first mechanical arm；8. the first steering engine；9. second mechanical arm；10. the second rudder
Machine；11. angle adjustment arm；12. third steering engine；13. camera；14. clamping device.
Specific embodiment
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
"front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " side ", " one end ", " one side " etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model
It is described with simplifying, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation structure
It makes and operates, therefore should not be understood as limiting the present invention.In addition, term " first ", " second " are only used for description mesh
, it is not understood to indicate or imply relative importance or implicitly indicates the quantity of indicated technical characteristic.It limits as a result,
There is the feature of " first ", " second " to can explicitly or implicitly include one or more of the features surely.It is practical new at this
In the description of type, unless otherwise indicated, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Please refer to Fig. 1, Fig. 2 and Fig. 3, a kind of intelligence Handling device of the utility model, including walking mechanism unit, whirler
Structure unit, pick-and-place mechanism unit and intelligent control unit, the setting of rotating mechanism unit is on walking mechanism unit, one end and pick-and-place
Mechanism unit connection, walking mechanism unit control 2 different rotating speeds of idler wheel by motor 3 and carry out direction controlling, rotating mechanism unit
For rotate determine crawl direction, intelligent control unit setting walking mechanism unit on, respectively with walking mechanism unit, rotation
Mechanism unit is connected with pick-and-place mechanism unit, and collected information is transferred to circuit plate analysis by sensor and feeds back to row
It walks mechanism unit, rotating mechanism unit and pick-and-place mechanism unit and carries out image recognition, processing, transmission, single-chip microcontroller control, different rudders
Machine control and crawl.
Referring to Fig. 4, walking mechanism unit includes vehicle frame 1, idler wheel 2 and motor 3, the quadrangle of vehicle frame 1 is rotatablely connected idler wheel
2, the inner cavity quadrangle of vehicle frame 1 is provided with the output end motor 3 affixed with corresponding idler wheel 2 respectively, and motor 3 is mounted on vehicle frame 1
Inner cavity top, idler wheel 2 are conducive to realize turning function in narrow space.
Referring to Fig. 5, rotating mechanism unit includes the affixed electrical turntable 6 of 1 center of top of vehicle frame, pass through control circuit board
4 feedback material informations, drive the electrical turntable 6 in center to rotate.
Referring to Fig. 6, grasping mechanism unit includes first mechanical arm 7, the first steering engine 8, second mechanical arm 9, the second steering engine
10, angle adjustment arm 11 and third steering engine 12, the first steering engine 8 are arranged in the center of electrical turntable 6, and one with first mechanical arm 7
The other end of end connection, first mechanical arm 7 is connect by the second steering engine 10 with one end of second mechanical arm 9, second mechanical arm 9
The other end is connect by third steering engine 12 with one end of angle adjustment arm 11, and the other end of angle adjustment arm 11 is separately connected camera shooting
First 13 and clamping device 14, camera 13 be electrically connected with vision module 5.
Vision module uses OpenMV CAM M7OV7725 vision module, and OpenMV is a low cost, powerful
Machine vision module.Using STM32F427CPU as core, it is integrated with OV7725 camera chip, in small and exquisite hardware module,
Core machine vision algorithm is efficiently realized with C language, python programming interface is provided, by python language to camera
It is programmed, realizes the quick identification for specific objective, and connect with single-chip microcontroller by the serial ports that OpenMV camera carries,
It realizes serial communication, the target signature for recognizing specific objective is sent to single-chip microcontroller and judge after taking by single-chip microcontroller
Continuous operation.
First mechanical arm 7 is hinged on the top left side of electrical turntable 6, and the center of top of electrical turntable 6 is equipped with driving
First steering engine 8 of one mechanical arm 7, the left end of first mechanical arm 7 are hinged with second mechanical arm 9, second mechanical arm 9 and the first machinery
The hinged place of arm 7 is provided with the second steering engine 10 of driving second mechanical arm 9, and the second steering engine 10 is mounted on a left side for second mechanical arm 9
End, the right end of second mechanical arm 9 are hinged with angle adjustment arm 11, the hinged place setting of angle adjustment arm 11 and second mechanical arm 9
There is the third steering engine 12 of driving angle regulating arm 11, third steering engine 12 is fixedly mounted on the left end of angle adjustment arm 11, angle tune
The upper right quarter of joint arm 11 is equipped with the camera being electrically connected with vision module 5, and the right side of angle adjustment arm 11 is equipped with by machine
The clamping device 14 of machinery claw servo driving.
Motor 3, electrical turntable 6, the first steering engine 8, the second steering engine 10, third steering engine 12 and clamping device 14 pass through control
Circuit board 4 and external power supply are electrically connected, and camera is electrically connected by vision module 5 and external power supply, vision module 5 and control
Circuit board 4 processed is electrically connected.
Intelligent control unit is the control circuit board 4 of 1 intracavity bottom of vehicle frame installation, and control circuit board 4 includes driving circuit
Plate 41, single-chip microcontroller 42 and expander board 43, drive circuit board be four road motor driving circuit boards, can to four universal wheels 2 into
Row drive control is not enough to direct-driving motor operating, therefore needs drive circuit board since the I/O interface power of single-chip microcontroller is too small
Indirect driving motor is operated and is controlled to the operating condition of motor.
Drive circuit board is powered by power module, and single-chip microcontroller exports the four adjustable PWM of tunnel duty ratio to drive module, into one
Step realizes single-chip microcontroller to the revolving speed of wheel and the control of positive and negative rotation.
Expander board provides enough power interfaces for related sensor, and relevant single-chip I/O mouth is individually drawn
Facilitate line.
Single-chip microcontroller uses 2560 single-chip microcontroller of Arduino Mega, provides enough I/O interfaces for equipment.
Preferably, the retaining part of clamping device 14 is evenly arranged with rubber pad, is conducive to carry out stable holding to cargo.
Preferably, the junction of the shaft of idler wheel 2 and vehicle frame 1 is rotatablely connected by bearing, so that the rotation of idler wheel 2 is more suitable
Freely, idler wheel 2 is omni-directional wheel, preferably Mecanum wheel.
A kind of intelligence Handling device of the utility model, which is primarily adapted for use in, carries cargo, in use, passing through camera
13 scanning goods informations form electric signal, and vision module 5 receives electric signal, and transfers data to after carrying out data processing to it
Single-chip microcontroller 42, the program in single-chip microcontroller 42 can carry out after effectively analyzing data, and operational order is transferred to drive circuit board 41
With expander board 43, drive circuit board 41 and expander board 43 are again to motor 3, electrical turntable 6, the first steering engine 8, the second rudder
Machine 10, third steering engine 12, clamping device 14 are controlled, so that clamping device 14 clamps cargo, and with the rolling of idler wheel 2,
It is specific as follows by cargo transport to designated place:
Vision module scans Item Information, and detects ambient enviroment and positioning, passes the information on to single-chip microcontroller；
Using the lower left corner of a rectangular area as origin, two adjacent sides with the angle are respectively that XY axis establishes a plane
Rectangular coordinate system onboard installs both direction mutually orthogonal laser or ultrasonic distance measuring module, vehicle is placed in the rectangle region
In domain, the distance that two mutually orthogonal distance measuring sensors on vehicle measure can be used as the vehicle in this plane rectangular coordinates
The positioning function of trolley in the area so can be realized in XY coordinate in system.Herein on basis, it can be reached by programming
The requirement that accurate control trolley is moved to designated position.
Information drive circuit board drives the steering engine of mechanical arm in grasping mechanism unit to rotate to single-chip microcontroller based on the received, mechanical
The steering engine of arm is rotated up, and reaches specified altitude assignment, and gripper steering engine inwardly rotates, and to achieve the purpose that grab article, and is calculated
Distance, drive circuit board drive four omni-directional wheel rotations, achieve the purpose that control direction (left-hand rotation i.e. revolver turn by different rotating speeds
Speed is less than right wheel, and turning right is that right wheel revolving speed is less than revolver revolving speed, and straight trip is that four wheels move at the same speed)；
After reaching designated position, after vision module determines material placement location, equally pass the information on to single-chip microcontroller, monolithic
Machine drives steering engine, rotates down the steering engine of mechanical arm, reduces height, and the steering engine of gripper is turned out, and places article, movement
It completes.
The above content is only to illustrate the technical idea of the utility model, and the protection model of the utility model cannot be limited with this
Enclose, it is all according to the utility model proposes technical idea, any changes made on the basis of the technical scheme each falls within this reality
Within protection scope with novel claims.
Claims (10)
1. a kind of intelligence Handling device, which is characterized in that including vehicle frame (1), idler wheel (2), electrical turntable (6), pick-and-place mechanism list
Member and intelligent control unit, idler wheel (2) include four, and setting is arranged in the quadrangle of vehicle frame (1), electrical turntable (6) in vehicle frame (1)
On, the pick-and-place mechanism unit for clamping crawl material is provided on electrical turntable (6)；The intelligence being arranged on vehicle frame (1)
Control unit is connect with idler wheel (2), electrical turntable (6) and pick-and-place mechanism unit respectively, for controlling vehicle frame (1), electrical turntable
(6) and pick-and-place mechanism unit realizes crawl.
2. intelligence Handling device according to claim 1, which is characterized in that pick-and-place mechanism unit includes the first steering engine (8),
First steering engine (8) is arranged at the center of electrical turntable (6), is sequentially connected second mechanical arm (9) and angle by first mechanical arm (7)
It spends regulating arm (11), angle adjustment arm (11) is connect with clamping device (14).
3. intelligence Handling device according to claim 2, which is characterized in that first mechanical arm (7) and second mechanical arm (9)
Between be provided with the second steering engine (10), be provided between second mechanical arm (9) and angle adjustment arm (11) third steering engine (12),
One steering engine (8), the second steering engine (10) and third steering engine (12) are connect with intelligent control unit respectively.
4. intelligence Handling device according to claim 2, which is characterized in that the retaining part of clamping device (14) is provided with
Rubber pad.
5. intelligence Handling device according to claim 2, which is characterized in that angle adjustment arm is provided with camera on (11)
(13), camera (13) is electrically connected with the vision module (5) being arranged on vehicle frame (1), passes through vision module (5) and intelligent control
Unit connection.
6. intelligence Handling device according to claim 5, which is characterized in that it is mutual to be provided with both direction on vehicle frame (1)
Orthogonal laser or ultrasonic distance-measuring sensor, laser or ultrasonic distance-measuring sensor pass through vision module (5) and intelligent control
Unit connection.
7. intelligence Handling device according to any one of claim 1 to 6, which is characterized in that intelligent control unit includes
Drive circuit board (41), single-chip microcontroller (42) and expander board (43), single-chip microcontroller (42) respectively by drive circuit board (41) and
Expander board (43) is connect with idler wheel (2), electrical turntable (6) and pick-and-place mechanism unit.
8. intelligence Handling device according to claim 7, which is characterized in that intelligent control unit further includes external power supply,
External power supply is connect with drive circuit board (41), single-chip microcontroller (42) and expander board (43) respectively.
9. intelligence Handling device according to claim 1, which is characterized in that four rolling (2) respectively with vehicle frame (1) inner cavity
Motor (3) connection of top setting, is connect between idler wheel (2) and vehicle frame (1) by bearing.
10. intelligence Handling device according to claim 9, which is characterized in that idler wheel (2) is omni-directional wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920254505.9U CN209648708U (en) | 2019-02-28 | 2019-02-28 | A kind of intelligence Handling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920254505.9U CN209648708U (en) | 2019-02-28 | 2019-02-28 | A kind of intelligence Handling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209648708U true CN209648708U (en) | 2019-11-19 |
Family
ID=68525442
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920254505.9U Active CN209648708U (en) | 2019-02-28 | 2019-02-28 | A kind of intelligence Handling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209648708U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774818A (en) * | 2019-02-28 | 2019-05-21 | 西安建筑科技大学 | A kind of omnidirectional's intelligent material conveying vehicle and its operating method |
| CN112086004A (en) * | 2020-07-22 | 2020-12-15 | 北京杰创永恒科技有限公司 | Automatic handling system based on AGV |
| CN112978363A (en) * | 2021-03-25 | 2021-06-18 | 重庆途益物流有限公司 | Intelligent logistics control device with multi-directional adjustment function |
| CN113184528A (en) * | 2021-05-12 | 2021-07-30 | 湘潭大学 | Material back-off carrying mechanism based on rotating pallet |
| CN114406980A (en) * | 2022-03-03 | 2022-04-29 | 集美大学 | Vision-assisted laser positioning logistics robot |
-
2019
- 2019-02-28 CN CN201920254505.9U patent/CN209648708U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774818A (en) * | 2019-02-28 | 2019-05-21 | 西安建筑科技大学 | A kind of omnidirectional's intelligent material conveying vehicle and its operating method |
| CN112086004A (en) * | 2020-07-22 | 2020-12-15 | 北京杰创永恒科技有限公司 | Automatic handling system based on AGV |
| CN112978363A (en) * | 2021-03-25 | 2021-06-18 | 重庆途益物流有限公司 | Intelligent logistics control device with multi-directional adjustment function |
| CN113184528A (en) * | 2021-05-12 | 2021-07-30 | 湘潭大学 | Material back-off carrying mechanism based on rotating pallet |
| CN114406980A (en) * | 2022-03-03 | 2022-04-29 | 集美大学 | Vision-assisted laser positioning logistics robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209648708U (en) | A kind of intelligence Handling device | |
| CN109774818A (en) | A kind of omnidirectional's intelligent material conveying vehicle and its operating method | |
| US9457970B1 (en) | Modular cross-docking system | |
| CN208265098U (en) | The autonomous mobile robot of cargo is picked and placed for shelf | |
| CN108582025A (en) | Logistics robot palletizer trolley and its carrying palletizing method | |
| CN208438333U (en) | Logistics robot palletizer trolley | |
| CN108405374B (en) | Automatic distinguish arm pickup system of different colours | |
| CN112223335B (en) | Multifunctional mechanical claw and robot for automatic feeding and discharging of rod body | |
| CN218113025U (en) | Unmanned aerial vehicle hangar | |
| CN205555541U (en) | Pile up neatly, machine people breaks a jam | |
| CN109591915A (en) | A kind of intelligence AGV carrier | |
| CN211802462U (en) | Movable intelligent cargo grabbing and transporting device | |
| CN213923790U (en) | Bulk grain container loading and unloading device based on visual positioning | |
| CN212604753U (en) | Intelligence commodity circulation dolly based on STM32 automatic identification letter sorting | |
| CN211061900U (en) | Autonomous navigation logistics robot control system | |
| CN210819526U (en) | Mechanical arm autonomous navigation moving system | |
| CN209492702U (en) | UAV system logistics device based on two-dimension code navigation formula Intelligent transfer robot | |
| CN211439958U (en) | Archive management robot | |
| CN106774319B (en) | Multi-sensor self-walking universal intelligent chassis | |
| CN214299143U (en) | Cargo transport vehicle | |
| CN113460846B (en) | Tower crane type logistics express delivery transportation robot and control method thereof | |
| CN113847868B (en) | Positioning method and system for material bearing device with rectangular support legs | |
| CN218534535U (en) | Small-size tower intelligent carrier | |
| CN108189003A (en) | A kind of Multifunctional mobile robot and a kind of method for optimizing maze path | |
| CN114655843A (en) | Small-sized hoisting and carrying equipment capable of automatically identifying goods identification and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210106 Address after: 100043 room 9094, building 3, 3 Xijing Road, Badachu hi tech park, Shijingshan District, Beijing Patentee after: Beijing Ruihai Huida Technology Co.,Ltd. Address before: 710055 Yanta Road 13, Xi'an City, Shaanxi Province Patentee before: XI'AN University OF ARCHITECTURE & TECHNOLOGY |