CN109484503B - Rolling robot with anti-skid rolling belt - Google Patents
Rolling robot with anti-skid rolling belt Download PDFInfo
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- CN109484503B CN109484503B CN201811268528.1A CN201811268528A CN109484503B CN 109484503 B CN109484503 B CN 109484503B CN 201811268528 A CN201811268528 A CN 201811268528A CN 109484503 B CN109484503 B CN 109484503B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention relates to a rolling robot with an anti-skid rolling belt, which solves the problem that the stability of the rolling robot is influenced by the phenomena of skidding and shaking in the advancing and turning processes of the existing rolling robot. The device comprises a rolling shell, and is characterized in that: the main shaft is arranged between the left side wall and the right side wall inside the shell, the middle part of the outer wall of the shell is a rolling belt which is arranged around the main shaft and can roll on the ground, the surfaces of the rolling belt are evenly provided with anti-slip pads, the anti-slip pads are arranged in multiple groups along the left side and the right side of the shell, and each group of anti-slip pads are evenly arranged around the main shaft. The distance and the thickness of the anti-slip pads are designed according to the parameters of the rolling robot so as to keep stable support. The invention carries out targeted design on the shape and the thickness of the anti-skid pad on the surface of the rolling belt of the rolling robot according to the set parameters of the rolling robot, such as turning radius, dead weight and the like, and improves the anti-skid stability of the rolling robot on the premise of not influencing the normal running of the rolling robot.
Description
Technical Field
The invention belongs to the field of robots, relates to a rolling robot rolling by a shell of the rolling robot, and particularly relates to a rolling robot with an anti-skid rolling belt.
Background
The robot is an intelligent device which simulates human beings to complete various instructions through manual or automatic control. The robot can replace a human body to carry out various complex and fine operations, and can also replace the human body to enter a complex and dangerous environment to carry out exploration operation, thereby ensuring the safety of personnel. The existing robot is a fixed robot which is fixedly arranged and operates in a certain area range, and the existing robot is also movable, and the robot can walk and move through mechanical legs, tracks, rollers and other structures. The mobile robot can replace human beings to enter complex and dangerous scenes, such as spaces and fire fields which poison gas, and the like, and collects signals to guide rescue.
The rolling robot is a mobile robot which performs a rotational motion by means of a rotating body, and a main rotating body for performing a rolling motion may be any shape suitable for rolling, such as a sphere, an ellipsoid, a torus, a cylinder, a wheel, a drum, other similar shapes, or a combination thereof.
The rolling robot is a unstable system, and is easy to slide, sideslip, shake or the like in the movement process, so that the movement stability of the whole rolling robot is reduced. When the rolling rotor moves forward, turns, etc., the rolling robot has a tendency to move, and at this time, the rotor and the contact surface generate friction force to support the movement of the rolling robot, and if the friction force is insufficient, the phenomena of sliding, sideslip, etc. are easy to occur. In addition, in the course of normal forward or turning movements of the rolling rotor, the center of mass of the rolling robot is likely to be slightly displaced due to unstable system characteristics of the rolling rotor and the influence of the external environment, so that the rolling robot is likely to shake.
Disclosure of Invention
The invention aims to provide a rolling robot with an anti-skid rolling belt, aiming at the problem that the stability of the rolling robot is influenced by the phenomena of skidding and shaking in the advancing and turning processes of the existing rolling robot, so that the kinetic energy loss caused by anti-skid measures of the rolling robot is reduced while the advancing stability of the rolling robot is improved.
The technical scheme adopted by the invention for solving the technical problems is as follows: a rolling robot with anti-skid rolling belt, comprising a rollable housing, characterized in that: the main shaft is arranged between the left side wall and the right side wall inside the shell, the middle part of the outer wall of the shell is a rolling belt which is arranged around the main shaft and can roll on the ground, the surfaces of the rolling belt are evenly provided with anti-slip pads, the anti-slip pads are arranged in multiple groups along the left side and the right side of the shell, and each group of anti-slip pads are evenly arranged around the main shaft. The rolling belt of the shell is easy to slip when being a smooth spherical surface, the anti-slip pads are arranged according to the groups, and the rolling robot can ensure that two groups of anti-slip pads simultaneously contact the ground in the forward and turning states to stably support the shell and prevent slipping.
Preferably, a driving device is arranged at the center of the main shaft, an auxiliary shaft which is horizontally arranged and is perpendicular to the main shaft is arranged on the driving device, two ends of the auxiliary shaft are suspended in the air, and a swinging block is fixedly hung below two ends of the auxiliary shaft.
Preferably, the driving device includes a plurality of dc motors, each of the dc motors is connected to the main shaft or the auxiliary shaft via a belt, and the dc motors are connected to a traveling power supply module provided in the housing.
Preferably, the rolling belt is a part of a spherical surface, the top end of each non-slip mat is a dome, and the distance a between two adjacent sets of non-slip mats on the surface of the rolling belt is calculated by the following equation one:
wherein R is the radius of the rolling belt of the shell, the shell is turned by the lateral swing of the swing block, the swing block is provided with a plurality of lateral swing gears corresponding to various turning radii, and alpha is the change value of the lateral swing angle between the lateral swing gears of adjacent gears set by the shell. Under the state that the roll robot moved ahead, the slipmat can be skid-proof on the rugged ground, and under general condition, the roll robot skidded more easily than the state of moving ahead in the turn process. When the rolling robot is designed, the action capacity of the rolling robot needs to be planned, the turning radius changes along with the angle of the auxiliary shaft side swing according to the swing block, the larger the side swing angle is, the larger the shell inclination angle is, and the smaller the turning radius is, the more easy the rolling robot slips. During planning, a plurality of angle values of the swinging block for lateral swinging are designed, and the angle values are respectively determined as a first-gear turning and a second-gear turning … … according to the lateral swinging angle from small to large. When the front of the shell is switched to the first gear for turning, the support of the shell is ensured to be switched between the two groups of anti-slip pads, the distance between the adjacent groups of anti-slip pads is required to be consistent with the lateral displacement variation of the ground contact point in the turning gear switching process.
Preferably, the non-slip mat is a part of a spherical or ellipsoidal shape, the section of the bottom of the non-slip mat connected with the shell is a circular bottom surface, and the radius r of the circular bottom surface0The compressed thickness d of the non-slip mat after being completely elastically compressed by the shell is calculated by the following equation two:
d＝R(1-cosα)。
preferably, the fully-opened extension thickness D of the non-slip mat is calculated by the following equation three:
wherein E is the elastic modulus of the material of the non-slip mat, m is the total weight of the rolling robot, and g is the acceleration of gravity.
When the rolling robot turns, the rolling robot is switched between the two adjacent groups of anti-skid pads. Therefore, the problem of the thickness of the non-slip mat is changed into the obstacle crossing problem that the swinging block can cross over thick obstacles according to the first-gear turning radius, and on the premise of meeting the obstacle crossing capability, the greater the thickness of the non-slip mat is, the more stable the support can be provided. In order to ensure the anti-slip function of the anti-slip mat, the anti-slip mat is generally made of elastic materials such as rubber. In the process of switching between two adjacent groups of anti-skid pads, the anti-skid pads are compressed due to the weight of the rolling robot, and the anti-skid pads can be stretched again after rotating for an angle, so that in the process of compression-stretching, the anti-skid pads are ensured to be in an elastic deformation range, and the anti-skid pads are prevented from being compressed excessively and cannot rebound. Therefore, the material and dimensions of the mat must ensure that the mat is compressed within the elastic deformation range.
Preferably, the distance between adjacent non-slip mats of the same group is a.
Preferably, the center line of the rolling belt is not provided with the anti-skid pads, and the two sides of the center line are symmetrically provided with a plurality of groups of anti-skid pads. When the rolling robot moves forwards, two groups of anti-slip pads on two sides of the central line of the rolling belt are in contact with the ground to form support, and when the rolling robot turns left at the first gear, the first and second groups of anti-slip pads on the left side of the central line of the rolling belt are in contact with the ground; when turning right, the first and second groups of anti-skid pads on the right side of the central line of the rolling belt contact the ground.
Preferably, the shell is a sphere, and the left side wall and the right side wall of the shell are transparent windows connected with the side edges of the rolling belt.
The invention carries out targeted design on the shape and the thickness of the anti-skid pad on the surface of the rolling belt of the rolling robot according to the set parameters of the rolling robot, such as turning radius, dead weight and the like, and improves the anti-skid stability of the rolling robot on the premise of not influencing the normal running of the rolling robot.
Drawings
Fig. 1 is a schematic view of the structure of the spherical shell of the present invention.
Fig. 2 is a schematic view of the structure of the non-slip mat of the present invention.
Fig. 3 is a side view of the inner static state of the spherical shell of the present invention.
Fig. 4 is a schematic side view of the inner forward state of the spherical shell according to the present invention.
Fig. 5 is a schematic view of the inner static state of the spherical shell of the present invention.
Fig. 6 is a front view of the spherical shell of the present invention in a turning state.
FIG. 7 is a schematic view of the rolling friction change of the inventive cleat during an increase in the number of edges.
Fig. 8 is a schematic view of the first gear turning state of the housing of the present invention.
FIG. 9 is a schematic view of the model of the invention passing over the cleat during a turn.
In the figure: 1. the device comprises a shell, 2, a main shaft, 3, a secondary shaft, 4, a swing block, 5, a driving device, 6, a rolling belt, 7, a transparent window, 8 and a non-slip mat.
Detailed Description
The invention is further illustrated by the following specific examples in conjunction with the accompanying drawings.
Example (b): a rolling robot with anti-skid rolling belts, as shown in fig. 1, 3-5. The device comprises a shell 1, wherein the shell is spherical, a spindle 2 which is horizontally arranged is erected between the left side wall and the right side wall of the shell, a rolling belt 6 which is arranged around the spindle and can roll on the ground is arranged in the middle of the outer wall of the shell 1, and transparent windows 7 which are connected with the side edges of the rolling belt are arranged on the left side wall and the right side wall of the shell. The 6 surfaces in rolling area evenly are provided with slipmat 8, the slipmat sets up the multiunit along the casing left and right sides direction, and every group slipmat all encircles the main shaft and is the annular and distribute, and every group slipmat is equidistant evenly to set up a plurality of slipmats. The middle line position of the rolling belt 6 is not provided with anti-skid pads, and a plurality of groups of anti-skid pads are symmetrically arranged on the two sides of the middle line.
The inner structure of the shell is shown in figures 3-6, the center of the main shaft 2 is provided with an auxiliary shaft 3 which is horizontally arranged and is vertical to the main shaft, two ends of the auxiliary shaft are suspended, and the auxiliary shaft can rotate around the axis of the main shaft along with the rotation of the main shaft and can also rotate along the axis of the auxiliary shaft. Swing blocks 4 are hung below two ends of the auxiliary shaft, and the swing blocks 4 are fixedly connected with the two ends of the auxiliary shaft and cannot rotate relatively. And a driving device 5 for driving the main shaft and the auxiliary shaft to rotate is arranged at the intersection of the main shaft and the auxiliary shaft. The driving device 5 comprises two direct current motors which are respectively connected with the main shaft and the auxiliary shaft through a transmission belt and control the motors to be connected with a power module arranged in the shell. The number of the direct current motors can be four, wherein two direct current motors are in transmission with the main shaft 2 and respectively control the main shaft to rotate forwards and backwards so as to control the rolling robot to move forwards and backwards, and the other two direct current motors are in transmission with the auxiliary shaft 3 and respectively control the auxiliary shaft to rotate forwards and backwards so as to control the rolling robot to turn left and right. The scheme relies on the change of the mass center to generate the torque of the rolling robot, and the change of the mass center is controlled by the swinging block and depends on the weight and the mass center position of the swinging block. Therefore, the weight of the swing block can be set to 2 times or more of the self weight of the housing as the weight of the swing block becomes larger and the torque becomes higher. The swinging block is close to the inner wall of the bottom surface of the shell as much as possible so as to improve the torque, and the position of the mass center as low as possible can ensure the stability of the rolling robot.
As shown in fig. 3-6, when the rolling robot needs to move forward or backward, the driving device drives the main shaft to rotate, the auxiliary shaft is arranged in the middle of the main shaft, and the two ends of the auxiliary shaft are suspended, so that the auxiliary shaft is driven by the main shaft to rotate around the main shaft by an angle, and the swinging block is driven to swing forward or backward, so that the overall mass center moves forward or backward, and the rolling robot is driven to move forward or backward. When the rolling robot needs to turn, the main shaft continuously rotates to keep the rolling robot to stably advance or retreat, and meanwhile, the driving device drives the auxiliary shaft to rotate around the axis of the main shaft to drive the swinging block to swing to the left side or the rear side, so that the overall mass center is cheap to one side, and the rolling robot inclines to one side, and the turning is realized.
When the rolling robot is designed, the action capacity of the rolling robot needs to be planned, the turning radius changes along with the angle of the auxiliary shaft side swing according to the swing block, the larger the side swing angle is, the larger the shell inclination angle is, and the smaller the turning radius is, the more easy the rolling robot slips. During planning, a plurality of angle values of the swinging block for lateral swinging are designed, and the angle values are respectively determined as a first gear turning radius … … and a second gear turning radius … … according to the lateral swinging angle from small to large. When the turning action is switched from forward to first gear turning radius, the support of the shell is ensured to be switched between the two groups of anti-slip pads, and the distance between the adjacent groups of anti-slip pads is consistent with the lateral displacement variation quantity of the ground contact point caused by the lateral inclination of the anti-slip belt in the first gear turning radius state.
In this embodiment, the weight of the rolling robot is 30kg, and the radius R is 25 cm. The rolling robot anti-skid pad of the embodiment is designed as follows: first, as shown in fig. 7, since the spherical robot mainly moves in the form of rolling in the shape of the mat, the entire ball is mainly influenced by the rolling friction force during rolling, and if the mat is a cube, the gravity is G, the distance from the center of gravity to the instant center is e, and the rolling occurs by the external force P, and the G · e rolling resistance is given as shown in fig. 1. As shown in fig. 2, if the edges of the mat are increased, it is found that e decreases as the number of edges increases, resulting in a decrease in the initial value of the rolling resistance G · e and a decrease in the torque variation cycle. However, when the number of edges tends to infinity, the polygon tends to be a circular body, and at the moment, because the distances from each point on the circumference to the center of the circle are equal, the rolling friction torque G.e tends to be constant and always maintains a critical state before rolling. In comparison, the circular body G · e has a much smaller effect of inhibition, and there is no unstable phenomenon in which the energy consumption changes greatly due to the change in G · e. The rolling direction of the spherical robot can be designed as required, so the cross section of the non-slip mat in all directions is circular or elliptical, and the shape of the non-slip mat is designed to be a truncated part of an ellipsoid, as shown in fig. 2.
The interval between every group slipmat is a, and the design process is as follows, and the spherical robot compares the process of moving ahead and is changeed skidding at the in-process of turning, and casing inclination is big more when just turning, then skids more easily. The discovery among the practical test, at the in-process that spherical robot turned, two sets of adjacent slipmats supported the casing both sides respectively and can form a comparatively stable, the turn of difficult skidding and support, so the density between the adjacent group of slipmat can design according to spherical robot's turning radius, makes spherical robot have stable turning radius. The turning radius varies according to the angle of the swing block along with the sidesway of the auxiliary shaft, and the larger the sidesway angle, the larger the casing inclination angle, and the smaller the turning radius, the more likely to slip. During planning, a plurality of angle values of the swinging block for lateral swinging are designed, and the angle values are respectively determined as a first-gear turning and a second-gear turning … … according to the lateral swinging angle from small to large. When the front of the shell is switched to the first gear for turning, the support of the shell is ensured to be switched between the two groups of anti-slip pads, the distance between the adjacent groups of anti-slip pads is required to be consistent with the lateral displacement variation of the ground contact point in the turning gear switching process. Here, if the roll swing amount between the adjacent gears of the roll robot swing block in the lateral swing angle is set to be 6 °, geometric analysis of the roll robot during turning is shown in fig. 8, where the radius of the spherical robot is R, the distance between each set of the non-slip mats is a, the turning radius is R, and the angle change amount of the roll swing block is α ═ 6 °. Then there are:
after transformation, a calculation equation I is obtained as follows:
and substituting the radius R of the known spherical robot and the side swing angle variation alpha of the swing block into the equation I to calculate the interval between the anti-skid pad groups, wherein the integer is a, the value of the a is 26 mm.
The thickness of the non-slip mat is selected according to the size and the weight of the rolling robot and the arrangement density among the non-slip mat groups. In the process of turning the shell, the power for driving the shell to incline is the torque brought by the side swing of the swing block, so the thickness design of the cushion can be expressed as the obstacle crossing problem of how much obstacle can be crossed by the side force generated by the variation of the side swing angle when the adjacent turning gears of the swing block are switched. On the premise of meeting the obstacle crossing requirement, the larger the thickness of the cushion is, the more stable the support can be provided. Under an ideal state, a geometric analysis model of the obstacle with the thickness d just beyond the range of alpha increased by the swing block is shown in fig. 9, and at the moment, only the centroid just above the tangent point of the obstacle and the rolling robot is needed, wherein the radius of the rolling robot is R, the change angle of the swing block is alpha, and the thickness d of the obstacle is calculated by the following formula two:
d＝R(1-cosα)
substituting the radius R of 250mm and the angle alpha of 6 degrees, and calculating to obtain the thickness of the barrier d of 1.4 mm. That is, the rolling robot rocking piece in this example can just pass over an obstacle with a thickness of 1.4mm by increasing by 6 °, but the thickness here is the thickness of a rigid body, and when the material is actually selected, the material of the non-slip mat is generally rubber or silica gel in consideration of the difference in friction coefficient with the ground, and in this case, taking a rubber material as an example, since the rubber material has elasticity, d is 1.4mm which is the compression thickness of the non-slip mat after being compressed by the rolling robot. In combination with the elastic coefficient of the rubber material, the following formula is given:
e is the elastic modulus of the material, m is the mass of the spherical robot, r is the theoretical section radius of the non-slip mat, and the theoretical section radius r and the radius r of the bottom of the rubber mat are derived according to an ellipsoid volume formula0In a relationship ofD is the relaxation thickness of the non-slip mat, and D is the compression thickness of the non-slip mat. Obtaining a third calculation equation of the unfolding thickness D of the non-slip mat after transformation:
according to the spatial layout, the radius of the round bottom surface of the antiskid pad connected with the shell does not exceed half of the interval of the antiskid pad group, and the half is designed as r0＝0.15a～0.3a, in this example a is 26mm, r is taken05 mm. The elastic modulus of the rubber is substituted into the known condition of 0.0078 × 109Pa. And D is 10mm after calculation and rounding.
The swing block forward swing angle of the forward rolling swing block of the rolling robot is larger than the swing block side swing angle during turning, so that the distance between every two adjacent anti-skid mats in each set of anti-skid mats is designed to be 26 mm. The forward moving requirement of the rolling robot is met.
Claims (6)
1. A rolling robot with anti-skid rolling belt, comprising a rollable housing, characterized in that: be equipped with the main shaft between the inside left and right sides wall of casing, casing outer wall middle part is for encircleing the rolling area that can roll subaerial that the main shaft set up, the rolling area surface evenly is provided with the slipmat, the slipmat sets up the multiunit along the casing left and right sides direction, and every slipmat of group all encircles the main shaft and evenly sets up a plurality of slipmats, the rolling area is the partly of sphere, the slipmat top is the calotte, rolls and takes the adjacent two sets of slipmat interval an in surface to calculate by following equation one and obtain:
the device comprises a shell, a swinging block, a plurality of side swing gears, a plurality of rolling belts, a plurality of swinging blocks and a plurality of swinging blocks, wherein R is the radius of the rolling belts of the shell, the shell swings laterally by the swinging block to realize turning, the swinging block is provided with a plurality of side swing gears corresponding to various turning radii, and alpha is the change value of the side swing angle between the side;
the anti-skid pad is a part of a spherical or ellipsoidal shape, the section of the bottom of the anti-skid pad connected with the shell is a circular bottom surface, and the radius r of the circular bottom surface0The compressed thickness d of the non-slip mat after being completely elastically compressed by the shell is calculated by the following equation two:
d＝R(1-cosα)；
the fully-opened unfolding thickness D of the non-slip mat is calculated by the following equation three:
wherein E is the elastic modulus of the material of the non-slip mat, m is the total weight of the rolling robot, and g is the acceleration of gravity.
2. A rolling robot having an anti-skid rolling belt according to claim 1, characterized in that: the center of the main shaft is provided with a driving device, the driving device is provided with an auxiliary shaft which is horizontally arranged and is vertical to the main shaft, two ends of the auxiliary shaft are suspended in the air, and a swing block is fixedly hung below two ends of the auxiliary shaft.
3. A rolling robot having an anti-slip rolling belt according to claim 2, characterized in that: the driving device comprises a plurality of direct current motors, each direct current motor is connected with the main shaft or the auxiliary shaft through a transmission belt, and the direct current motors are connected with a traveling power supply module arranged in the shell.
4. A rolling robot having an anti-skid rolling belt according to claim 1, characterized in that: the distance between the adjacent non-slip mats in the same group is a.
5. A rolling robot with anti-skid rolling belt according to claim 1, 2 or 3, characterized in that: the middle line position of the rolling belt is not provided with anti-skid pads, and a plurality of groups of anti-skid pads are symmetrically arranged on two sides of the middle line.
6. A rolling robot with anti-skid rolling belt according to claim 1, 2 or 3, characterized in that: the shell is a sphere, and the left side wall and the right side wall of the shell are transparent windows connected with the side edges of the rolling belt.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811268528.1A CN109484503B (en) | 2018-10-29 | 2018-10-29 | Rolling robot with anti-skid rolling belt |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811268528.1A CN109484503B (en) | 2018-10-29 | 2018-10-29 | Rolling robot with anti-skid rolling belt |
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| CN109484503A CN109484503A (en) | 2019-03-19 |
| CN109484503B true CN109484503B (en) | 2019-12-31 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11114234A (en) * | 1997-10-15 | 1999-04-27 | Sony Corp | Spherical shell body moving apparatus |
| CN103171638A (en) * | 2013-03-04 | 2013-06-26 | 北京邮电大学 | Spherical robot with binocular stereoscopic vision |
| CN103991486A (en) * | 2014-05-26 | 2014-08-20 | 上海大学 | Hybrid drive type Antarctic science investigation spherical robot |
| CN105438299A (en) * | 2014-11-14 | 2016-03-30 | 福建省泉州市第七中学 | Amphibious data acquisition complex road condition walking robot |
| CN205417841U (en) * | 2016-03-16 | 2016-08-03 | 郑州大学 | Novel balanced pendulum sport ball anthropomorphic robot |
| CN106828646A (en) * | 2017-03-15 | 2017-06-13 | 王纪元 | The sphere travelling device of celestial body surface detector |
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2018
- 2018-10-29 CN CN201811268528.1A patent/CN109484503B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11114234A (en) * | 1997-10-15 | 1999-04-27 | Sony Corp | Spherical shell body moving apparatus |
| CN103171638A (en) * | 2013-03-04 | 2013-06-26 | 北京邮电大学 | Spherical robot with binocular stereoscopic vision |
| CN103991486A (en) * | 2014-05-26 | 2014-08-20 | 上海大学 | Hybrid drive type Antarctic science investigation spherical robot |
| CN105438299A (en) * | 2014-11-14 | 2016-03-30 | 福建省泉州市第七中学 | Amphibious data acquisition complex road condition walking robot |
| CN205417841U (en) * | 2016-03-16 | 2016-08-03 | 郑州大学 | Novel balanced pendulum sport ball anthropomorphic robot |
| CN106828646A (en) * | 2017-03-15 | 2017-06-13 | 王纪元 | The sphere travelling device of celestial body surface detector |
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| CN109484503A (en) | 2019-03-19 |
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Denomination of invention: Rolling robot with antiskid rolling belt Effective date of registration: 20200720 Granted publication date: 20191231 Pledgee: Hangzhou High-tech Financing Guarantee Co.,Ltd. Pledgor: LUOTENG (HANGZHOU) TECHNOLOGY Co.,Ltd. Registration number: Y2020330000512 |
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Date of cancellation: 20210203 Granted publication date: 20191231 Pledgee: Hangzhou High-tech Financing Guarantee Co.,Ltd. Pledgor: LUOTENG (HANGZHOU) TECHNOLOGY Co.,Ltd. Registration number: Y2020330000512 |
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Denomination of invention: A rolling robot with antiskid rolling belt Effective date of registration: 20210205 Granted publication date: 20191231 Pledgee: Hangzhou High-tech Financing Guarantee Co.,Ltd. Pledgor: LUOTENG (HANGZHOU) TECHNOLOGY Co.,Ltd. Registration number: Y2021330000124 |