CN109398012A - A kind of shock-absorbing driving structure and walking robot - Google Patents
A kind of shock-absorbing driving structure and walking robot Download PDFInfo
- Publication number
- CN109398012A CN109398012A CN201811018935.7A CN201811018935A CN109398012A CN 109398012 A CN109398012 A CN 109398012A CN 201811018935 A CN201811018935 A CN 201811018935A CN 109398012 A CN109398012 A CN 109398012A
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- shock
- absorbing
- rack
- driving
- component
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of shock-absorbing driving structures, comprising: rack is provided with shock-absorbing driving mechanism in rack；Shock-absorbing driving mechanism includes suspension and driving wheel, and suspension includes shock-absorbing component and bearing block, and the first end of shock-absorbing component is connect with rack, and the second end of shock-absorbing component is connect with bearing block, and bearing block is also connect with driving wheel；To be rotatably connected between the first end and rack of shock-absorbing component and/or between the second end and bearing block of shock-absorbing component, so that the first end of shock-absorbing component is rotated around gantry rotation and/or bearing block around the second end of shock-absorbing component.The present invention also provides a kind of walking robots.The present invention keeps the stability in driving process and guarantees that driving wheel always with ground face contact, allows walking robot easily, successfully to cross out-of-flatness ground by the buffer function and rotation corrective action of shock-absorbing component.
Description
Technical field
The present invention relates to logistics and transportation technical fields, more specifically to a kind of shock-absorbing driving structure and running machine
People.
Background technique
AGV is the abbreviation of automatic guided vehicle (Automated Guided Vehicle), is referred to equipped with electromagnetism or light
The homing guidances device such as electricity can have human-computer interaction, safeguard protection, transfer function along regulation terrestrial path homing guidance traveling
Can and using battery as the walking robot of power.In general, walking robot be mainly used in logistics carry, flexible dress
Wiring, processing line and special occasions are used.
The environment of plant road surface used since the application range of walking robot is relatively broad and out-of-flatness, therefore
It is easy to generate because of road surface during walking robot day-to-day operation to jolt, causes cargo to fall and even damage.Therefore, how
Preferably in the case where the pavement roughness in existing place so that walking robot carry it is lighter, more flexible and can be suitable
It is current problem to be solved that benefit, which crosses out-of-flatness ground,.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of shock-absorbing driving structure and walking robots, it is intended to solve
Walking robot is easy to generate because of road surface to jolt during day-to-day operation, and the technology for causing cargo to fall even damage is asked
Topic.
A kind of shock-absorbing driving structure provided by the invention is applied on walking robot, comprising:
Rack is provided with shock-absorbing driving mechanism in the rack；
The shock-absorbing driving mechanism includes suspension and driving wheel, and the suspension includes shock-absorbing component and bearing block, described to keep away
The first end of shake component is connect with the rack, and the second end of the shock-absorbing component is connect with the bearing block, the bearing block
Also it is connect with the driving wheel；
Between the first end and the rack of the shock-absorbing component and/or the second end of the shock-absorbing component and the bearing
To be rotatably connected between seat, so that the first end of the shock-absorbing component is around the gantry rotation and/or the bearing block around institute
State the second end rotation of shock-absorbing component.
Optionally, the suspension further includes the first fixing seat and the second fixing seat, and first fixing seat is fixedly installed on
In the rack, second fixing seat is fixedly installed on the bearing block；
The second end of the first end of the shock-absorbing component and first fixing seat and/or the shock-absorbing component and described the
It is to be rotatably connected between two fixing seats.
Optionally, rotatably connected between the second end of the shock-absorbing component and second fixing seat by oscillating bearing
It connects.
Optionally, it is provided with groove in first fixing seat, is provided with through-hole in the first end of the shock-absorbing component, it is described to keep away
The first end for shaking component is embedded in the groove, by running through between the first end of the shock-absorbing component and first fixing seat
The shaft of the through-hole is rotatably connected.
Optionally, the shock-absorbing component includes connector, connecting rod and elastic component, and guiding is provided on the connector
The one end in hole, the connecting rod is connect by the pilot hole with the connector, and the connecting rod can be along the pilot hole
It moves up and down, the connector is connect with first fixing seat, and the other end of the connecting rod connects second fixing seat；
The elastic component is placed on outside the connecting rod, and one end of the elastic component connects the bottom end of the connector, described
The other end of elastic component connects the other end of the connecting rod.
Optionally, the pre compressed magnitude of the elastic component is 20% to 30%, and coefficient of elasticity is 12 to 18N/mm.
Optionally, the suspension further includes support base, and the support base is connect with the bearing block, is set on the support base
It is equipped with driving device, the driving device is connect with the driving wheel, is rotated for the driving wheel；
The driving device includes driving motor and speed reducer, and the driving motor is through the speed reducer and the driving wheel
Connection；
The support base is integrally formed with the bearing block.
Optionally, the driven wheel is installed on the bottom of the rack by mounting plate, and four driven wheels are set respectively
It is placed on four corners of the rack.
Optionally, laser radar apparatus is additionally provided on the diagonal position of the rack；
The bottom of the rack is additionally provided with ultrasonic sensor, for detecting barrier and measuring between barrier
Distance.
The present invention also provides a kind of walking robots, comprising: car body and a kind of shock-absorbing driving structure of the present invention,
The shock-absorbing driving structure is installed on the car body, and the jacking system for bearing goods is additionally provided on the car body.
The invention has the following advantages:
By the way that driving wheel to be connect by shock-absorbing component with rack in the present invention, and it is arranged between shock-absorbing component and rack
And/or to be rotatably connected between shock-absorbing component and the bearing block of driving wheel, shock-absorbing component can be around the rack and/or bearing block
Curvilinear motion is done around shock-absorbing component, order to walking robot when driving, can pass through shock-absorbing component on the road surface of out-of-flatness
Buffer function and rotation corrective action, keep driving process in stability and guarantee driving wheel always with ground face contact,
Walking robot is allowed easily, successfully to cross out-of-flatness ground.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is an a kind of structural schematic diagram of shock-absorbing driving structure provided in an embodiment of the present invention；
Fig. 2 is a kind of another structural schematic diagram of shock-absorbing driving structure provided in an embodiment of the present invention；
Fig. 3 is a kind of structure front view of shock-absorbing driving structure provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of walking robot provided in an embodiment of the present invention.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
It should be noted that it can be directly in another element when element is referred to as " being fixed on " or " being set to " another element
Go up or may be simultaneously present centering elements.When an element is known as " being connected to " another element, it be can be directly
It is connected to another element or may be simultaneously present centering elements.It should also be noted that, the embodiment of the present invention in a left side,
The positional terms such as right, upper and lower are only relative concepts or be to refer to the normal operating condition of product each other, without should
It is considered restrictive.
As shown in Figures 1 to 4, a kind of shock-absorbing driving structure applied on walking robot provided by the invention, comprising:
Rack 1 is provided with shock-absorbing driving mechanism 2 in the rack 1；The shock-absorbing driving mechanism 2 includes suspension 21 and drives
Driving wheel 22, the suspension 21 include shock-absorbing component 211 and bearing block 212, the first end and the rack of the shock-absorbing component 211
1 connection, the second end of the shock-absorbing component 211 connect with the bearing block 212, the bearing block 212 also with the driving wheel
22 connections；Between the first end and the rack 1 of the shock-absorbing component 211 and/or second end and the institute of the shock-absorbing component 211
It states to be rotatably connected between bearing block 212, so that the first end of the shock-absorbing component 211 is rotated around the rack 1 and/or institute
The second end that bearing block 212 is stated around the shock-absorbing component 211 rotates.
Wherein, the buffer function that shock-absorbing component 211 can be extended or be shunk with the variation of surface conditions, on the one hand
The kinetic energy of walking robot in the vertical direction when crossing on roughness pavement can be absorbed, play the role of shockproof buffer；
On the other hand, the position of driving wheel 22 can be adjusted in time, guarantee that driving wheel 22 always with ground face contact, avoids driving wheel 22
There is hanging phenomenon.
Due between the first end and the rack 1 of the shock-absorbing component 211 and/or the shock-absorbing component 211 second
To be rotatably connected between end and the bearing block 212, the first end of the shock-absorbing component 211 can do circle around the rack 1
Arc movement and/or the bearing block 212 can do circular motion around the second end of the shock-absorbing component 211, encounter out-of-flatness
Road surface when, make driving wheel 22 generate certain displacement by doing circular motion and cooperate the shock-absorbing of shock-absorbing component 211 itself
Effect, can damping vibration kinetic energy well.
Specifically, described outstanding for the ease of realizing being reliably connected between shock-absorbing component 211 and rack 1 and bearing block 212
Frame 21 can also include the first fixing seat 213 and the second fixing seat 214, and first fixing seat 213 is fixedly installed on the machine
On frame 1, second fixing seat 214 is fixedly installed on the bearing block 212；The first end of the shock-absorbing component 211 and institute
Stating between the second end of the first fixing seat 213 and/or the shock-absorbing component 211 and second fixing seat 214 is rotatably to connect
It connects.
Wherein, in a kind of embodiment provided by the invention, the second end of the shock-absorbing component 211 is solid with described second
It is rotatably connected between reservation 214 by oscillating bearing 215.Oscillating bearing 215 has load-carrying ability big, shock resistance, wear-resistant,
Self-aligning, the features such as having lubricated, can be used for the lower pendulum motion of speed, (i.e. the second fixing seat 214 is around shock-absorbing component 211
Do angular movement in the end of second end)；In addition, since 215 slidingsurface of oscillating bearing is spheric, it also can be in certain angle range
Inside make banking motion (i.e. aligning movement), aligning movement can be done by having benefited from oscillating bearing 215, touch bumps not in driving wheel 22
When flat road surface, in addition to certain pendulum motion can be done on perpendicular, certain inclination can also be done in the horizontal plane
Aligning movement, allows walking robot to better adapt to road conditions, keeps stability.In addition, shock-absorbing described in shock-absorbing component 211
Also by other modes (such as shaft connection, hinge connection etc.) between the second end of component 211 and second fixing seat 214
Realization is rotatably connected, and is not specifically limited herein.
To realize being rotatably connected between shock-absorbing component 211 and the first fixing seat 213, first fixing seat 213 is T
Type structure is provided with groove on the protrusion of first fixing seat 213, through-hole is provided on the part of groove two sides, described to keep away
It shakes and is equally provided with through-hole in the first end of component 211, the first end of the shock-absorbing component 211 is embedded in the groove, described to keep away
It shakes and is rotatably connected between the first end and first fixing seat 213 of component 211 by the shaft through the through-hole, turned
Under the action of axis, shock-absorbing component 211 can be rotated around the first fixing seat 213.In addition, shock-absorbing component 211 described in shock-absorbing component 211
First end and first fixing seat 213 between also by other modes (such as 215 connection of oscillating bearing, hinge connection etc.)
Realization is rotatably connected, and is not specifically limited herein.
It, can be with by being rotatably connected between shock-absorbing component 211 and the first fixing seat 213 and the second fixing seat 214
Realize certain rotation displacement effect, the shock-absorbing effect of cooperation shock-absorbing component 211 itself can be in the road conditions different according to road surface
The position of driving wheel 22 is adjusted in real time and absorbs the shock energy on walking robot, ensure that the stabilization of walking robot traveling
Property.
Optionally, the shock-absorbing component 211 includes connector 2111, connecting rod 2112 and elastic component 2113, the connection
Pilot hole is provided on part 2111, one end of the connecting rod 2112 is connect by the pilot hole with the connector 2111,
And the connecting rod 2112 can be moved up and down along the pilot hole, the connector 2111 is connect with first fixing seat 213,
The other end of the connecting rod 2112 connects second fixing seat 214；The elastic component 2113 is placed on the connecting rod 2112
Outside, one end of the elastic component 2113 connects the bottom end of the connector 2111, and the other end of the elastic component 2113 connects institute
State the other end of connecting rod 2112.Since elastic component 2113 is placed on outside connecting rod 2112, and it is limited in 2111 He of connector
Between connecting rod 2112, during driving wheel 22 encounters obstacle and surmounts obstacles, connecting rod 2112 is transported upwards along pilot hole
It moves and driving wheel 22 is driven up to move, the elastic component 2113 between connecting rod 2112 and connector 2111 is compressed, and elastic force increases
Greatly and the kinetic energy on vertical direction is absorbed, plays the role of shock-absorbing；After driving wheel 22 surmounts obstacles, in compressed elastic component
Under 2113 elastic force effect, connecting rod 2112 is along pilot hole sharp downward movement and driving wheel 22 is driven to move holding and ground down
The contact in face guarantees the driving effect of driving wheel 22.
Specifically, in order to guarantee elastic component 2113 driving anti-vibration structure it is certain size limitation under may be implemented to walking
The bearing of robot and shock-absorbing effect, the pre compressed magnitude of elastic component 2113 provided in the embodiment of the present invention be 20% to
30%, coefficient of elasticity is 12 to 18N/mm.I.e. in the case where walking robot normally lands, the overall weight of walking robot
It is supported by the shock-absorbing driving structure at middle part and the driven wheel 219 of surrounding, in order to guarantee the driving wheel 22 in shock-absorbing driving structure
Friction between ground, in order to which driving wheel 22 provides the power to advance, the 60% of walking robot self weight can be by shock-absorbing
Driving structure bearing.Assuming that the self weight of walking robot is 50KG, the taking the weight of of shock-absorbing driving structure is 30KG, i.e., each bullet
Property the set down weight that is received of part 2113 be 15KG, setting just bears this weight when elastic component 2113 compresses 10mm, then root
According to acceleration of gravity (9.8m/s2) gravity that elastic component 2113 is born can be calculated as 147N.By elastic force formula F=
KX, wherein F is spring pressure, and K is coefficient of elasticity, and X is spring deformation amount；It can be calculated, K=14.7N/mm.Needle
The case where to K=14.7N/mm, the internal diameter of elastic component 2113 can be set to 11mm, outer diameter 20mm, drift 40mm,
Maximum compressibility is 50%.It should be noted that when the above are being 50KG for walking robot self weight, the ginseng of elastic component 2113
A kind of several setting means can carry out the parameter of elastic component 2113 according to the weight of walking robot in practical applications
Adjustment, to guarantee the pre compressed magnitude of elastic component 2113 as 20% to 30%, coefficient of elasticity is 12 to 18N/mm.
Further, the suspension 21 further includes support base 216, and the support base 216 is connect with the bearing block 212,
Driving device is provided on the support base 216, the driving device is connect with the driving wheel 22, is used for the driving wheel 22
Rotation；The driving device includes driving motor 217 and speed reducer 218, and the driving motor 217 provides to be subtracted described in power and warp
Fast machine 218 is connect with the driving wheel 22, for providing the power that torque is larger but speed is not high for driving wheel 22, to guarantee to go
Robot walking can smoothly complete the traveling task of transport cargo.It is flat between support base 216 and bearing block 212 in order to guarantee
Whole property guarantees being reliably connected between driving device and driving wheel 22, and the support base 216 can be with the bearing block 212
It is integrally formed.
It should be noted that in embodiments of the present invention, the driven wheel 219 is installed on the machine by mounting plate 2191
The bottom of frame 1, four driven wheels 219 are respectively arranged on four corners of the rack 1, the driving with shock-proof effect
Wheel 22 is set on the medium position of rack 1, encounters the road of out-of-flatness in the driven wheel 219 of preposition driven wheel 219 or postposition
When face, buffering and shock preventing can be carried out by the shock-absorbing driving structure of medium position, reduce the degree of jolting of walking robot entirety,
Mitigate the damage that cargo is subject to.In addition, the driven wheel 219 in preposition driven wheel 219 or postposition knocks obstacle or falls pit
When, it can be by the rotational motion of the stretching motion and shock-absorbing component 211 of the shock-absorbing component 211 in shock-absorbing driving structure itself
It realizes the adjustment to 22 position of driving wheel, guarantees the balance and stability of walking robot integral body.
Optionally, laser radar apparatus 11 is additionally provided on the diagonal position of the rack 1；By by laser radar apparatus
11 are separately positioned on diagonal position, and single laser radar apparatus 11 can achieve 270 ° of coverage area, play no blind spot
Effect, realize walking robot independent navigation effect.In addition, the bottom of the rack 1 is additionally provided with ultrasonic sensor
12, for detecting barrier and the distance between measurement and barrier, so that walking robot in the process of moving can be real
Existing automatic obstacle avoiding.
The embodiment of the invention also provides a kind of walking robots, comprising: car body and a kind of shock-absorbing driving structure above-mentioned,
The shock-absorbing driving structure is installed on the car body, and the jacking system 3 for bearing goods is additionally provided on the car body.Its
In, jacking system 3 can be hydraulic bolt formula jacking system, it can be used to implement the loading to cargo and grip effect,
With certain hydraulic buffering effect when hydraulic bolt formula jacking system is gone up and down, automatic inserted pin lock fixed platform, pole after lifting in place
The earth improves the security performance of platform.In addition, hydraulic bolt formula jacking system also has, the service life is long, elevating mechanism is small in size,
It is light-weight etc., realize the autonomous clamping to cargo for a long time suitable for walking robot, while alleviating the transport of walking robot
Burden.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of shock-absorbing driving structure is applied on walking robot characterized by comprising
Rack is provided with shock-absorbing driving mechanism in the rack；
The shock-absorbing driving mechanism includes suspension and driving wheel, and the suspension includes shock-absorbing component and bearing block, the shock-absorbing portion
The first end of part is connect with the rack, and the second end of the shock-absorbing component is connect with the bearing block, the bearing block also with
The driving wheel connection；
Between the first end and the rack of the shock-absorbing component and/or the second end of the shock-absorbing component and the bearing block it
Between to be rotatably connected so that the first end of the shock-absorbing component is kept away around the gantry rotation and/or the bearing block around described
Shake the second end rotation of component.
2. shock-absorbing driving structure according to claim 1, which is characterized in that the suspension further includes the first fixing seat and
Two fixing seats, first fixing seat are fixedly installed in the rack, and second fixing seat is fixedly installed on the bearing
On seat；
The first end of the shock-absorbing component and first fixing seat and/or the second end of the shock-absorbing component are consolidated with described second
It is to be rotatably connected between reservation.
3. shock-absorbing driving structure according to claim 2, which is characterized in that the second end of the shock-absorbing component and described the
It is rotatably connected between two fixing seats by oscillating bearing.
4. shock-absorbing driving structure according to claim 2, which is characterized in that be provided with groove in first fixing seat, institute
It states and is provided with through-hole in the first end of shock-absorbing component, the first end of the shock-absorbing component is embedded in the groove, the shock-absorbing component
First end and first fixing seat between by being rotatably connected through the shaft of the through-hole.
5. shock-absorbing driving structure according to claim 2, which is characterized in that the shock-absorbing component includes connector, connection
Bar and elastic component are provided with pilot hole on the connector, and one end of the connecting rod passes through the pilot hole and the connection
Part connection, and the connecting rod can be moved up and down along the pilot hole, the connector is connect with first fixing seat, described
The other end of connecting rod connects second fixing seat；
The elastic component is placed on outside the connecting rod, and one end of the elastic component connects the bottom end of the connector, the elasticity
The other end of part connects the other end of the connecting rod.
6. shock-absorbing driving structure according to claim 1, which is characterized in that the pre compressed magnitude of the elastic component be 20% to
30%, coefficient of elasticity is 12 to 18N/mm.
7. shock-absorbing driving structure according to claim 1, which is characterized in that the suspension further includes support base, the branch
Support seat is connect with the bearing block, and driving device is provided on the support base, and the driving device is connect with the driving wheel,
It is rotated for the driving wheel；
The driving device includes driving motor and speed reducer, and the driving motor connects through the speed reducer and the driving wheel
It connects；
The support base is integrally formed with the bearing block.
8. shock-absorbing driving structure according to claim 1, which is characterized in that be additionally provided with driven wheel, institute in the rack
The bottom that driven wheel is installed on the rack by mounting plate is stated, four driven wheels are respectively arranged at four of the rack
On corner.
9. shock-absorbing driving structure according to claim 1, which is characterized in that be additionally provided on the diagonal position of the rack
Laser radar apparatus；
The bottom of the rack is additionally provided with ultrasonic sensor, for detect barrier and measure and barrier between away from
From.
10. a kind of walking robot characterized by comprising shock-absorbing described in car body and claim 1 to 9 any one is driven
Dynamic structure, the shock-absorbing driving structure are installed on the car body, and the lifting for bearing goods is additionally provided on the car body
System.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811018935.7A CN109398012A (en) | 2018-09-03 | 2018-09-03 | A kind of shock-absorbing driving structure and walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811018935.7A CN109398012A (en) | 2018-09-03 | 2018-09-03 | A kind of shock-absorbing driving structure and walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109398012A true CN109398012A (en) | 2019-03-01 |
Family
ID=65464507
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811018935.7A Pending CN109398012A (en) | 2018-09-03 | 2018-09-03 | A kind of shock-absorbing driving structure and walking robot |
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| Country | Link |
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| CN204055151U (en) * | 2014-07-29 | 2014-12-31 | 北京星达科技发展有限公司 | A kind of Mecanum wheel suspension system |
| US9764613B2 (en) * | 2012-11-14 | 2017-09-19 | Oshkosh Defense, Llc | Co-axial sway bar for a suspension system |
| CN107472397A (en) * | 2017-08-22 | 2017-12-15 | 北京百度网讯科技有限公司 | Robot chassis and robot |
| CN206889549U (en) * | 2017-06-07 | 2018-01-16 | 史亚珍 | A kind of damper device |
| CN107696813A (en) * | 2017-11-10 | 2018-02-16 | 天津航天机电设备研究所 | The independent suspension device and closed type hydraulic system of Mecanum wheels |
| CN207670133U (en) * | 2017-11-23 | 2018-07-31 | 上海未来伙伴机器人有限公司 | A kind of Omni-mobile obstacle detouring chassis |
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2018
- 2018-09-03 CN CN201811018935.7A patent/CN109398012A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9764613B2 (en) * | 2012-11-14 | 2017-09-19 | Oshkosh Defense, Llc | Co-axial sway bar for a suspension system |
| CN204055151U (en) * | 2014-07-29 | 2014-12-31 | 北京星达科技发展有限公司 | A kind of Mecanum wheel suspension system |
| CN206889549U (en) * | 2017-06-07 | 2018-01-16 | 史亚珍 | A kind of damper device |
| CN107472397A (en) * | 2017-08-22 | 2017-12-15 | 北京百度网讯科技有限公司 | Robot chassis and robot |
| CN107696813A (en) * | 2017-11-10 | 2018-02-16 | 天津航天机电设备研究所 | The independent suspension device and closed type hydraulic system of Mecanum wheels |
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Effective date of registration: 20190903 Address after: 518000 First Floor of Aokewei Building, 447 Donghai Road, Yongan Community, Yantian Street, Yantian District, Shenzhen City, Guangdong Province Applicant after: JINGRUI POWER TECHNOLOGY (SHENZHEN) Co.,Ltd. Address before: 518000 Shenzhen Qianhai-Shenzhen-Hong Kong Cooperative Zone, Shenzhen, Guangdong Province, No. 35 Qianhai Bay Road, Qianhai-Shenzhen-Hong Kong Youth Dream Factory, 6 buildings, 2 floors, 203 rooms Applicant before: JINGRUI POWER TECHNOLOGY (SHENZHEN) Co.,Ltd. Applicant before: PKU-HKUST Shenzhen-Hongkong Institution |
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190301 |