CN109050153B - Dual-damping wheel for robot - Google Patents
Dual-damping wheel for robot Download PDFInfo
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- CN109050153B CN109050153B CN201810996830.2A CN201810996830A CN109050153B CN 109050153 B CN109050153 B CN 109050153B CN 201810996830 A CN201810996830 A CN 201810996830A CN 109050153 B CN109050153 B CN 109050153B
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- wheel
- mounting shell
- trigger
- robot
- damping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B9/00—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces
- B60B9/26—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces comprising resilient spokes
- B60B9/28—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces comprising resilient spokes with telescopic action
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B9/00—Wheels of high resiliency, e.g. with conical interacting pressure-surfaces
- B60B9/005—Comprising a resilient hub
Abstract
The invention belongs to the technical field of wheels of robots, and particularly relates to a double-damping wheel for a robot, which comprises a driving shaft, a wheel mounting shell, a driving rod, a first damping plate and a second damping plate, wherein when the wheel is designed by using the wheel, an output shaft of the robot is controlled to rotate, and the output shaft of the robot can drive the driving shaft to rotate; the driving shaft rotates to drive the mounting shell to rotate; the mounting shell rotates to drive the mounting structure and the mounting cylinder to rotate; the mounting structure can drive the three first damping plates to drive the wheel mounting shell to rotate through the rotation of the three second damping plates and the three second damping plates; the wheel mounting shell rotates to drive the rubber wheel mounted on the outer circular surface of the wheel mounting shell to rotate; namely the robot walks; when the robot contacts with an obstacle in the walking process, the damping function of the robot is achieved through double damping of the plate spring and the damping spring.
Description
Technical Field
The invention belongs to the technical field of wheels of robots, and particularly relates to a double-damping wheel for a robot.
Background
At present, in order to realize more functions in the design process of a robot, the inherent structure of the robot is very complex; if the damping mechanism of the robot is added to the control platform of the robot; the structure of the robot can be more complicated; if the damping mechanism is integrated on the wheel, on one hand, the structural complexity of the robot control platform is reduced; on the other hand, the shock absorption mechanism is integrated on the wheel, so that the shock absorption mechanism is more convenient to replace.
The invention designs a double-damping wheel for a robot to solve the problems.
Disclosure of Invention
In order to solve the defects in the prior art, the invention discloses a double-damping wheel for a robot, which is realized by adopting the following technical scheme.
A dual damped wheel for use by a robot, comprising: the shock absorption device comprises a driving shaft, a wheel mounting shell, a driving rod, a first shock absorption plate, a second shock absorption plate, a mounting arc groove, a trigger conical block, an arc mounting groove, a shaft hole, a mounting shell, a plate spring, a telescopic fixed shaft, a shock absorption spring, a limiting plate, a fixed disc, an annular trigger block, a square mounting groove, an arc ring surface and a guide circular plate, wherein the inner circular surface of the wheel mounting shell is uniformly provided with three arc mounting grooves in the circumferential direction; one end of the wheel mounting shell is provided with a shaft hole communicated with the inner side; the outer circle surface of the wheel mounting shell is provided with a rubber wheel; one end of the driving shaft is arranged on the wheel mounting shell through a shaft hole on the wheel mounting shell; the drive shaft passes through the support frame to be installed on the robot bottom plate, and with the output shaft of robot.
Three mounting arc grooves are uniformly formed in the circumferential direction on the outer circular surface of the mounting shell; one end of the mounting shell is mounted on the re-driving shaft and is positioned on the inner side of the wheel mounting shell.
One end of the fixed disc is arranged on the inner side surface of one end of the mounting shell; the big end of the trigger conical block is provided with a telescopic fixed shaft; the trigger conical block is fixedly arranged at the other end of the fixed disc through a telescopic fixed shaft; a damping spring is arranged between the large end surface of the fixed disc and the large end surface of the trigger conical block; the limiting plate is arranged at the small end of the trigger conical block.
The two guide circular plates are symmetrically nested and installed on the inner side of the installation shell; three square mounting grooves are uniformly formed in the circumferential direction on the outer circular surface of the annular trigger block; the annular trigger block is arranged between the two guide circular plates through the matching of the annular trigger block and the two guide circular plates; the annular trigger block is matched with the trigger conical block.
One ends of the three driving rods are respectively connected with three square mounting grooves formed in the annular trigger block in a matched manner through revolute pairs; one ends of the three second damping plates are respectively and uniformly arranged in three mounting arc grooves formed in the mounting shell in the circumferential direction through rotating pairs; the three second damping plates are respectively connected with the three driving rods; one ends of the three first damping plates are respectively installed in three arc-shaped installation grooves formed in the wheel installation shell through revolute pairs; the other ends of the three first damping plates are respectively connected with the other ends of the three second damping plates through revolute pairs; and a plate spring is respectively arranged between the three first damping plates and the three second damping plates.
In an initial state, the limit plate is in contact with the side face of the non-opening end of the mounting shell.
As a further improvement of the technology, the annular trigger block is provided with an arc-shaped surface matched with the trigger conical block.
As a further improvement of the present technology, the damper spring is a compression spring.
As a further improvement of the present technology, the above-mentioned alternatives as three first and second damper plates are four.
As a further improvement of the present technology, the above-mentioned alternative of three drive rods is four.
One end of a driving shaft is arranged on a wheel mounting shell through a shaft hole on the wheel mounting shell; the drive shaft passes through the support frame to be installed on the robot bottom plate, and with the output shaft of robot. Three mounting arc grooves are uniformly formed in the circumferential direction on the outer circular surface of the mounting shell; one end of the mounting shell is mounted on the re-driving shaft and is positioned on the inner side of the wheel mounting shell. One end of the fixed disc is arranged on the inner side surface of one end of the mounting shell; the big end of the trigger conical block is provided with a telescopic fixed shaft; the trigger conical block is fixedly arranged at the other end of the fixed disc through a telescopic fixed shaft; a damping spring is arranged between the large end surface of the fixed disc and the large end surface of the trigger conical block; the limiting plate is arranged at the small end of the trigger conical block. The two guide circular plates are symmetrically nested and installed on the inner side of the installation shell; three square mounting grooves are uniformly formed in the circumferential direction on the outer circular surface of the annular trigger block; the annular trigger block is arranged between the two guide circular plates through the matching of the annular trigger block and the two guide circular plates; the annular trigger block is matched with the trigger conical block. One ends of the three driving rods are respectively connected with three square mounting grooves formed in the annular trigger block in a matched manner through revolute pairs; one ends of the three second damping plates are respectively and uniformly arranged in three mounting arc grooves formed in the mounting shell in the circumferential direction through rotating pairs; the three second damping plates are respectively connected with the three driving rods; one ends of the three first damping plates are respectively installed in three arc-shaped installation grooves formed in the wheel installation shell through revolute pairs; the other ends of the three first damping plates are respectively connected with the other ends of the three second damping plates through revolute pairs; and a plate spring is respectively arranged between the three first damping plates and the three second damping plates. In the initial state, the limiting plate is contacted with the side face of the non-opening end of the mounting shell. In the normal driving process, when the output shaft of the robot rotates, the output shaft of the robot drives the driving shaft to rotate; the driving shaft rotates to drive the mounting shell to rotate; the mounting shell rotates to drive the three second damping plates mounted on the mounting shell to rotate around the axis of the mounting shell; under the action of the three plate springs, the three second damping plates rotate to drive the three first damping plates to rotate; the three first damping plates rotate to drive the wheel mounting shell to rotate; the wheel mounting shell rotates to drive the rubber wheel mounted on the outer circular surface of the wheel mounting shell to rotate; namely, the robot realizes the walking function.
In the invention, when the wheel mounting shell is contacted with an obstacle in the rotating process in the walking process of the robot, the obstacle extrudes the wheel mounting shell; the wheel mounting shell can extrude the corresponding first damping plate; the first damping plate can extrude the corresponding second damping plate; meanwhile, the first damping plate and the second damping plate can compress the corresponding plate springs; the plate spring plays a certain role in buffering; when the second damper plate is pressed, the second damper plate presses the corresponding driving lever such that the driving lever moves toward the inside of the mounting case; the driving rod moves to extrude the corresponding annular trigger block to enable the annular trigger block to move towards one side provided with the trigger conical block; the annular trigger block moves to press the trigger conical block so that the trigger conical block moves towards one side provided with the damping spring; the damping spring is compressed when the trigger conical block moves; the damping spring plays a certain role in buffering; when the robot passes through an obstacle, the triggering conical block is restored to the original position under the action of the corresponding damping spring.
The annular trigger block is provided with an arc-shaped surface matched with the trigger conical block; the function of the trigger cone is to make the annular trigger block push the trigger cone block better. In the initial state, the limiting plate is contacted with the side surface of the unopened end of the mounting shell; the function of the trigger block is to prevent the three arc trigger blocks from separating from the trigger conical block.
Compared with the traditional robot wheel technology, the wheel used by the robot designed by the invention has a simple structure and is convenient to replace; mounting a damping mechanism of the robot on the wheels; the structure of the robot becomes simple; and the wheel achieves better shock absorption effect through double shock absorption of the plate spring and the shock absorption spring.
Drawings
Fig. 1 is a schematic view of the overall component distribution.
Fig. 2 is a schematic plan view of the overall component distribution.
Fig. 3 is a drive shaft installation schematic.
Fig. 4 is a structural schematic view of the wheel mounting housing.
Fig. 5 is a schematic view of the distribution of the first damper plate.
FIG. 6 is a schematic view of the first damper plate installation.
Fig. 7 is a schematic view of trigger cone block installation.
Fig. 8 is a schematic view of a damper spring installation.
Fig. 9 is a schematic view of the structure of the mounting case.
Fig. 10 is a drive rod mounting schematic.
FIG. 11 is a schematic diagram of a ring trigger block structure.
Number designation in the figures: 1. a drive shaft; 2. a wheel mounting housing; 3. a drive rod; 4. a first damper plate; 5. a second damper plate; 6. installing an arc groove; 7. triggering the conical block; 8. an arc-shaped mounting groove; 9. a shaft hole; 12. mounting a shell; 13. a plate spring; 16. a telescopic fixed shaft; 18. a damping spring; 19. a limiting plate; 21. fixing the disc; 26. an annular trigger block; 30. a square mounting groove; 31. an arc-shaped ring surface; 32. and guiding the circular plate.
Detailed Description
As shown in fig. 1, 2 and 3, the wheel mounting structure comprises a driving shaft 1, a wheel mounting shell 2, a driving rod 3, a first damping plate 4, a second damping plate 5, a mounting arc groove 6, a trigger cone block 7, an arc mounting groove 8, a shaft hole 9, a mounting shell 12, a plate spring 13, a telescopic fixed shaft 16, a damping spring 18, a limiting plate 19, a fixed disc 21, an annular trigger block 26, a square mounting groove 30, an arc ring surface 31 and a guide disc plate 32, wherein as shown in fig. 4, three arc mounting grooves 8 are uniformly formed in the circumferential direction on the inner circumferential surface of the wheel mounting shell 2; one end of the wheel mounting shell 2 is provided with a shaft hole 9 communicated with the inner side; the outer circle surface of the wheel mounting shell 2 is provided with a rubber wheel; as shown in fig. 3, one end of the drive shaft 1 is mounted on the wheel mounting housing 2 through the shaft hole 9 of the wheel mounting housing 2; the driving shaft 1 is installed on the robot bottom plate through a supporting frame and is connected with an output shaft of the robot.
As shown in fig. 9, three mounting arc grooves 6 are uniformly formed on the outer circumferential surface of the mounting shell 12 in the circumferential direction; the mounting housing 12 has one end mounted on the re-drive shaft 1 and is located inside the wheel mounting housing 2.
As shown in fig. 7, one end of the fixed disk 21 is mounted on the inner side surface of one end of the mounting case 12; the big end of the trigger conical block 7 is provided with a telescopic fixed shaft 16; the trigger conical block 7 is fixedly arranged at the other end of the fixed disc 21 through a telescopic fixed shaft 16; as shown in fig. 8, a damping spring 18 is arranged between the fixed disk 21 and the large end surface of the trigger conical block 7; a limit plate 19 is installed at the small end of the trigger cone block 7.
As shown in fig. 8, two pilot disks 32 are symmetrically nested inside the mounting shell 12; three square mounting grooves 30 are uniformly formed in the circumferential direction on the outer circular surface of the annular trigger block 26; the annular trigger block 26 is mounted between the two pilot circular plates 32 by cooperation with the two pilot circular plates 32; the annular trigger block 26 cooperates with the trigger cone block 7.
As shown in fig. 10, one ends of the three driving rods 3 are respectively connected with three square mounting grooves 30 formed on the annular trigger block 26 through revolute pairs in a matching manner; as shown in fig. 6, one ends of the three second damping plates 5 are respectively and uniformly circumferentially installed in the three installation arc grooves 6 formed in the installation shell 12 through the revolute pair; the three second damping plates 5 are respectively connected with the three driving rods 3; as shown in fig. 5, one ends of the three first damping plates 4 are respectively installed in three arc-shaped installation grooves 8 formed in the wheel installation shell 2 through revolute pairs; the other ends of the three first damping plates 4 are respectively connected with the other ends of the three second damping plates 5 through revolute pairs; a plate spring 13 is installed between the three first damper plates 4 and the three second damper plates 5, respectively.
In the initial state, the stopper plate 19 is in contact with the side surface of the unopened end of the mounting case 12.
As shown in fig. 11, the annular trigger block 26 has an arc-shaped surface for engaging with the trigger cone 7.
The damper spring 18 is a compression spring.
The above-described alternatives as three for the first and second damper plates 4, 5 are four.
The above-described alternative of three drive rods 3 is four.
In summary, the following steps:
The wheels used by the robot designed by the invention have simple structure and are convenient to replace; mounting a damping mechanism of the robot on the wheels; the structure of the robot becomes simple; and the wheel achieves a good damping effect through double damping of the plate spring 13 and the damping spring 18.
One end of a driving shaft 1 is arranged on a wheel mounting shell 2 through a shaft hole 9 on the wheel mounting shell 2; the driving shaft 1 is installed on the robot bottom plate through a supporting frame and is connected with an output shaft of the robot. Three mounting arc grooves 6 are uniformly arranged on the outer circumferential surface of the mounting shell 12 in the circumferential direction; the mounting housing 12 has one end mounted on the re-drive shaft 1 and is located inside the wheel mounting housing 2. One end of the fixed disc 21 is mounted on the inner side surface of one end of the mounting shell 12; the big end of the trigger conical block 7 is provided with a telescopic fixed shaft 16; the trigger conical block 7 is fixedly arranged at the other end of the fixed disc 21 through a telescopic fixed shaft 16; a damping spring 18 is arranged between the fixed disc 21 and the large end face of the trigger conical block 7; a limit plate 19 is installed at the small end of the trigger cone block 7. Two guide circular plates 32 are symmetrically nested and arranged on the inner side of the mounting shell 12; three square mounting grooves 30 are uniformly formed in the circumferential direction on the outer circular surface of the annular trigger block 26; the annular trigger block 26 is mounted between the two pilot circular plates 32 by cooperation with the two pilot circular plates 32; the annular trigger block 26 cooperates with the trigger cone block 7. One ends of the three driving rods 3 are respectively connected with three square mounting grooves 30 formed in the annular trigger block 26 in a matching way through revolute pairs; one ends of the three second damping plates 5 are respectively and uniformly arranged in three mounting arc grooves 6 formed in the mounting shell 12 in the circumferential direction through revolute pairs; the three second damping plates 5 are respectively connected with the three driving rods 3; one ends of the three first damping plates 4 are respectively arranged in three arc-shaped mounting grooves 8 formed in the wheel mounting shell 2 through revolute pairs; the other ends of the three first damping plates 4 are respectively connected with the other ends of the three second damping plates 5 through revolute pairs; a plate spring 13 is installed between the three first damper plates 4 and the three second damper plates 5, respectively. In the initial state, the stopper plate 19 is in contact with the side surface of the mounting case 12 at the non-open end. In the normal driving process, when the output shaft of the robot rotates, the output shaft of the robot can drive the driving shaft 1 to rotate; the driving shaft 1 rotates to drive the mounting shell 12 to rotate; the mounting shell 12 rotates to drive the three second damping plates 5 mounted on the mounting shell to rotate around the axis of the mounting shell 12; under the action of the three plate springs 13, the three second damping plates 5 rotate to drive the three first damping plates 4 to rotate; the three first damping plates 4 rotate to drive the wheel mounting shell 2 to rotate; the wheel mounting shell 2 rotates to drive the rubber wheel mounted on the outer circular surface to rotate; namely, the robot realizes the walking function.
In the invention, when the wheel mounting shell 2 is contacted with an obstacle in the rotating process in the walking process of the robot, the obstacle extrudes the wheel mounting shell 2; the wheel mounting shell 2 will extrude the corresponding first damping plate 4; the first damper plate 4 presses the corresponding second damper plate 5; at the same time the first damper plate 4 and the second damper plate 5 compress the corresponding leaf springs 13; the plate spring 13 plays a certain role in buffering; when the second damper plate 5 is pressed, the second damper plate 5 presses the corresponding driving lever 3 such that the driving lever 3 moves toward the inside of the mounting case 12; the movement of the driving rod 3 presses the corresponding annular trigger block 26 so that the annular trigger block 26 moves towards the side where the trigger cone block 7 is installed; the movement of the annular trigger block 26 presses the trigger cone block 7 so that the trigger cone block 7 moves toward the side where the damper spring 18 is installed; the trigger conical block 7 moves to compress the damping spring 18; the damping spring 18 plays a certain role in buffering; when the robot passes through an obstacle, the trigger conical block 7 is restored to the original position under the action of the corresponding damping spring 18.
In the invention, the annular trigger block 26 is provided with an arc-shaped surface matched with the trigger conical block 7; the function of which is to make the annular trigger block 26 better push the trigger cone block 7. In the initial state of the invention, the limit plate 19 is contacted with the side surface of the non-opening end of the mounting shell 12; the function of the trigger block is to prevent the three arc trigger blocks from separating from the trigger conical block 7.
The specific implementation mode is as follows: when the wheels of the robot are designed by using the invention, the output shaft of the robot is controlled to rotate, and the output shaft of the robot can drive the driving shaft 1 to rotate; the driving shaft 1 rotates to drive the mounting shell 12 to rotate; the mounting shell 12 rotates to drive the three second damping plates 5 mounted on the mounting shell to rotate around the axis of the mounting shell 12; under the action of the three plate springs 13, the three second damping plates 5 rotate to drive the three first damping plates 4 to rotate; the three first damping plates 4 rotate to drive the wheel mounting shell 2 to rotate; the wheel mounting shell 2 rotates to drive the rubber wheel mounted on the outer circular surface to rotate; namely the robot walks; when the wheel mounting shell 2 is contacted with an obstacle in the rotating process in the walking process of the robot, the obstacle extrudes the wheel mounting shell 2; the wheel mounting shell 2 will extrude the corresponding first damping plate 4; the first damper plate 4 presses the corresponding second damper plate 5; at the same time the first damper plate 4 and the second damper plate 5 compress the corresponding leaf springs 13; the plate spring 13 plays a certain role in buffering; when the second damper plate 5 is pressed, the second damper plate 5 presses the corresponding driving lever 3 such that the driving lever 3 moves toward the inside of the mounting case 12; the movement of the driving rod 3 presses the corresponding annular trigger block 26 so that the annular trigger block 26 moves towards the side where the trigger cone block 7 is installed; the movement of the annular trigger block 26 presses the trigger cone block 7 so that the trigger cone block 7 moves toward the side where the damper spring 18 is installed; the trigger conical block 7 moves to compress the damping spring 18; the damping spring 18 plays a certain role in buffering; when the robot passes through an obstacle, the trigger conical block 7 is restored to the original position under the action of the corresponding damping spring 18.
Claims (5)
1. A dual damped wheel for use by a robot, comprising: the shock absorption device comprises a driving shaft, a wheel mounting shell, a driving rod, a first shock absorption plate, a second shock absorption plate, a mounting arc groove, a trigger conical block, an arc mounting groove, a shaft hole, a mounting shell, a plate spring, a telescopic fixed shaft, a shock absorption spring, a limiting plate, a fixed disc, an annular trigger block, a square mounting groove, an arc ring surface and a guide circular plate, wherein the inner circular surface of the wheel mounting shell is uniformly provided with three arc mounting grooves in the circumferential direction; one end of the wheel mounting shell is provided with a shaft hole communicated with the inner side; the outer circle surface of the wheel mounting shell is provided with a rubber wheel; one end of the driving shaft is arranged on the wheel mounting shell through a shaft hole on the wheel mounting shell; the driving shaft is arranged on the bottom plate of the robot through a supporting frame and is connected with an output shaft of the robot;
Three mounting arc grooves are uniformly formed in the circumferential direction on the outer circular surface of the mounting shell; one end of the mounting shell is mounted on the re-driving shaft and is positioned on the inner side of the wheel mounting shell;
One end of the fixed disc is arranged on the inner side surface of one end of the mounting shell; the big end of the trigger conical block is provided with a telescopic fixed shaft; the trigger conical block is fixedly arranged at the other end of the fixed disc through a telescopic fixed shaft; a damping spring is arranged between the large end surface of the fixed disc and the large end surface of the trigger conical block; the limiting plate is arranged at the small end of the trigger conical block;
The two guide circular plates are symmetrically nested and installed on the inner side of the installation shell; three square mounting grooves are uniformly formed in the circumferential direction on the outer circular surface of the annular trigger block; the annular trigger block is arranged between the two guide circular plates through the matching of the annular trigger block and the two guide circular plates; the annular trigger block is matched with the trigger conical block;
One ends of the three driving rods are respectively connected with three square mounting grooves formed in the annular trigger block in a matched manner through revolute pairs; one ends of the three second damping plates are respectively and uniformly arranged in three mounting arc grooves formed in the mounting shell in the circumferential direction through rotating pairs; the three second damping plates are respectively connected with the three driving rods; one ends of the three first damping plates are respectively installed in three arc-shaped installation grooves formed in the wheel installation shell through revolute pairs; the other ends of the three first damping plates are respectively connected with the other ends of the three second damping plates through revolute pairs; a plate spring is respectively arranged between the three first damping plates and the three second damping plates;
In an initial state, the limit plate is in contact with the side face of the non-opening end of the mounting shell.
2. A dual shock absorbing wheel for a robot as claimed in claim 1, wherein: the annular trigger block is provided with an arc-shaped surface matched with the trigger conical block.
3. A dual shock absorbing wheel for a robot as claimed in claim 1, wherein: the damping spring is a compression spring.
4. A dual shock absorbing wheel for a robot as claimed in claim 1, wherein: the above-described alternatives as three for the first and second damping plates are four.
5. A dual shock absorbing wheel for a robot as claimed in claim 1, wherein: the above-described alternative of three drive rods is four.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018104464465 | 2018-05-11 | ||
| CN201810446446 | 2018-05-11 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109050153A CN109050153A (en) | 2018-12-21 |
| CN109050153B true CN109050153B (en) | 2020-07-10 |
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ID=64757783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810996830.2A Active CN109050153B (en) | 2018-05-11 | 2018-08-29 | Dual-damping wheel for robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN109050153B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1489231A (en) * | 1921-05-07 | 1924-04-08 | Beisel Spring Wheel Corp | Spring wheel |
| WO2010012091A1 (en) * | 2008-08-01 | 2010-02-04 | Mindmatter Innovates Inc. | Reactive planar suspension for a wheel |
| CN107697212A (en) * | 2017-09-04 | 2018-02-16 | 中山市丰申电器有限公司 | A kind of wheel carrier and the scooter from this wheel carrier |
| CN207173167U (en) * | 2017-06-20 | 2018-04-03 | 雷立军 | A kind of Shock-absorbing wheel hub and its wheel |
| CN107906157A (en) * | 2017-11-13 | 2018-04-13 | 东莞市松研智达工业设计有限公司 | A kind of shock proof damper based on flight |
-
2018
- 2018-08-29 CN CN201810996830.2A patent/CN109050153B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1489231A (en) * | 1921-05-07 | 1924-04-08 | Beisel Spring Wheel Corp | Spring wheel |
| WO2010012091A1 (en) * | 2008-08-01 | 2010-02-04 | Mindmatter Innovates Inc. | Reactive planar suspension for a wheel |
| CN207173167U (en) * | 2017-06-20 | 2018-04-03 | 雷立军 | A kind of Shock-absorbing wheel hub and its wheel |
| CN107697212A (en) * | 2017-09-04 | 2018-02-16 | 中山市丰申电器有限公司 | A kind of wheel carrier and the scooter from this wheel carrier |
| CN107906157A (en) * | 2017-11-13 | 2018-04-13 | 东莞市松研智达工业设计有限公司 | A kind of shock proof damper based on flight |
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| Publication number | Publication date |
|---|---|
| CN109050153A (en) | 2018-12-21 |
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Effective date of registration: 20200604 Address after: 523000 room 107, building 1, No. 39, Hongtu Road, Nancheng street, Dongguan City, Guangdong Province Applicant after: DONGGUAN KEZHUO ROBOT Co.,Ltd. Address before: 518000 Royal Garden, Four Seasons, Luotang Street, Luohu District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN NANSHUO MINGTAI TECHNOLOGY Co.,Ltd. |
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Address after: 523000 Room 201, unit 7, building 6, Tian'an Digital City, No. 1, Huangjin Road, Nancheng street, Dongguan City, Guangdong Province Patentee after: Guangdong Kezhuo Semiconductor Equipment Co.,Ltd. Address before: Room 107, Building 1, No. 39, Hongtu Road, Nancheng Street, Dongguan City, Guangdong Province, 523000 Patentee before: DONGGUAN KEZHUO ROBOT Co.,Ltd. |
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