CN215294562U - Composite robot explosion-proof system - Google Patents
Composite robot explosion-proof system Download PDFInfo
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- CN215294562U CN215294562U CN202120997362.8U CN202120997362U CN215294562U CN 215294562 U CN215294562 U CN 215294562U CN 202120997362 U CN202120997362 U CN 202120997362U CN 215294562 U CN215294562 U CN 215294562U
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Abstract
The utility model provides an explosion-proof system of composite robot, include: the explosion-proof robot is internally provided with a mechanical arm positive pressure cavity; a positive pressure explosion-proof cabinet; the explosion-proof cabinet is internally provided with a first air inlet electromagnetic valve, a first exhaust electromagnetic valve, a first pressure sensor, a second air inlet electromagnetic valve, a second exhaust electromagnetic valve, a second pressure sensor and a logic controller; the first air inlet electromagnetic valve and the second air inlet electromagnetic valve are respectively connected with the positive pressure cavity of the mechanical arm and the positive pressure explosion-proof cabinet, and the first exhaust electromagnetic valve and the second exhaust electromagnetic valve are respectively communicated with the positive pressure cavity of the mechanical arm and the positive pressure explosion-proof cabinet; the first pressure sensor, the second pressure sensor, the first air inlet electromagnetic valve, the second air inlet electromagnetic valve, the first exhaust electromagnetic valve and the second exhaust electromagnetic valve are all connected with a logic controller used for controlling air supply and exhaust according to pressure signals. The utility model provides high explosion-proof performance makes explosion-proof robot can use in the scene of explosion-proof demand on a large scale.
Description
Technical Field
The utility model belongs to the technical field of explosion-proof robot safety, concretely relates to explosion-proof system of compound robot.
Background
In the prior art, an explosion-proof robot only carries out explosion-proof design of a mechanical arm, and a control system is arranged in a safety area to realize the explosion-proof function of a specific area, but is limited by the length of a cable between a control cabinet and a mechanical arm body, and cannot be used in a large range, namely is not suitable for a scene with large-range explosion-proof requirements; when the annular section is swept, the cleaning of the dead angle position is not considered, so that potential explosion hazards exist, and dangerous gas deposition exists at the dead angle position, so that the annular section cannot be swept in place; the positive pressure type explosion-proof device has the advantages that the positive pressure type explosion-proof device is used in all of partial technical schemes, the actual operation is difficult to a certain degree, the pressure sensor is generally communicated with the external environment to achieve the purpose of measuring the differential pressure, components and parts used in the whole system are difficult to install, and certain risks exist when the positive pressure type explosion-proof device is used in all.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a compound type robot explosion-proof system improves explosion-proof performance, solves the dead angle and sweeps and blow hidden danger, makes explosion-proof robot use in the scene of explosion-proof demand on a large scale.
The utility model provides a following technical scheme:
the application provides a compound robot explosion-proof system, includes:
the explosion-proof robot is internally provided with a mechanical arm positive pressure cavity;
the positive pressure explosion-proof cabinet is internally provided with a mechanical arm control cabinet and a demonstrator;
the explosion-proof and explosion-proof cabinet is internally provided with a first air inlet electromagnetic valve, a first exhaust electromagnetic valve, a first pressure sensor, a second air inlet electromagnetic valve, a second exhaust electromagnetic valve, a second pressure sensor and a logic controller;
the first air inlet electromagnetic valve and the second air inlet electromagnetic valve for air supply of an air source are respectively connected with the mechanical arm positive pressure cavity and the positive pressure explosion-proof cabinet, and the first exhaust electromagnetic valve and the second exhaust electromagnetic valve for exhaust are respectively communicated with the mechanical arm positive pressure cavity and the positive pressure explosion-proof cabinet;
first pressure sensor, second pressure sensor, first solenoid valve that admits air, second admit air solenoid valve, first exhaust solenoid valve and second exhaust solenoid valve all are connected with the logic controller who is used for controlling air feed and exhaust according to pressure signal, first pressure sensor, second pressure sensor are connected with arm positive pressure chamber, malleation explosion-proof cabinet respectively.
The mechanical arm positive pressure cavity and the positive pressure explosion-proof cabinet are sealed so as to meet the positive pressure explosion-proof requirement. The explosion-proof cabinet is designed according to the requirements of GB 3836.2-2010.
Preferably, a first flowmeter and a second flowmeter are further arranged in the explosion-proof cabinet, the first flowmeter is used for monitoring the air inflow of the mechanical arm positive pressure cavity and is arranged between the first air inlet electromagnetic valve and the mechanical arm positive pressure cavity, the second flowmeter is used for monitoring the air inflow of the positive pressure explosion-proof cabinet and is arranged between the second air inlet electromagnetic valve and the positive pressure explosion-proof cabinet, and the first flowmeter and the second flowmeter are electrically connected with the logic controller.
Preferably, at least one of the motor of the positive pressure cavity of the mechanical arm, the switching power supply and the industrial personal computer of the mechanical arm control cabinet and the positive pressure explosion-proof cabinet is provided with a temperature sensor, and the temperature sensor is electrically connected with the logic controller and used for monitoring and transmitting temperature information.
Preferably, still be equipped with the display screen in the explosion-proof cabinet for at least one item information in air intake flow, temperature information, arm malleation intracavity pressure and malleation explosion-proof cabinet internal pressure is shown screen and logic controller electric connection.
Preferably, the lowest position department in arm positive pressure chamber is equipped with the air inlet that is used for being connected with first air inlet solenoid valve, the highest position department in arm positive pressure chamber is equipped with the gas vent that is used for being connected with first exhaust solenoid valve.
Preferentially, still include tee bend coupling, first trachea and second trachea, the tee bend coupling is located the arm malleation intracavity and is connected the air inlet, first trachea joint and air inlet, the both ends that the air inlet was kept away from to second trachea joint tee bend coupling, the second trachea pastes and locates on the arm malleation intracavity wall and be equipped with at least one ventilation hole.
Preferably, the explosion-proof cabinet, the positive pressure explosion-proof cabinet and the explosion-proof robot are all arranged in a dangerous area.
Preferably, the explosion-proof cabinet is also internally provided with a precise pressure regulating valve and is connected with the first air inlet electromagnetic valve and the second air inlet electromagnetic valve, and the precise pressure regulating valve is also connected with an air source processing piece which is used for communicating and processing an air source.
Preferentially, explosion-proof cabinet, malleation explosion-proof cabinet, air inlet and gas outlet are connected with the choke valve, first flowmeter and second flowmeter all connect air inlet and malleation explosion-proof cabinet respectively through the choke valve, the gas vent passes through the choke valve and connects first exhaust solenoid valve, malleation explosion-proof cabinet passes through the choke valve and connects explosion-proof cabinet.
The utility model has the advantages that: through setting up the explosion-proof cabinet, will realize the components and parts of explosion-proof function as for in the explosion-proof cabinet, guaranteed on the one hand that components and parts do not receive the damage, on the other hand has also reduced the high requirement of adopting explosion-proof type components and parts to the cost, has guaranteed that explosion-proof robot can use in the scene of explosion-proof demand on a large scale.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic connection diagram of the present invention;
fig. 2 is a schematic view of the connection of the purge module of the present invention.
Labeled as: 1. the explosion-proof robot comprises an explosion-proof robot body, 11 mechanical arm positive pressure cavities, 2 three-way pipe joints, 21 first air pipes, 22 second air pipes, 3 explosion-proof cabinets and 4 positive pressure explosion-proof cabinets.
Detailed Description
As shown in fig. 1, the present application provides a composite robot explosion-proof system, comprising:
as shown in fig. 1, in the explosion-proof robot 1, a mechanical arm positive pressure cavity 11 is arranged in the explosion-proof robot 1, and the mechanical arm positive pressure cavity 11 is subjected to sealing treatment so as to meet the requirement of positive pressure explosion prevention.
As shown in fig. 1, the positive pressure explosion-proof cabinet 4 and the positive pressure explosion-proof cabinet 4 are sealed to meet the requirement of positive pressure explosion-proof. A mechanical arm control cabinet and a demonstrator are arranged in the positive pressure explosion-proof cabinet 4; the positive pressure explosion-proof cabinet 4 can play the roles of increasing heat dissipation and preventing overheating of the mechanical arm control cabinet and the demonstrator.
The explosion-proof cabinet 3, the positive pressure explosion-proof cabinet 4 and the explosion-proof robot 1 are all arranged in a dangerous area, and the air source processing piece is arranged in a safe area. The mechanical arm control cabinet and the demonstrator are arranged in the dangerous area, the distance between the mechanical arm control cabinet and the explosion-proof robot is shortened, and the mechanical arm control cabinet and the demonstrator are favorable for better control over the mechanical arm.
As shown in fig. 1, the explosion-proof cabinet 3 is designed according to the requirements of GB 3836.2-2010. Be equipped with first air inlet solenoid valve, first exhaust solenoid valve, first pressure sensor, second air inlet solenoid valve, second exhaust solenoid valve, second pressure sensor and logic controller PLC in explosion-proof cabinet 3, will realize in explosion-proof function's components and parts are arranged explosion-proof cabinet 3 in, guaranteed on the one hand that components and parts do not receive the damage, on the other hand has also reduced the high requirement of adopting explosion-proof type components and parts to the cost, has guaranteed that explosion-proof robot 1 can use in the scene of explosion-proof demand on a large scale. Wherein: the air source supplies air to the mechanical arm positive pressure cavity 11 and the positive pressure explosion-proof cabinet 4 through the first air inlet electromagnetic valve and the second air inlet electromagnetic valve respectively, and is communicated with the mechanical arm positive pressure cavity 11 and the positive pressure explosion-proof cabinet 4 through the first exhaust electromagnetic valve and the second exhaust electromagnetic valve respectively.
As shown in fig. 1, a first pressure sensor, a second pressure sensor, a first air inlet solenoid valve, a second air inlet solenoid valve, a first exhaust solenoid valve and a second exhaust solenoid valve are all connected with a logic controller PLC, the first pressure sensor, the second pressure sensor is also respectively connected with a mechanical arm positive pressure cavity 11, a positive pressure explosion-proof cabinet 4, the detected pressure signal is transmitted to the logic controller PLC, the logic controller PLC accurately controls the first air inlet solenoid valve according to the pressure signal, the first exhaust solenoid valve, the second air inlet solenoid valve, the air supply and exhaust of the second exhaust solenoid valve, the explosion-proof performance is improved by timely controlling the turn-off of the two air inlet solenoid valves and the exhaust solenoid valve, the explosion caused by overlarge internal pressure is prevented, so that components in the explosion-proof cabinet 3 are damaged, and the cost is increased.
As shown in fig. 1, based on foretell explosion-proof cabinet 3, still be equipped with first flowmeter and second flowmeter in explosion-proof cabinet 3, the first flowmeter that is used for monitoring the inlet flow of arm positive pressure chamber 11 is located between first air inlet solenoid valve and the arm positive pressure chamber 11, the second flowmeter that is used for monitoring the inlet flow of malleation explosion-proof cabinet 4 is located between second air inlet solenoid valve and malleation explosion-proof cabinet 4, the equal electric connection logic controller PLC of first flowmeter and second flowmeter for transmitting flow signal, through two flowmeters, realize the gas flow control in malleation explosion-proof cabinet 4 and arm positive pressure chamber 11, be convenient for judge whether there is hazardous gas deposit, improve explosion-proof monitoring performance.
As shown in fig. 1, at least one of the motor of the positive pressure cavity 11 of the mechanical arm, the switching power supply and the industrial personal computer of the mechanical arm control cabinet and the positive pressure explosion-proof cabinet 4 is provided with a temperature sensor, the temperature sensor is electrically connected with the logic controller PLC for monitoring and transmitting temperature information, the temperature sensor is specifically used for monitoring and feeding back the logic controller PLC in time, and explosion caused by pressure increase in the two positive pressure cavities or the mechanical arm control cabinet due to overhigh temperature is prevented.
As shown in fig. 1, a display screen is further arranged in the explosion-proof cabinet 3, and the display screen is electrically connected with the logic controller PLC and is used for displaying at least one item of information of the air intake flow, the temperature information, the pressure in the mechanical arm positive pressure cavity 11 and the pressure in the positive pressure explosion-proof cabinet 4. The monitoring information is visually displayed on the display screen, so that manual monitoring and acquisition are facilitated, and accidents are avoided.
As shown in fig. 1, based on the mechanical arm positive pressure chamber 11, an air inlet for connecting with a first air inlet solenoid valve is arranged at the lowest position of the mechanical arm positive pressure chamber 11, and an air outlet for connecting with a first air outlet solenoid valve is arranged at the highest position of the mechanical arm positive pressure chamber 11. Air is fed from the lowest position, and air is discharged from the highest position, so that the cleaning of air in the positive pressure cavity of the mechanical arm is ensured.
As shown in fig. 2, the pneumatic manipulator further comprises a tee pipe joint 2, a first air pipe 21 and a second air pipe 22, the tee pipe joint 2 is arranged in the positive pressure cavity 11 of the manipulator and is connected with the air inlet, the first air pipe 21 is connected with the tee pipe joint 2 and the air inlet, the second air pipe 22 is connected with two ends, far away from the air inlet, of the tee pipe joint 2, and the second air pipe 22 is attached to the inner wall of the positive pressure cavity 11 of the manipulator and is provided with at least one ventilation hole. The second air pipe 22 is arranged at a dead angle position and is blown through the vent holes, so that the potential danger that dangerous gas is deposited and cannot be blown in place to cause explosion at the dead angle position can be prevented. In the purging stage, the reading of the flowmeter can be monitored through a display screen in the explosion-proof cabinet 3, and the volume of the gas passing through the purging stage is determined to be larger than the volume of the mechanical arm positive pressure cavity 11 so as to ensure that all dangerous gas in the cavity can be discharged and the safety is ensured.
As shown in fig. 1, based on the explosion-proof cabinet 3, a precise pressure regulating valve is further arranged in the explosion-proof cabinet 3 and connected with the first air inlet electromagnetic valve and the second air inlet electromagnetic valve, so that the gas volume entering the first air inlet electromagnetic valve and the second air inlet electromagnetic valve respectively can be conveniently and precisely regulated, the electromagnetic valves are prevented from being damaged due to uneven distribution of the gas volume, the precise pressure regulating valve is further connected with a gas source processing piece used for communicating and processing a gas source, and the gas source is processed to be clean air.
As shown in figure 1, at least one of the explosion-proof cabinet 3, the positive pressure explosion-proof cabinet 4, the air inlet and the air outlet is connected with a throttle valve, the first flowmeter and the second flowmeter are respectively connected with the air inlet and the positive pressure explosion-proof cabinet 4 through the throttle valve, the air outlet is connected with a first exhaust electromagnetic valve through the throttle valve, and the positive pressure explosion-proof cabinet 4 is connected with the explosion-proof cabinet 3 through the throttle valve. The throttle valve is used for controlling the air supply flow, so that the waste of air is avoided, and the cost is reduced.
As shown in fig. 1-2, the specific workflow is as follows:
1. the gas source is introduced from the safety zone, is treated by the gas source treatment piece to become clean air, is decompressed to a set pressure by the decompression valve, stabilizes the gas source pressure, protects subsequent components, prevents the components from being damaged, and is introduced into the explosion-proof cabinet 3 of the danger zone.
2. The air source enters a first air inlet electromagnetic valve and a second air inlet electromagnetic valve which are respectively communicated with the positive pressure explosion-proof cabinet 4 and the mechanical arm positive pressure cavity 11 after passing through a precise pressure regulating valve, when the whole explosion-proof system is started, the mechanical arm control cabinet and the explosion-proof robot 1 forbid electrification at the moment, the logic controller PLC opens two air inlet electromagnetic valves and two exhaust electromagnetic valves which are respectively communicated with the positive pressure explosion-proof cabinet 4 and the mechanical arm positive pressure cavity 11, clean air passes through the positive pressure explosion-proof cabinet 4 and the mechanical arm positive pressure cavity 11, dangerous gas in the cavity is swept, dangerous gas in the cavity is cleared, the flow of the gas passing through the two flowmeters is monitored to be greater than the cavity pressure, if the flow of the gas is greater than the calculated cavity pressure, the next step can be carried out, otherwise, the system alarms and shuts down.
3. After the purging is finished, the first exhaust electromagnetic valve and the second exhaust electromagnetic valve are closed, the first air inlet electromagnetic valve and the second air inlet electromagnetic valve continue to ventilate, the pressure in the two positive pressure cavities is monitored at the moment, the positive pressure explosion-proof cabinet 4 and the mechanical arm positive pressure cavity 11 of the explosion-proof robot 1 respectively correspond to the first pressure sensor and the second pressure sensor, and when the pressure reaches a set working threshold value or is within a working threshold value range, the exhaust electromagnetic valves corresponding to the cavities are closed. At this time, the corresponding positive pressure explosion-proof cabinet 4 or the mechanical arm positive pressure cavity 11 can be powered on.
4. If the pressure in the cavity of the mechanical arm positive pressure cavity 11 is higher than the set warning high threshold value in the operation process of the explosion-proof robot 1, the system starts to give an alarm and opens the corresponding exhaust solenoid valve to reduce the pressure in the cavity, and the alarm is released when the pressure reaches the working threshold value or is in the working threshold value range, so that the explosion-proof robot 1 can continue to work in the process. If the exhaust electromagnetic valve is opened, the pressure continues to rise, and when the danger high threshold value is reached, the system cuts off the power supply of the explosion-proof robot 1, and the whole system is powered off and stops. The operation and monitoring logic principle of the positive pressure explosion-proof cabinet 4 is the same as that of the explosion-proof robot 1.
5. When the pressure in the cavity is lower than the warning low threshold value in the operation process of the explosion-proof robot 1, the system starts to give an alarm and opens the corresponding air inlet electromagnetic valve to enable the pressure in the cavity to rise, when the pressure reaches the working threshold value or is within the working threshold value range, the alarm is released, and the explosion-proof robot 1 can continue to work in the process. If the air inlet electromagnetic valve is opened, the pressure continues to rise, and when the pressure drops to a danger low threshold value, the system cuts off the power supply of the explosion-proof robot 1, and the whole system is powered off and stops. The operation and monitoring logic principle of the positive pressure explosion-proof cabinet 4 is the same as that of the explosion-proof robot 1.
6. In addition, the temperature of the motor in the positive pressure cavity 11 of the mechanical arm and main heat-generating elements in the positive pressure explosion-proof cabinet 4 is monitored, and when the elements are not lower than the warning temperature, the system cuts off the power supply of the explosion-proof robot 1, and the whole system is powered off and shut down.
7. After the explosion-proof robot 1 is powered off and stopped, the explosion-proof robot needs to be restarted and purged again.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A composite robot explosion-proof system is characterized in that: the method comprises the following steps:
the explosion-proof robot is internally provided with a mechanical arm positive pressure cavity;
the positive pressure explosion-proof cabinet is internally provided with a mechanical arm control cabinet and a demonstrator;
the explosion-proof and explosion-proof cabinet is internally provided with a first air inlet electromagnetic valve, a first exhaust electromagnetic valve, a first pressure sensor, a second air inlet electromagnetic valve, a second exhaust electromagnetic valve, a second pressure sensor and a logic controller;
the first air inlet electromagnetic valve and the second air inlet electromagnetic valve for air supply of an air source are respectively connected with the mechanical arm positive pressure cavity and the positive pressure explosion-proof cabinet, and the first exhaust electromagnetic valve and the second exhaust electromagnetic valve for exhaust are respectively communicated with the mechanical arm positive pressure cavity and the positive pressure explosion-proof cabinet;
first pressure sensor, second pressure sensor, first solenoid valve that admits air, second admit air solenoid valve, first exhaust solenoid valve and second exhaust solenoid valve all are connected with the logic controller who is used for controlling air feed and exhaust according to pressure signal, first pressure sensor, second pressure sensor are connected with arm positive pressure chamber, malleation explosion-proof cabinet respectively.
2. The composite robot explosion-proof system of claim 1, wherein a first flowmeter and a second flowmeter are further arranged in the explosion-proof cabinet, the first flowmeter for monitoring the inflow of the positive pressure cavity of the mechanical arm is arranged between the first air inlet solenoid valve and the positive pressure cavity of the mechanical arm, the second flowmeter for monitoring the inflow of the positive pressure explosion-proof cabinet is arranged between the second air inlet solenoid valve and the positive pressure explosion-proof cabinet, and the first flowmeter and the second flowmeter for transmitting flow signals are both electrically connected with the logic controller.
3. The explosion-proof system of a composite robot of claim 1, wherein: and at least one of the motor of the mechanical arm positive pressure cavity, the switching power supply and the industrial personal computer of the mechanical arm control cabinet and the positive pressure explosion-proof cabinet is provided with a temperature sensor which is used for monitoring and transmitting temperature information and is electrically connected with the logic controller.
4. The explosion-proof system of a composite robot according to any one of claims 1 to 3, wherein: the explosion-proof cabinet is also internally provided with a display screen which is used for displaying at least one item of information of air inlet flow, temperature information, pressure in the mechanical arm positive pressure cavity and pressure in the positive pressure explosion-proof cabinet and is electrically connected with the logic controller.
5. The explosion-proof system of a composite robot of claim 1, wherein: the lowest position department in arm positive pressure chamber is equipped with the air inlet that is used for being connected with first air inlet solenoid valve, the highest position department in arm positive pressure chamber is equipped with the gas vent that is used for being connected with first exhaust solenoid valve.
6. The explosion-proof system of a composite robot of claim 5, wherein: still include tee bend coupling, first trachea and second trachea, tee bend coupling locates the arm malleation intracavity and connects the air inlet, tee bend coupling and air inlet are connected to first trachea, the both ends that the air inlet was kept away from to tee bend coupling are connected to the second trachea, the second trachea pastes and locates on the arm malleation intracavity wall and be equipped with at least one ventilation hole.
7. The explosion-proof system of a composite robot of claim 1, wherein: the explosion-proof cabinet, the positive pressure explosion-proof cabinet and the explosion-proof robot are all arranged in a dangerous area.
8. The explosion-proof system of a composite robot of claim 5, wherein: and a precise pressure regulating valve is further arranged in the explosion-proof cabinet and connected with the first air inlet electromagnetic valve and the second air inlet electromagnetic valve, and the precise pressure regulating valve is further connected with an air source processing piece which is used for communicating and processing an air source.
9. The explosion-proof system of a composite robot of claim 5, wherein: the explosion-proof cabinet, the positive pressure explosion-proof cabinet, the air inlet and the air outlet are connected with a throttle valve, the first flowmeter and the second flowmeter are respectively connected with the air inlet and the positive pressure explosion-proof cabinet through the throttle valve, the air outlet is connected with a first exhaust electromagnetic valve through the throttle valve, and the positive pressure explosion-proof cabinet is connected with the explosion-proof cabinet through the throttle valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120997362.8U CN215294562U (en) | 2021-05-11 | 2021-05-11 | Composite robot explosion-proof system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120997362.8U CN215294562U (en) | 2021-05-11 | 2021-05-11 | Composite robot explosion-proof system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215294562U true CN215294562U (en) | 2021-12-24 |
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ID=79539868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120997362.8U Active CN215294562U (en) | 2021-05-11 | 2021-05-11 | Composite robot explosion-proof system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215294562U (en) |
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2021
- 2021-05-11 CN CN202120997362.8U patent/CN215294562U/en active Active
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| CP01 | Change in the name or title of a patent holder |
Address after: 116000 first floor, No. 43-1, northeast Second Street, Dalian Economic and Technological Development Zone, Dalian, Liaoning Province Patentee after: AOBO (Dalian) robot Co.,Ltd. Patentee after: AUBO (Beijing) Intelligent Technology Co.,Ltd. Address before: 116000 first floor, No. 43-1, northeast Second Street, Dalian Economic and Technological Development Zone, Dalian, Liaoning Province Patentee before: AOBO (Dalian) robot Co.,Ltd. Patentee before: AUBO (BEIJING) ROBOTICS TECHNOLOGY Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |