CN101949429B - Single-stage cycloidal speed reducer of industrial robot - Google Patents
Single-stage cycloidal speed reducer of industrial robot Download PDFInfo
- Publication number
- CN101949429B CN101949429B CN 201010263552 CN201010263552A CN101949429B CN 101949429 B CN101949429 B CN 101949429B CN 201010263552 CN201010263552 CN 201010263552 CN 201010263552 A CN201010263552 A CN 201010263552A CN 101949429 B CN101949429 B CN 101949429B
- Authority
- CN
- China
- Prior art keywords
- pin
- bearing
- gear
- cycloid wheel
- wheel
- 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.)
- Expired - Fee Related
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000001603 reducing effect Effects 0.000 claims description 6
- 125000006850 spacer group Chemical group 0.000 claims description 4
- 230000004323 axial length Effects 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000009467 reduction Effects 0.000 abstract description 4
- 238000013016 damping Methods 0.000 abstract 2
- 230000005540 biological transmission Effects 0.000 description 5
- 235000014364 Trapa natans Nutrition 0.000 description 4
- 240000001085 Trapa natans Species 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- MFYSYFVPBJMHGN-UHFFFAOYSA-N Cortisone Natural products O=C1CCC2(C)C3C(=O)CC(C)(C(CC4)(O)C(=O)CO)C4C3CCC2=C1 MFYSYFVPBJMHGN-UHFFFAOYSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 239000006185 dispersion Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 208000037280 Trisomy Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000001138 tear Anatomy 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000007514 turning Methods 0.000 description 1
Images
Landscapes
- Retarders (AREA)
Abstract
The invention relates to the technical field of speed reducers for industrial robots, in particular to a single-stage cycloidal speed reducer of an industrial robot, which is characterized in that: (a) the single-stage cycloid speed reducer is operated in a single-stage speed reduction mode; (b) an output shaft is in a rigid cage-shaped structure with a large-diameter disk and two supported ends; (c) an elastic damping ring (4), a dish spring (5), an eccentric bearing a, a spacing ring (15), an eccentric bearing b, a dish spring (14) and an elastic damping ring (12) are sequentially arranged on an input shaft (3), wherein the input shaft and the two single-eccentric bearings a and b are connected through multi-start threads with the same rotating direction; when in an initial period, the gear teeth of a cycloidal gear A is abutted against a gear pin (16) at the upper half area of a pin gear shell (10) along a clockwise direction, and the gear teeth of a cycloidal gear B is abutted against the gear pin (16) at the lower half area of the pin gear shell (10) along the counterclockwise direction; and (d) the two single-eccentric bearings a and b are formed by the tight fit of an inner eccentric sleeve and a standard roller bearing without an outer ring. The invention has the advantages that: (1) the single-stage cycloidal speed reducer has the characteristics of simplified structure, fewer parts and large heat-radiating space; (2) the adoption of a structure that the standard bearing is matched with an inner-ring multi-start nut greatly lowers the processing difficulty of the multi-start nut; and (3) similar RV-E and RV-C hollow models can be manufactured.
Description
[technical field]
The present invention relates to industrial robot retarder technical field, a kind of industrial robot single-stage cycloidal reducer.
[background technique] background technique is divided two kinds of single-stage speed reducing and double reductions:
(1) double reduction: involute planet gear+cycloid
(a) problem of Japanese RV and China CORT (97100463) is: 1. accuracy of manufacturing requires high; 2. complex structure, in addition part is many, heat dispersion is bad; 3. return difference can not auto-compensation; 4. expensive.
(b) problem of micro-backflash cycloidal speed reducer of industrial robot (200910196984.4) is: 1. complex structure, in addition part is many, heat dispersion is bad; 2. capacity eccentric bearing inner ring bull nut processing difficulties; 3. can not make class RV-C band center hole type.
(2) single-stage speed reducing:
The advantage of University Of Chongqing's " accurate cycloid pin gear epicyclic transmission apparatus " (200810069737.3) is to eliminate return difference, but only has the work done of a slice wheel, when return difference increases, must shut down and adjust.
China's 863 Program, state natural sciences fund repeat to list again and again, wish state internal gear expert, first-class manufactory on the RV basis, develop the own retarder of Chinese and replace Japanese RV.Yet, so far still must be supporting from Japanese import RV.
[summary of the invention]
The significant improvement of the present invention system " micro-backflash cycloidal speed reducer of industrial robot " (200910196984.4) and RV retarder, purpose is: propose that a kind of medium accuracy of manufacturing, technology difficulty are little, return difference can auto-compensation, manufacturing cost estimation is RV, CORT 25～35% and can make the industrial robot single-stage cycloidal reducer of class RV-C hollow type.
Resiliently deformable return difference when the return difference of industrial robot retarder mainly comprises geometry return difference and load.Wherein:
Geometry return difference when (one) unloaded: kinematic accuracy represents by driving error (the present invention is single-stage speed reducing, thereby only has cycloid transmission and two links of output mechanism), return difference is worth 1 '～1.5 '.Gear pin hole circumferential position error in the cycloid transmission, gear pin radius error, equidistantly to reach the modification of moved distance error be how much return difference principal elements;
(2) resiliently deformable return difference (rigidity) during load: in the load movement situation, the total return difference that comprises the return difference that resiliently deformable causes can not surpass 6 ' (Zhu Xiaolu " 827 pages of Gear Transmission Design handbook)
The concrete technological scheme that how to design, make little return difference industrial robot retarder is as follows:
Zero return difference when (A) unloaded: in order to eliminate initial return difference, make cycloid wheel A be close to along contrary pin direction and partly distinguish in addition the pin tooth along be close to pin tooth, cycloid wheel B along the pin direction on the structure.Thereby 180 ° of two single eccentric bearing a, b angle phi ≈.The phase angle minor alteration is little on the static balancing impact, also can not strictly equal 180 ° because former whole double-eccentric shaft holds the phase angle.
(B) two take turns synchronous work done during load, increase mesh stiffness, reduce elastic contact deformation, its principle is as follows:
Eccentric bushing (nut) a, b are at both sides pre-pressure of the spring Q in cycloid wheel A, the B
0Effect is lower, the spiral motion of difference potential " the contrary pin that moves to right turns " and " move to left and turn along pin ", latent torque M
0=Q
0(d
2/ 2) tg (λ+φ).During right the or m that moves to left when nut (approximately 0.05～0.15), then torque is increased to M
1=(Q
0+ mp ') (d
2/ 2) tg (λ+φ) (p ' be the spring rigidity index).
When input shaft (right handed screw) when turning clockwise: screw driving torque T=T
0+ Ma, wherein:
T
0That nut a makes cycloid wheel A rotate counterclockwise the required moment of torsion of acting;
Ma be nut a promote vertically nut b move to right the torque that contrary pin simultaneously turns (with potentially move to left, to turn (square) along pin opposite), obvious Ma should greater than or be slightly larger than M
0, and because the increase of spring pressure, torque M a also can increase.
Nut b moment that contrary pin simultaneously rotates that moves to right makes the B wheel gear teeth partly distinguish the pin tooth along relying on fast clockwise in addition, so the synchronously contrary pin of A, B wheel turns the realization power stage.(central diameter d
2, lead angle λ, friction angle φ)
After the outage, rely on spring reset; Again energising, screw rod anti-(counterclockwise) turn, B takes turns work done, and A takes turns hysteresis ...
(C) output shaft adopts the rigidity cage structure of big diameter disc, two supports, and rigidity is large, shock resistance is high;
[beneficial effect]
The present invention is according to Japanese RV retarder, and its creation, novelty, practicability are embodied in:
1. return difference energy auto-compensation after Surface of action weares and teares; 2. remove three eccentric shafts, 6 bearings and 7 gears, simplify the structure, increased heat-dissipating space, eliminated processing and assembly error that three eccentric shafts bring; 3. technology difficulty little, do not need high precision machine tool; 4. manufacturing cost estimation is 25～35% of RV, CORT.
The present invention is according to micro-backflash cycloidal speed reducer of industrial robot (200910196984.4), and the trisomies such as its creation are present:
1. designs simplification, in addition part is few, heat-dissipating space is large; 2. adopt standard rolling bearing+inner ring bull nut structure, greatly reduce the difficulty of processing of bull nut; 3. can make class RV-E and RV-C hollow type.
[description of drawings]
Fig. 1. be the structural representation of the embodiment of the invention
Fig. 2 is original state: the structural representation when (2-a) cycloid wheel A edge is close to along pin direction and upper half gear pin; Structural representation when the contrary pin direction in cycloid wheel B edge and bottom half gear pin are close to;
(2-b) cycloid wheel A, B inner eccentric shaft hold the structural representation of a, b and input shaft screw pair.
When Fig. 3 was work: (3-a) cycloid wheel A, B were along along pin direction and upper and lower structural representation when partly distinguishing gear pin and being close to;
(3-b) cycloid wheel A, B inner eccentric shaft hold the structural representation of a, b and input shaft screw pair.
[embodiment]
With reference to Fig. 1,2 and 3. a kind of industrial robot single-stage cycloidal reducer, by the first cycloid wheel (A) and be contained in first capacity eccentric bearing (a) of the first cycloid wheel endoporus, the second cycloid wheel (B) and be contained in second capacity eccentric bearing (b) of the second cycloid wheel endoporus, pin wheel housing 10, gear pin 16 and W output mechanism form, described W output mechanism is by left frame 1, right frame 17, pin 7 and column sleeve 6 form, rely on pin 7 with a left side, right frame 1,17 drive fits and screw attachment one, described left frame 1 is bearing in pin wheel housing 10 both sides endoporus with clutch shaft bearing 8 and the second bearing 11 respectively with right frame 17, described the first cycloid wheel (A) and the second cycloid wheel (B) place between left frame 1 and the right frame 17, it is characterized in that:
Power is from input shaft 3 inputs, through the cycloid wheel single-stage speed reducing by the coaxial output of W output mechanism, be bearing in respectively left frame 1 and right frame 17 endoporus by described input shaft 3 two ends with the 3rd bearing 2 and the 4th bearing 13, the w output mechanism adopts the rigidity cage structure of major diameter frame, two supports, thereby rigidity is large, shock resistance is high;
Install successively the first circlip 4, the first belleville spring 5, the first capacity eccentric bearing (a), the first spacer ring 15, the second capacity eccentric bearing (b), the second belleville spring 14 and the second circlip 12 on the described input shaft 3, described the first spacer ring 15 axial lengths should make the first cycloid wheel (A) gear teeth be close to pin wheel housing 10 upper half gear pins 16 along clockwise direction, and the second cycloid wheel (B) gear teeth are close to pin wheel housing 10 bottom half gear pins 16 in the counterclockwise direction;
Described first, second capacity eccentric bearing (a, b) by standard without outer ring roller bearing and interior eccentric bushing close-fitting or excessively cooperate and add pin and form, two interior eccentric bushing endoporus are to consist of screw pair with multiple thread on rotation direction multiple thread and the input shaft 3, the calculated results shows, the employing standard can satisfy the requirement in specified working life without outer ring roller bearing+interior eccentric bushing structure.Standard without the advantage of outer ring roller bearing+interior eccentric bushing structure is: the machining difficulty that greatly reduces the bull nut of interior eccentric bushing;
Described pin wheel housing 10 upper pin gear pin-and-holes with in be careful that silk thread cuts out one continuously, smoothed curve obtains, " 839 pages of Gear Transmission Design handbook are pointed out: " affecting RV retarder return difference principal element is: gear pin hole circumferential position error, gear pin radius error, equidistantly reach the modification of moved distance error." facts have proved; on the pin wheel housing pin holes with in be careful that silk thread cuts out one continuously, smoothed curve; surface roughness Ra 0.5～0.8 μ m (being equivalent to roll flute); cutting accuracy be ± 0.005mm; than it " hole-ream or bore hole again car endoporus " technique; the needle pin diameter is less, the advantage of wire cutting technology is more aobvious outstanding, reduction speed ratio can reach 119, thereby when selecting 1000rpm or 1500rpm actuating motor, (FA three pieces type retarder input speed allowable is that 1500～1800r/min) single-stage speed reducings can satisfy actual operation requirements;
Have one to be enclosed within and all to carry ring flat-plate 9 on the pin 7 between described the first cycloid wheel (A) and the second cycloid wheel (B), described the first cycloid wheel (A) that places is wide with cycloid wheel with the column sleeve 6 of the uniform pin-and-hole of the second cycloid wheel (B), all carries mechanical strength and rigidity that ring flat-plate 9 has improved pin 7 greatly;
Described input shaft 3 is hollow shaft, its input end connects a driven gear, and left frame 1 has a center hole to communicate with input shaft 3 endoporus, and the input end driven gear is in order to mesh with the actuating motor driving gear, form hollow structure, be used for replacing RV-C, the RD-C hollow decelerator of Japan.
Above-described embodiment is that the scheme after any simple transformation all belongs to protection domain of the present invention to the present invention's explanation rather than restriction.
Claims (1)
1. industrial robot single-stage cycloidal reducer, by the first cycloid wheel (A) and be contained in first capacity eccentric bearing (a) of the first cycloid wheel endoporus, the second cycloid wheel (B) and be contained in second capacity eccentric bearing (b) of the second cycloid wheel endoporus, pin wheel housing (10), gear pin (16) and W output mechanism form, described W output mechanism is by left frame (1), right frame (17), pin (7) and column sleeve (6) form, rely on pin (7) and screw with a left side, right frame (1,17) drive fit is integrally togather, described left frame (1) uses respectively clutch shaft bearing (8) and the second bearing (11) to be bearing in pin wheel housing (10) both sides endoporus with right frame (17), described the first cycloid wheel (A) and the second cycloid wheel (B) place between left frame (1) and the right frame (17), it is characterized in that:
Power is inputted from input shaft (3), by the coaxial output of W output mechanism, described input shaft (3) two ends are bearing in respectively left frame (1) and right frame (17) endoporus with the 3rd bearing (2) and the 4th bearing (13) through the cycloid wheel single-stage speed reducing;
Install successively the first circlip (4) on the described input shaft (3), the first belleville spring (5), the first capacity eccentric bearing (a), the first spacer ring (15), the second capacity eccentric bearing (b), the second belleville spring (14) and the second circlip (12), described the first spacer ring (15) axial length should make the first cycloid wheel (A) gear teeth be close to pin wheel housing (10) upper half gear pin (16) along clockwise direction, and the second cycloid wheel (B) gear teeth are close to pin wheel housing (10) bottom half gear pin (16) in the counterclockwise direction;
Without outer ring roller bearing and interior eccentric bushing close-fitting or excessively cooperates and add pin and form, two interior eccentric bushing endoporus be to go up multiple thread formation screw pair with rotation direction multiple thread and input shaft (3) to described first, second capacity eccentric bearing (a, b) by standard;
Described pin wheel housing (10) upper pin gear pin-and-hole with in be careful that silk thread cuts out one continuously, smoothed curve obtains;
Have one to be enclosed within and all to carry ring flat-plate (9) on the pin (7) between described the first cycloid wheel (A) and the second cycloid wheel (B), described column sleeve (6) places the first cycloid wheel (A) and the uniform pin-and-hole of the second cycloid wheel (B), and column sleeve (6) is wide with cycloid wheel;
Described input shaft (3) is hollow shaft, and its input end connects a driven gear, and left frame (1) has a center hole to communicate with input shaft (3) endoporus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010263552 CN101949429B (en) | 2010-08-18 | 2010-08-18 | Single-stage cycloidal speed reducer of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010263552 CN101949429B (en) | 2010-08-18 | 2010-08-18 | Single-stage cycloidal speed reducer of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101949429A CN101949429A (en) | 2011-01-19 |
| CN101949429B true CN101949429B (en) | 2013-02-06 |
Family
ID=43453027
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010263552 Expired - Fee Related CN101949429B (en) | 2010-08-18 | 2010-08-18 | Single-stage cycloidal speed reducer of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101949429B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106122411A (en) * | 2015-10-14 | 2016-11-16 | 于杰 | Full tooth engaged transmission method |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104565221B (en) * | 2015-01-02 | 2017-05-03 | 李响 | Interlayer body zero-return-difference type general cycloidal reduction box |
| CN104565222B (en) * | 2015-01-02 | 2017-05-03 | 李响 | Interlayer body zero-return-difference type general inner cycloidal reduction box |
| FR3050502B1 (en) * | 2016-04-25 | 2020-02-14 | Jtekt Europe | CYCLOIDAL REDUCER WITH HELICAL TOOTHING FOR POWER STEERING |
| CN106224452B (en) * | 2016-08-31 | 2018-11-20 | 昆山光腾智能机械有限公司 | Elasticity conversion retarder |
| CN107299968B (en) * | 2017-08-01 | 2023-11-28 | 于杰 | Fish shaped line speed reducer |
| CN110529559A (en) * | 2018-05-25 | 2019-12-03 | 昆山光腾智能机械有限公司 | Needle tooth cycloidal reducer and industrial robot |
| CN114562545A (en) * | 2022-01-20 | 2022-05-31 | 苏州华震工业机器人减速器有限公司 | Industrial Robot RV Simplified Reducer |
| CN114396461A (en) * | 2022-01-20 | 2022-04-26 | 苏州华震工业机器人减速器有限公司 | Industrial Robot Hollow Cycloid Reducer Integrated Machine |
| CN114877030A (en) * | 2022-01-20 | 2022-08-09 | 苏州华震工业机器人减速器有限公司 | Industrial robot hypocycloid reducer integrated machine |
| CN114877031A (en) * | 2022-01-20 | 2022-08-09 | 苏州华震工业机器人减速器有限公司 | Industrial robot cycloid speed reduction all-in-one |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4297920A (en) * | 1978-07-13 | 1981-11-03 | Hans Richter | Cycloidic gear |
| DE102004048196A1 (en) * | 2004-09-30 | 2006-04-06 | Robert Bosch Gmbh | Eccentric gear, in particular with cycloid gearing |
| CN2779158Y (en) * | 2005-02-23 | 2006-05-10 | 张国林 | 9000 series cycloidal planetary gear speed reducer |
| CN1804427A (en) * | 2005-12-23 | 2006-07-19 | 重庆大学 | Double-disc cycloid cam planet driving device |
| CN201050580Y (en) * | 2007-04-23 | 2008-04-23 | 钟荣光 | Triaxial cycloidal pinwheel speed reducer |
| CN101666366A (en) * | 2009-10-12 | 2010-03-10 | 吴声震 | Micro-backflash cycloidal speed reducer of industrial robot |
-
2010
- 2010-08-18 CN CN 201010263552 patent/CN101949429B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4297920A (en) * | 1978-07-13 | 1981-11-03 | Hans Richter | Cycloidic gear |
| DE102004048196A1 (en) * | 2004-09-30 | 2006-04-06 | Robert Bosch Gmbh | Eccentric gear, in particular with cycloid gearing |
| CN2779158Y (en) * | 2005-02-23 | 2006-05-10 | 张国林 | 9000 series cycloidal planetary gear speed reducer |
| CN1804427A (en) * | 2005-12-23 | 2006-07-19 | 重庆大学 | Double-disc cycloid cam planet driving device |
| CN201050580Y (en) * | 2007-04-23 | 2008-04-23 | 钟荣光 | Triaxial cycloidal pinwheel speed reducer |
| CN101666366A (en) * | 2009-10-12 | 2010-03-10 | 吴声震 | Micro-backflash cycloidal speed reducer of industrial robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106122411A (en) * | 2015-10-14 | 2016-11-16 | 于杰 | Full tooth engaged transmission method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101949429A (en) | 2011-01-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101949429B (en) | Single-stage cycloidal speed reducer of industrial robot | |
| CN101907149B (en) | Double cycloid single-stage reducer of industrial robot | |
| CN101963210B (en) | Three-piece type single-stage cycloid reducer of industrial robot | |
| CN102252062B (en) | Complex precise cycloidal speed reducer | |
| CN101725673B (en) | Filter speed reducer | |
| CN202203345U (en) | Compound precision cycloid decelerator | |
| CN105840742B (en) | Rolling push rod oscillating tooth robot joint speed reducer | |
| CN101183816B (en) | Decelerator for control motor | |
| JP2012506005A (en) | Eccentric differential gearbox | |
| CN104696460A (en) | Bearing speed reducer | |
| CN203130928U (en) | RV double-cycloidal-pin-wheel speed reducer | |
| CN201262223Y (en) | Clearance-eliminating transmission case | |
| CN101382192A (en) | Gap eliminating transmission case | |
| CN107234632A (en) | A kind of energy-conservation variation rigidity elastic joint based on differential gear train | |
| CN205350235U (en) | Second grade cycloid steel ball reduction gear that connects in parallel | |
| CN102032324B (en) | Three-sheet double-cycloid single stage decelerator of industrial robot | |
| RU2422699C2 (en) | Actuating drive with planetary gear for accessories | |
| CN101694239B (en) | High-reliability precise driving device | |
| CN101832365A (en) | Industrial robot single-stage cycloidal reducer | |
| CN108400676B (en) | Two-stage constraint type speed reducing motor | |
| CN102478098A (en) | Compact type zero side clearance parallel-shaft gear speed reducer | |
| CN100566082C (en) | High-performance electromechanical drive mechanism | |
| CN108044645B (en) | Variable-thickness robot joint transmission structure | |
| CN101666367A (en) | Clearance-free planetary drive device | |
| CN209925522U (en) | Precision speed reducer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: 225500 Jiangsu, Taizhou, Jiangyan District, Jiangyan Town People's road, No. 261 Patentee after: Wu Shengzhen Address before: 325400 Zhejiang province Pingyang Kunyang town Whitehead Street No. four building 761 room Patentee before: Wu Shengzhen |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Cai Weiqiang Inventor before: Wu Shengzhen |
|
| COR | Change of bibliographic data | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160408 Address after: Fengze District of Quanzhou City, Fujian province 362008 National Science and technology incubator North Road No. 518 two four floor Patentee after: QUANZHOU VIBOT INDUSTRIAL ROBOT RESEARCH INSTITUTE CO., LTD. Address before: 225500 Jiangsu, Taizhou, Jiangyan District, Jiangyan Town People's road, No. 261 Patentee before: Wu Shengzhen |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130206 Termination date: 20190818 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |